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International Conference on systems and control (ICSC)

作者： A. Samanis P. S. Trakas X. Papageorgiou K. J. Kyriakopoulos C. P. Bechlioulis Control Systems Lab School of Mechanical Engineering National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (数字)9781665465076

ISBN: (纸本)9781665465083

In this paper, we present a methodology that ensures a priori that all possible unknown dynamics of the system within a compact set of operation will be excited. A controller is used to make sure that the system with unknown dynamics will follow the reference trajectory and Radial Basis Function (RBF) neural networks are employed to estimate the unknown nonlinearities. The persistency of excitation condition is guaranteed as a prerequisite to achieve accurate estimation of the unknown nonlinear terms and efficient learning. A simulation example clarifies the proposed approach and verifies the aforementioned assertions.

关键词： Neural networks Estimation control systems Trajectory Nonlinear dynamical systems

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Structure synthesis of symmetrical Low-DOF parallel manipulators

Structure synthesis of symmetrical Low-DOF parallel manipula...

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IEEE International Conference on Robotics and Biomimetics

作者： Hairong Fang Yongli Gao Yuefa Fang Peter X. Liu School of Mechanical and Electronic Control Engineering Beijing Jiaotong University Beijing China Department of Systems and Computer Engineering Carleton University Ottawa Canada

ISBN: (纸本)9781424417612;1424417619

In this paper, a new method is presented for the structure synthesis of Low-DOF symmetrical parallel manipulators based on the theory of screws. A parallel manipulator with three rotational DOFs and one translational DOF is used as an example to illustrate the procedure. All possible force constrained limb that can be used to construct low- DOF parallel manipulators can be enumerated, and the potential parallel mechanisms can be thus enumerated, which is very important for the optimal design of new parallel manipulators. Simulation results show the effectiveness and validity of this method.

关键词： Fasteners Manipulators Parallel robots Vectors Biomimetics control engineering Computational modeling Concurrent computing systems engineering and theory Manufacturing

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Obstacle avoidance in formation using navigation-like functions and constraint based programming

Obstacle avoidance in formation using navigation-like functi...

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2013 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Michele Colledanchise Dimos V. Dimarogonas Petter Ögren Centre for Autonomous Systems Computer Vision and Active Perception Lab School of Computer Science and Communication The Royal Institute of Technology - KTH Stockholm Sweden Centre for Autonomous Systems Automatic Control Lab School of Electrical Engineering The Royal Institute of Technology - KTH Stockholm Sweden

In this paper, we combine navigation function-like potential fields and constraint based programming to achieve obstacle avoidance in formation. Constraint based programming was developed in robotic manipulation as a technique to take several constraints into account when controlling redundant manipulators. The approach has also been generalized, and applied to other control systems such as dual arm manipulators and unmanned aerial vehicles. Navigation functions are an elegant way to design controllers with provable properties for navigation problems. By combining these tools, we take advantage of the redundancy inherent in a multi-agent control problem and are able to concurrently address features such as formation maintenance and goal convergence, even in the presence of moving obstacles. We show how the user can decide a priority ordering of the objectives, as well as a clear way of seeing what objectives are currently addressed and what are postponed. We also analyze the theoretical properties of the proposed controller. Finally, we use a set of simulations to illustrate the approach.

关键词： Navigation Convergence Programming Collision avoidance Robots Maintenance engineering

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A Distributed Simplex Algorithm and the Multi-Agent Assignment Problem

A Distributed Simplex Algorithm and the Multi-Agent Assignme...

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2011 American control Conference (ACC)

作者： Mathias Burger Giuseppe Notarstefano Frank Allgower Francesco Bullo Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Engineering University of Lecce Lecce Italy Dynamical Systems and Computation University of California슠Santa Barbara CA USA

In this paper we propose a novel distributed algorithm to solve degenerate linear programs on asynchronous networks. Namely, we propose a distributed version of the well known simplex algorithm. We prove its convergence to the global lexicographic minimum for possibly fully degenerate problems and provide simulations supporting the conjecture that the completion time scales linearly with the diameter of the graph. The algorithm can be interpreted as a dual version of the constraints consensus algorithm proposed in [1] to solve abstract programs when the last is applied to linear programs. Finally, we study a multi-agent task assignment problem and show that it can be solved by means of our distributed simplex algorithm.

