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7th International Conference on Artificial Neural Networks, ICANN 1997

作者： Winkler, S. Wunsch, P. Hirzinger, G. German Aerospace Research Establishment DLR Institute of Robotics and System Dynamics Wessling82230 Germany Signal Processing Lab of the Swiss Federal Institute of Technology in Lausanne Switzerland

ISBN: (纸本)3540636315

This paper proposes a novel solution to the problem of pose estimation of three-dimensional objects using feature maps. Our approach relies on quaternions as the mathematical representation of object orientation. We introduce the rigid map, which is derived from Koho-nen's self-organizing feature map. Its topology is fixed and chosen in accordance with the quaternion representation. The map is trained with computer-generated object views such that it responds to a preprocessed input image with one or more sets of object orientation parameters. Experimental results demonstrate that a pose estimate within the accuracy requirements can be found in more than 90% of all cases. Our current implementation operates at near frame rate on real input images. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Self organizing maps

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ANDECS Computational Experimenting with the IAVSD Car-Suspension Benchmark ILTIS

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IFAC Proceedings Volumes 1995年第23期28卷 95-99页

作者： W. Schwartz H.-D. Joos DLR-Oberpfaffenhofen Vehicle Systems Dynamics Institute for Robotics & System Dynamics D-82230 Wessling Germany DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

Nonlinear vehicle system dynamics plays an important role in the development and the assessment of active suspension control systems. The current way of designing active suspension control systems mostly uses simplified models, in order to to apply analytical synthesis methods or to achieve low complexity of the controller when using such methods. However, advanced vehicle design require methodologies, that can deal with more complex vehicle models, as a step towards integrated design. Multi-objective control design is such a methodology, that is open to cope with any controller structure and arbitrary kind of models. In this case study the usefulness of this methodology is investigated by designing an actively controlled vehicle suspension with and without preview for the IAVSD benchmark model ILTIS. The full nonlinear model is used for design. The ’nonlinear’ results are compared to the results of a ’linear’ design, based on linearized vehicle models.

关键词： Computer-Aided Multi-Objective Design Vehicle system dynamics Automotive Car-Suspensions

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A sliding mode control approach to automatic car steering

A sliding mode control approach to automatic car steering

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American Control Conference (ACC)

作者： J. Guldner V.I. Utkin J. Ackermann DLR Institute for Robotics and System Dynamics Wessling Germany

Highway automation is a promising approach to cope with increasing road traffic and congestions. An important control subtask of an intelligent vehicle/highway system is automatic steering for lateral vehicle control. Due to system uncertainties and the wide range of operating conditions, state-of-the-art robust control techniques are required. This paper introduces two automatic steering controllers for cars driving under highway conditions. The control design is based on sliding mode control and robust state observation. It is shown that good tracking of a reference path, delineated either continuously or discretely, can be achieved with a minimum effort in sensing and without preview of the road curvature.

关键词： Sliding mode control Automated highways Automatic control Control systems Robust control Automation Intelligent vehicles Road vehicles Uncertainty Control design

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Predictive vision based control of high speed industrial robot paths

Predictive vision based control of high speed industrial rob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange P. Wunsch G. Hirzinger Institute of Robotics and System Dynamics DLR Wessling Germany

A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in robot's kinematic parameters. Vision and control work asynchronously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known.

关键词： Industrial control Service robots Robot vision systems Robot sensing systems Bandwidth Image analysis Performance analysis Uncertainty Robot kinematics Delay

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Design and flight testing of manual flight control laws

Design and flight testing of manual flight control laws

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AIAA Guidance, Navigation and Control Conference 2011

作者： Lombaerts, T.J.J. Looye, G.H.N. German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869525

This paper describes the design of a manual flight controller, based upon nonlinear model-based control laws. These control laws include the previously developed concept of Pseudo Control Hedging (PCH). This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. This control algorithm has been applied in the body angular rate control loops of a high fidelity simulation model of the VFW-614 ATTAS (Advanced Technologies Testing Aircraft system) laboratory aircraft, where its beneficial influence has been illustrated. Test flights have been performed with ATTAS to evaluate the flight control technique in a relevant environment. © 2011 by Thomas Lombaerts and Gertjan Looye, German Aerospace Center dlr. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Control theory

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Robust stability of polynomial families under nonlinearly correlated perturbations: Boundary results with applications 4

Robust stability of polynomial families under nonlinearly co...

