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Periodic Lyapunov equations: Some applications and new algorithms

INTERNATIONAL JOURNAL OF CONTROL 1997年第1期67卷 69-87页

作者： Varga, A DLR–Oberpfaffenhofen German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling D-82230 P.O.B. 1116 Germany

The discrete-time periodic Lyapunov equation has several important applications in the analysis and design of linear periodic control systems. Specific applications considered are the solution of state- and output-feedback optimal periodic control problems, the stabilization by periodic state feedback and the square-root balancing of discrete-time periodic systems. Efficient and numerically reliable algorithms based on the periodic Schur decomposition are proposed for the solution of periodic Lyapunov equations. The proposed algorithms are extensions of the direct solution methods for standard discrete-time Lyapunov equations for the case of indefinite as well as non-negative definite solution.

关键词： Lyapunov methods

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Investigating the Synthesis of RBF Networks

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Journal of systems Engineering and Electronics 1996年第3期7卷 25-29页

作者： V. David Sanchez A.(German Aerospace Research Establishment, dlr Oberpfaffenhofeninstitute for Robottes and system dynamicsD-82230 Wessling, Germany) German Aerospace Research Establishment DLR Oberpfaffenhofen Institute for Robotics and System Dynamics D-82230 Wessling Germany

The approximation capability of RBF networks is investigated using a test function and a fixed finite number of training data. The test function used allows to confirm the recently introducedconcept of second derivative dependent placement of RBF centers. Different Gaussian RBF networksare trained varying the width and the number of centers (number of hidden units). The dependenceof the approximation error on these network parameters is studied experimentally.

关键词： Approximation error Function approximation Neural network synthesis Number of hidden units Radial basis functions.

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dlr's multisensory articulated hand. II. The parallel torque/position control system 15

DLR's multisensory articulated hand. II. The parallel torque...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Liu, H. Meusel, P. Butterfass, J. Hirzinger, G. DLR German Aerospace Center Institute of Robotics and System Dynamics Wessling82234 Germany

ISBN: (纸本)078034300X

This paper Gives a brief description of feedback control systems engaged in dlr's recently developed multisensory 4-finger robot hand. The work is concentrated on constructing the dynamic model and the control strategy for one joint of the fingers. One goal is to make the hand follow a dataglove for fine manipulation tasks. Our proposed strategy for this task is parallel torque/position control;sliding mode control is realized for the robust trajectory tracking in free space;while impedance control is provided for compliance control in the constrained environment;and an easily-designed parallel observer is used for the switch between these two control modes during the transition from or to contact motion. Some experimental results show the effectiveness of proposed strategy for the pure position control, torque control, and the transition control. © 1998 IEEE.

关键词： Position control

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dlr's multisensory articulated hand. I. Hard and software architecture 15

DLR's multisensory articulated hand. I. Hard and software ar...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Butterfass, J. Hirzinger, G. Knoch, S. Liu, H. DLR German Aerospace Center Institute of Robotics and System Dynamics Wessling82234 Germany

ISBN: (纸本)078034300X

The main features of dlr's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- And software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development. © 1998 IEEE.

关键词： Hydraulic actuators

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Vision for Space Robots on a Parallel Distributed Architecture

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Integrated Computer-Aided Engineering 1994年第5期1卷 431-452页

作者： Sánchez A., V. David German Aerospace Research Establishment DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling D-82330 Germany

This article reports on two main contributions: the introduction of a parallel distributed architecture for robot vision, and robust robot vision techniques and their computationally efficient parallel implementation for grasping a polyhedral object in 3-D space. The parallel distributed architecture for robot vision is based on transputers (message-passing parallel processors) and vector signal processors. Vision algorithms including straight line detection, binocular stereo correspondence, surface reconstruction, motion estimation, recognition, and localization have been implemented in the OCCAM parallel programming language and run in adequate processor network topologies. The integration of the Robot Vision system into the dlr Telerobotics Ground Station and its application in the frame-work of the first German space robotics experiment ROTEX (“robotics Technology EXperiment”) to the task of grasping a floating object, the dlr FreeFlyer, under μ-gravity is presented. For this task a hybrid approach to parallelism has been adopted involving geometric and algorithm parallelism. The integration of the whole set of robust robot vision techniques for this task is reported for the first time in this article. © John Wiley and Sons, Inc.