关键词： Linear programming Optimization Distributed algorithms Algorithm design and analysis Vectors Convergence Program processors

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Automated particle swarm optimization based PID tuning for control of robotic arm

Automated particle swarm optimization based PID tuning for c...

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： Ouboti Djaneye-Boundjou Xingsheng Xu Raúl Ordóñez Electrical Engineering (Control Systems) University of Dayton Dayton OH USA Department of Electrical and Computer Engineering University of Dayton Dayton OH USA

In this paper, we revisit the Proportional-Integral-Derivative (PID) controller design for torque control of robotic manipulators, for which, appropriate tuning of the said controller could prove very burdensome, especially with increasing degrees-of-freedom (DOF) and/or when designing a Multi-Input Multi-Output (MIMO) PID controller. That is, when generating and tuning matrix P-I-D gains as opposed to single values, in order to take in account possible coupling effects between involved joints. We tackle both joint space and workspace PID control tuning problems for reference tracking from an optimization standpoint. Using a previously developed stable Adaptive Particle Swarm Optimizer, we are able to automatically and systematically tune P-I-D gains, be it as single gain values or gain matrices, while optimizing a cost or fitness function. The aforesaid cost function can be arranged to feature various aggregated performance measures, `normalized' so as to overcome differences in scale if any. Taking in account some practical limitations, a 2-DOF arm is used here as a case study. Numerical simulations are provided to substantiate the adequacy of our method.

关键词： Tuning Manipulators Robot kinematics Algorithm design and analysis PD control Particle swarm optimization

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OPTIMIZED ALLOCATION OF CHLORINATION STATIONS FOR INTEGRATED QUANTITY AND QUALITY control IN DRINKING WATER DISTRIBUTION systems

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IFAC Proceedings Volumes 2007年第9期40卷 73-78页

作者： M. Drewa M.A. Brdys Department of Automatic Control Gdansk University of Technology ul G. Narutowicza 11/12 80 -952 Gdansk Poland School of Engineering Department of Electrical Electronic and Computer Engineering University of Birmingham Birmingham B15 2TT UK

Providing required quality of water delivered to the consumers is still a challenging operational task at drinking water distribution systems. Water quality meets the quality requirements at the outputs from the treatment plants but it may significantly deteriorate when travelling throughout the system and become not usable at the consumption nodes. It becomes then necessary to introduce secondary chlorine disinfection at certain nodes within the system network. The booster stations are located at these quality control nodes to inject the chlorine so that the quality requirements are met throughout the network, including the consumption nodes. The integrated quality and quantity optimized control can then be safely carried out in the system. The paper proposes a method for allocation of the booster stations such that a desired trade off between several objectives is robustly achieved. An advanced genetic solver of the derived optimization task is applied to determine the optimized allocation. The method is illustrated by application to the case study system.

关键词： quality control optimization problems genetic algorithms environmental engineering algorithms water quality

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Differentially Private Online Federated Learning with Correlated Noise

Differentially Private Online Federated Learning with Correl...

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IEEE Conference on Decision and control

作者： Jiaojiao Zhang Linglingzhi Zhu Mikael Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Systems Engineering and Engineering Management Chinese University of Hong Kong

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We introduce a novel differentially private algorithm for online federated learning that employs temporally correlated noise to enhance utility while ensuring privacy of continuously released models. To address challenges posed by DP noise and local updates with streaming non-iid data, we develop a perturbed iterate analysis to control the impact of the DP noise on the utility. Moreover, we demonstrate how the drift errors from local updates can be effectively managed under a quasi-strong convexity condition. Subject to an $(\epsilon, \delta)$ DP budget, we establish a dynamic regret bound over the entire time horizon, quantifying the impact of key parameters and the intensity of changes in dynamic environments. Numerical experiments confirm the efficacy of the proposed algorithm.