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4th European Control Conference, ECC 1997

作者： Wang, Long Department of Mechanics Peking University Beijing100871 China Institute for Robotics and System Dynamics German Aerospace Research Center DLR-Oberpfaffenhofen WesslingD-82230 Germany

Kharitonov-like result and edge result are established for the stability of a class of polynomial families with nonlinearly correlated perturbations. Illustrative examples are presented.

ISBN: (纸本)9783952426906

Kharitonov-like result and edge result are established for the stability of a class of polynomial families with nonlinearly correlated perturbations. Illustrative examples are presented.

关键词： Robust control

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Aerodynamic model identification of Frauke UAV

Aerodynamic model identification of Frauke UAV

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AIAA Atmospheric Flight Mechanics Conference 2012

作者： Lombaerts, T.J.J. German Aerospace Center DLR Münchner Straße 20 82234 Weßling Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (数字)9781624101847

ISBN: (纸本)9781624101847

This paper describes the methods and results of an identification campaign, which has been set up for the mini UAV Frauke. The estimated parameter values will be used to elaborate an accurate non-linear simulation model of the UAV, which will subsequently be used to develop model based non-linear control techniques for the vehicle. The identifica- tion procedure has been performed with the so-called two step method. First, the aircraft states are estimated based upon the aircraft kinematics, after which the aerodynamic model parameters are identified. It has been found that, due to the dynamic behaviour of the UAV, a more extended aerodynamic model including nonlinear terms is needed. Residual analysis confirms the accuracy of the obtained results. © 2012 by Thomas Lombaerts, German Aerospace Center dlr. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Unmanned aerial vehicles (UAV)

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On-line trajectory optimization for kinematically redundant robot-manipulators and avoidance of moving obstacles

On-line trajectory optimization for kinematically redundant ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Schlemmer DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

Novel concepts are presented and verified for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to follow a moving target in three-dimensional work space. Hereby, the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The key idea is to transform the resulting overall motion planning problem into a timed series of variational problems, which, in turn, may be formulated as parameter optimization problems, that can be efficiently solved in real-time by the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics. The feasibility of the approach has been verified by example of a ten-degrees-of-freedom manipulator model.

关键词： Robots Manipulator dynamics Path planning Trajectory Kinematics Acceleration Calculus Real time systems Strategic planning Boundary value problems

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Dynamic trajectory optimization in real time for moving obstacles avoidance by a ten degrees of freedom manipulator

Dynamic trajectory optimization in real time for moving obst...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and systems. Human Robot Interaction and Cooperative Robots

作者： M. Schlemmer R. Finsterwalder G. Grubel DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

A method is addressed for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to teach interactively position and orientation of the tool-center point frame, which is fixed in the manipulator hand. Thereby the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance, singularity avoidance, and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The key idea is to transform the resulting overall motion planning problem into a time series of point-to-point trajectory planning problems, which, in turn, may be formulated as parameter optimization problems, that can be efficiently solved in real-time by the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics.

关键词： Manipulator dynamics Trajectory Path planning Kinematics Optimization methods Real time systems Acceleration Humans Constraint optimization Robots

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Computation of Kronecker-like forms of a system pencil: applications, algorithms and software

Computation of Kronecker-like forms of a system pencil: appl...

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IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： A. Varga DLR-Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

Kronecker-like forms of a system pencil are useful in solving many computational problems encountered in the analysis and synthesis of linear systems. The reduction of system pencils to various Kronecker-like forms can be performed by structure preserving O(n/sup 3/) complexity numerically stable algorithms. The presented algorithms form the basis of a modular collection of LAPACK compatible FORTRAN 77 subroutines to perform the reduction of a system pencil to several Kronecker-like forms.

关键词： Application software Software algorithms Vectors Eigenvalues and eigenfunctions Poles and zeros Riccati equations Robots Algorithm design and analysis Linear systems State-space methods

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