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The ANDECS CACE Framework

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IEEE Control systems 1995年第2期15卷 8-13页

作者： Grübel, G. Institute of Robotics and System Dynamics DLR—German Aerospace Research Establishment Oberpfaffenhofen D-82234 Wessling Germany

Computer-aided control engineering (CACE) environments, in order to be reusable in a broad spectrum of applications, have to be based on an open software framework that provides seven classes of services: database services; model-definition services; algorithmic services; tool-control services; task-control services; user-interaction services; and process-communication services. This is detailed herein with the available CACE framework for the application system ANDECS.< >

关键词： Application software Power engineering and energy Software packages Packaging Databases Data engineering Software tools Operating systems systems engineering and theory Control engineering

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Registration of CAD-models to images by iterative inverse perspective matching

Registration of CAD-models to images by iterative inverse pe...

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Wunsch, P. Hirzinger, G. German Aerospace Research Establishment - DLR Institute for Robotics and System Dynamics 82230 Wessling Germany

ISBN: (纸本)081867282X

A new algorithm for registering a 3D model to a single or a sequence of 2D images without a-priori knowledge of correspondences is presented. The algorithm is composed of two iterated steps: the first step determines correspondences between image features and model data, while the second one computes the 3D rigid body transformation that minimizes the displacement of the matched points. As camera images do not yield full 3D information, the key idea proposed is to exploit the inverse perspective, i.e. the projection ray determined by the focal point of the camera and an image feature point. The inverse perspective yields the constraints for both correspondence search and pose estimation in 3D space rather than in the image plane. This not only simplifies the motion parameter estimation but also reduces matching ambiguities due to occlusions. In addition, a robust M-estimation technique reduces the impact of false correspondences. Experimental results show that complex, 3D CAD-models can be registered efficiently and accurately to images, even if image features are incomplete, fragmented and noisy. © 1996 IEEE.

关键词： Iterative methods

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Damping of vehicle roll dynamics by gain scheduled active steering

Damping of vehicle roll dynamics by gain scheduled active st...

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1999 European Control Conference, ECC 1999

作者： Ackermann, Jurgen Odenthal, Dirk DLR German Aerospace Center Institute of Robotics and System Dynamics WesslingD-82230 Germany

ISBN: (纸本)9783952417355

Active steering is applied to robustly reduce the rollover risk of vehicles with an elevated center of gravity. An actuator sets an auxiliary steering angle which is mechanically added to the steering angle commanded by the driver. The control law presented, is based on feedback of the roll rate and the roll acceleration. The controller gains are scheduled with the speed and the vehicle's CG height. The controller gains are found by the parameter space approach and constrained optimization in frequency domain. Robust reduction of transient rollover risk is shown by evaluation of the sensitivity function at various operating points. Simulation of a double lane change maneuver illustrates the benefits in time domain. © 1999 EUCA.

关键词： Robust control

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Nonlinear steering and braking control for vehicle rollover avoidance

Nonlinear steering and braking control for vehicle rollover ...

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1999 European Control Conference, ECC 1999

作者： Odenthal, Dirk Bunte, Tilman Ackermann, Jurgen DLR German Aerospace Center Institute of Robotics and System Dynamics Oberpfaffenhofen WesslingD-82230 Germany

ISBN: (纸本)9783952417355

Steering and braking control is applied to avoid rollover of road vehicles. The control concept presented is composed of three feedback loops: Continuous operation steering control, emergency steering control and emergency braking control. In continuous operation the roll rate and the roll acceleration are fed back by velocity scheduled gains to the front wheel steering angle. Thereby, the vehicle's roll damping is robustly improved for a wide range of speed and height of the center of gravity. The latter may change for example with a truck from ride to ride. A rollover coefficient is defined that basically depends on the lateral acceleration at the center of gravity of the vehicle's sprung mass. For critical values of this variable the emergency steering and braking system is activated. The rollover coefficient is also used for nonlinear feedback to the front wheel steering angle. The control concept is evaluated by linear sensitivity analysis and by simulations. Additionally, absolute stability of the steering control concept is verified using Popov's criterion. © 1999 EUCA.

关键词： Robust control

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Computation of Kalman decompositions of periodic systems

Computation of Kalman decompositions of periodic systems

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2003 European Control Conference, ECC 2003

作者： Varga, A. German Aerospace Center DLR - Oberpfaffenhofen Institute of Robotics and System Dynamics WesslingD-82234 Germany

ISBN: (纸本)9783952417379

We consider the numerically reliable computation of reachability and observability Kalman decompositions of a periodic system with time-varying dimensions. These decompositions generalize the controllability/observability Kalman decompositions for standard state space systems and have immediate applications in the structural analysis of periodic systems. We propose a structure exploiting numerical algorithm to compute the periodic controllability form by employing exclusively orthogonal similarity transformations. The new algorithm is computationally efficient and strongly backward stable, thus fulfils all requirements for a satisfactory algorithm for periodic systems. © 2003 EUCA.

关键词： Numerical methods

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