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Sliding mode model semantics and simulation for hybrid systems 1

5th International Hybrid systems Workshop, 1997

作者： Mosterman, Pieter J. Zhao, Feng Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen WesslingD-82230 Germany Department of Computer and Information Science The Ohio State University ColumbusOH43210 United States Department of Computer Science Vanderbilt University NashvilleTN37235 United States

ISBN: (数字)9783540491637

ISBN: (纸本)354065643X

We describe model semantics and develop a simulation algo-rithm for characterizing a class of dynamic physical systems operating in the so-called sliding regimes. Complex continuous system behavior com-bines effects that occur at multiple temporal and spatial scales. Behavior generation is simpliéd by creating system models that employ times-cale and parameter abstraction techniques. The resultant hybrid systems exhibit discrete and continuous behaviors, which manifest as piecewise continuous behaviors interspersed with discontinuous changes between the continuous operating modes. Mode transitions are induced by internal state changes and external control signals. Sometimes hybrid systems exhibit chattering behaviors at the discontinuous transition boundaries. This presents computational challenges to conventional numerical simulation methods. We develop an efficient, adaptive algorithm for simulating this class of systems, based on a careful analysis of the model semantics at the discontinuous boundaries. Simulation results show that the algorithm is more efficient and accurate for sliding mode systems than conventional integration methods. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Hybrid systems

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MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem - Development and Testing tow...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover.

关键词： Space vehicles Mars Frequency modulation Mechatronics Moon Writing Thermal sensors

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Sliding mode control for an obstacle avoidance strategy based on an harmonic potential field

Sliding mode control for an obstacle avoidance strategy base...

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IEEE Conference on Decision and Control

作者： J. Guldner V.I. Utkin DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany Institute of Control Sciences RAS Moscow Russia

This paper introduces a new integrated path control strategy (combined path planning and motion control) for autonomous systems of arbitrary dimension. A harmonic artificial potential field is used to specify admissible trajectories leading around obstacles. Using a sliding mode controller, motion is generated along the gradient lines of the potential field, avoiding collisions with the obstacles. The extremely low computational complexity of the proposed method makes it very suitable for online applications. The strategy is applied to mobile robots moving amidst known obstacles. Only the obstacle closest to the robot is considered at each time instance. The switching of the two respective gradient fields along the equi-distance line between two obstacles leads to the interesting phenomenon of an additional "spatial" sliding surface, which is examined in detail. The algorithm guarantees approaching the goal point continuously, following a reasonably short path. Numerical examples are presented to demonstrate the utility of this new strategy.< >

关键词： Sliding mode control Motion control Control systems Path planning Mechanical systems Aerospace control Aerodynamics Computational complexity Mobile robots Cost function

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The dlr Moon-Mars Test Site for Robotic Planetary Exploration

The DLR Moon-Mars Test Site for Robotic Planetary Exploratio...

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Space robotics (iSpaRo), International Conference on

作者： Martin Görner Jennifer Cebulsky Andreas Dömel Maximilian Durner Riccardo Giubilato Moritz Kuhne Marcus G. Müller Kristin Lakatos Peter Lehner Roy Lichtenheldt Bernhard Rebele Mattias Roser Ryo Sakagami Yunis Scheeler Martin J. Schuster Manuel Schütt Wolfgang Stürzl Mallikarjuna Vayugundla Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) BL9 Landscape Architects Munich Germany Institute of System Dynamics and Control German Aerospace Center (DLR)

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Building robots for planetary exploration missions requires intensive testing throughout all phases of the design process. Especially, during hard- and software development as well as mission training the process benefits of easy-to-access test sites that offer realistic conditions. For this purpose we have built the 1500 m 2 dlr Moon-Mars test site in Oberpfaffenhofen, Germany. The facility provides a large variety of geological formations and ground substrates on a compact terrain as well as a rich set of power and network connections. As a unique feature of the outdoor test site, we prepared a dedicated link to the German Space Operations Center that enables telerobotic experiments from ISS. Furthermore, we provide an optical tracking system for ground truth measurement and control. We describe the design and construction process of the test site and present an overview of its features. Three experiments with our robots LRU1, LRU2 and the Scout rover regarding autonomous navigation and mapping, autonomous manipulation and sampling as well as advanced mobility tests demonstrate the usage of the test site.