关键词： Privacy Federated learning Heuristic algorithms Noise Signal processing algorithms Servers

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Towards an intelligent wearable ankle robot for assistance to foot drop

Towards an intelligent wearable ankle robot for assistance t...

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IEEE International Conference on systems, Man and Cybernetics

作者： Uriel Martinez-Hernandez Adrian Rubio-Solis Victor Cedeno-Campos Abbas A. Dehghani-Sanij Department of Electronic and Electrical Engineering and the Centre for Autonomous Robotics (CENTAUR) the University of Bath Bath UK Department of Automatic Control and Systems Engineering and the Department of Mechanical Engineering the University of Sheffield Sheffield UK School of Mechanical Engineering the University of Leeds Leeds UK

ISBN: (纸本)9781728145709

A wearable ankle robot prototype for assistance to foot drop is presented in this work. This device is built with soft and hard materials and employs one inertial sensor. First, the ankle robot uses a high-level method, developed with a Bayesian formulation, for recognition of walking activities and gait periods. Second, a low-level method, with a proportional-integral-derivative controller (PID), controls the wearable device to operate in assistive and transparent modes. In an assistive mode, activated by the toe-off detection, the wearable device assists the human foot in dorsiflexion orientation to reduce the effect of foot drop abnormality. In a transparent mode, activated by the heel-contact detection, the robot device follows the movements performed by the human foot. The wearable prototype is validated with experiments, in simulation and real-time modes, for recognition of walking activity and control of assistive and transparent modes during walking. Experiments achieved 99.87% and 99.20% accuracies for recognition of walking activity and gait periods. Results also show the ability of the wearable robot to operate according to the gait period recognised during walking. Overall, this work offers a wearable robot prototype with the potential to assist the human foot during walking, which is important to allow subjects to recover their confidence and quality of life.

关键词： Legged locomotion Foot Robot sensing systems Bayes methods Wearable robots Angular velocity

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Efficient two-dimensional ARX modeling

Efficient two-dimensional ARX modeling

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IEEE International Conference on Image Processing

作者： G.-O. Glentis C.H. Slump O.E. Herrmann Department of Electrical Engineering Control Systems and Computer Engineering Group BSC Laboratory for Network Theory and VLSI-Design University of Twente Enschede Netherlands

In this paper a fast spatial adaptive algorithm is presented for the efficient least squares (LS), autoregressive exogenous (ARX), two-dimensional (2-D) modeling. Filter masks of general boundaries are allowed. Efficient space updating recursions are developed by exploiting the spatial shift invariance property of the 2-D data set.< >

关键词： Least squares methods Finite impulse response filter Image edge detection Equations Shape Vectors control systems control engineering computing computer networks systems engineering and theory

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Gaussian process-based visual pursuit control with unknown target motion learning in three dimensions

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SICE Journal of control, Measurement, and System Integration 2021年第1期14卷 116-127页

作者： Omainska, Marco Yamauchi, Junya Beckers, Thomas Hatanaka, Takeshi Hirche, Sandra Fujita, Masayuki Department of Information Physics and Computing The University of Tokyo Tokyo Japan Department of Electrical and Systems Engineering University of Pennsylvania PennsylvaniaPA United States Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Computer Engineering Technical University of Munich Munich Germany

In this paper, we propose an observer-based visual pursuit control integrating three-dimensional target motion learning by Gaussian Process Regression (GPR). We consider a situation where a visual sensor equipped rigid body pursuits a target rigid body whose velocity is unknown but dependent on the target's pose. We estimate the pose from visual information and propose a Gaussian Process (GP) model to predict the target velocity from the pose estimate. We analyse stability of the proposed control by showing that estimation and control errors are ultimately bounded with high probability. Finally, simulations illustrate the performance of the proposed control schemes even if the visual measurement is corrupted by noise. © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Gaussian distribution

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