关键词： Training Industries Service robots Space missions Optical variables measurement Optical fiber communication Robots Substrates Telerobotics Software development management

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An ANDECS-MATLAB Multicriteria Design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ Control Structure

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IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective Design Magnetic Suspension Transportation

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Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos

Qualification of the MMX Rover Locomotion Subsystem for the ...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Günther Geyer Franz Hacker Cynthia Hofmann Roman Holderried Alexander Kolb Erich Krämer Viktor Langofer Roy Lichtenheldt Sascha Moser André Fonseca Prince Kaname Sasaki Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control Weßling German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling German Aerospace Center (DLR) Institute of Space Systems Bremen

Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion has never been performed on a body with much lower gravity. Within the Japanese Martian Moon eXploration (MMX) mission, a wheeled rover will land on the Martian Moon Phobos with a gravity of about 1/2000 of the Earth gravity. The Robotic and Mechatronics Center of the German Aerospace Center (dlr-RMC) has designed and built the locomotion subsystem (LSS) for this rover. As the first ever driving gear for milli-gravity, the LSS needed to undergo a comprehensive qualification campaign. Due to the very challenging timeline of this project, the extent of the campaign needed to be carefully tailored to the needs of the mission. This work describes the concept of the verification including some crucial tailoring choices that have been made. The individual domains of verification are then described in detail with their scope, setup, procedure and results. The goal of this publication is to give a good overview and a detailed insight into the verification of the LSS for milli-gravity. Besides follow-up missions to Phobos, this work is also a good foundation for the qualification of future driving gears for low gravity environments or small rovers in general.

关键词： Earth Space vehicles Mars Mechatronics Gears Moon Mobile robots

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On the Popov envelope of the interval trransfer nuictions

On the Popov envelope of the interval trransfer nuictions

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SICE Annual Conference

作者： Long Wang Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany Department of Mechanics Peking University Beijing China

For the collection of Popov plots of interval trans fer function family, a large portion of its outer bo undary comes from the sixteen Kharitonov transfer functions

关键词： Transfer functions Polynomials Uncertainty Stability Control system synthesis Control systems Power system modeling Robustness Adaptive control Robust control

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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1994 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1994

作者： Hager, Gregory D. Grunwald, Gerhard Hirzinger, Gerd Department of Computer Science Yale Station Yale University P.O. Box 208285 New HavenCT06520-8285 United States DLR German Aerospace Research Establishment Institute of Robotics and System Dynamics Miinchenerstr. 20 OberpfaffenhofenD-82234 Germany

ISBN: (纸本)0780319338

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space, teleoperation system. © 1994 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Visual servoing

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Robust controller for multiplicative uncertainty: the time-varying discrete case

Robust controller for multiplicative uncertainty: the time-v...

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American Control Conference (ACC)

作者： V. Ionescu C. Oara Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

The robust stabilization problem for time-varying discrete linear systems subject to multiplicative uncertainties is considered. An evaluation of the stability margin and explicit formulae for the robust controller ar... 详细信息

关键词： Robust control Uncertainty Computer aided software engineering Automatic control Time varying systems Linear systems Robust stability Riccati equations Robustness Linear matrix inequalities

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Fast planning of precision grasps for three-dimensional objects

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Advanced robotics 1997年第5期12卷 535-549页

作者： Fischer, Max Hirzinger, Gerd German Aerospace Center (DLR) Institute of Robotics and System Dynamics Wessling 82230 PO Box 1116 Germany

—In the near future, more and more robots will be used for servicing tasks, tasks in hazardous environments or space applications. Dextrous hands are a powerful and flexible tool to interact with these real world environments that are not specially tailored for robots. In orderto grasp and manipulate real world objects, grasp planning systems are required. Grasp planning for general three-dimensional (3-D) objects is quite a complex problem requiring a large amount of computing time. Fast algorithms are required to integrate grasp planners in online planning systemsfor robots. This paper presents a heuristic approach towards fast planning of precision grasps for realistic, arbitrarily shaped 3-D objects. In this approach a number of feasible grasp candidates are generated heuristically. These grasp candidates are qualified using an efficiently computablegrasp quality measure and the best candidate is chosen. It is shown that only a relatively small number of grasp candidates has to be generated in order to obtain a good — although not optimal — grasp. In Sections I and 2 an introduction to the problem field is given and the dlrHand is presented. Section 3 describes the grasp quality measure used. In Sections 4 and 5 the planning strategy is presented, i.e. how to generate and test grasp candidates. The paper closes with some results (Section 6) and an outlook (Section 7). © VSP and robotics Society of Japan 1997.

关键词： Grasp planning Online planner Planning heuristics Precision grasp

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