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International Scientific Symposium on Metrology and Metrology Assurance (MMA)

作者： Nikolay A. Serov Nay Myo Kyaw Alexey A. Lupachev Elizabeth A. Elicheva Yuriy S. Bekhtin Arkadiy R. Petsinyarzh Information and Measurement Technique Department National Research University “Moscow Power Engineering Institute” Moscow Russian Federation Automation and information technologies in control Department “Ryazan State Radio Engineering University” Ryazan Russian Federation Automatic Control Systems Department “Moscow state Technical University named after N. Eh. Bauman” Moscow Russian Federation

ISBN: (纸本)9781728122144

The time limit of the transient process (TP) in the measuring circuit (MC) is determined by known criteria. These criteria use a first-order dynamic link model. Typically, this model is a priori model for the measurement problems discussed above. In on-line mode, the interval criterion (IC) is used. There is a limitation in the form of a critical value of the time constant (TC) to apply the criterion. Previously, it was found that such a restriction exists for the MC model in the form of a dynamic link of the second order. The functional dependence of the critical value on the parameter in the form of the ratio of the second-order dynamic link TC model was found. This restriction on the use of IC develops the fact that there is such a restriction for MC with a first-order model. It is advisable to analyze the performance of the IC for the third-order MC model. These models are widely used in the simulation of measuring channels. Thus, it is possible to generalize such studies. In this study we used a model with transfer function presented in terms of the diagram Vyshnegradsky with parameters "A" and "B". In this paper, the IC is analyzed for the area of the aperiodic regime of the MC. The simulation results showed that the functional dependence of the critical value on the parameters is presented as a complex surface. For the bisector of the diagram at A and B>8, the critical value is stabilized and set at the level characteristic of the first order model. Based on the information about the behavior of the critical value of the interval criterion for MC with structural uncertainty, it is possible to construct robust algorithms that implement IC. The time limit of the transient process (TP) in the measuring circuit (MC) is determined by known criteria. These criteria use a first-order dynamic coupling model. Typically, this model is apriori model for the measurement problems discussed above.

关键词： Measuring circuit Transient analysis Dynamic link of the third order Interval criteria for the end of the transition process The critical duration of the interval of observation of the process Critical value Transient analysis time-limit dynamic link Integrated circuits functional dependence Generalization Bisector transient processes

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LQR Based Optimal control for Single-Joint Flexible Link Robot

LQR Based Optimal Control for Single-Joint Flexible Link Rob...

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International Conference on control, engineering & Information Technology (CEIT)

作者： Sertaç Ikizoğlu Onur Gürışık Control and Automation Engineering Department Istanbul Technical University (ITU) Istanbul Turkey

ISBN: (纸本)9781538676424

This paper presents application results of several optimal control theories on a single-joint flexible link robot. The main objective is to control the angle of the manipulator with minimum vibration in minimum settling time. In this context, three of Linear Quadratic Regulator (LQR) based optimal control techniques are applied on a physical system. The study gives significant information about choosing the proper method for the specific application. Some undesired system behaviors are observed as backlash effect, uncertain system friction dynamics, etc. Solutions to overcome this type of problems are also proposed in this study. The results obtained give high motivation for further studies in this area since the single-joint flexible link represents a number of systems in practice.

关键词： DC motors Vibrations Steady-state Torque control engineering Information technology

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Intersection Navigation Under Dynamic Constraints Using Deep Reinforcement Learning

Intersection Navigation Under Dynamic Constraints Using Deep...

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International Conference on control, engineering & Information Technology (CEIT)

作者： Ali Demir Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676424

In this study, we present a unified motion planner with low- level controller for continuous control of a differential drive mobile robot. Deep reinforcement agent takes 10 dimensional state vector as input and calculates each wheel's torque value as a 2 dimensional output vector. These torque values are fed into the dynamic model of the robot, and lastly steering commands are gathered. In previous studies, navigation problem solutions that uses deep - RL methods, have not been considered with agent's own dynamic constraints, but it has been done by only considering kinematic models. This is not reliable enough for real-world scenarios. In this paper, deep-RL based motion planning is performed by considering both kinematic and dynamic constraints. According to the simulations in a dynamic environment, the agent succesfully navigates through the intersection with 99.6% success rate.

关键词： Mathematical model Robot kinematics Mobile robots Dynamics Torque Vehicle dynamics

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Design and control of a Tennis Ball Collector Robot

Design and Control of a Tennis Ball Collector Robot

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International Conference on control, engineering & Information Technology (CEIT)

作者： Vehbi Umur Çabuk Ahmet Kubilay Şavkan Ramazan Kahraman Ferdi Karaduman Okan Kırıl Volkan Sezer Control and Automation Engineering Department İstanbul Technical University İstanbul Turkey Mechatronic Engineering Department İstanbul Technical University İstanbul Turkey

ISBN: (纸本)9781538676424

In this study, an autonomous robot that collects scattered tennis balls in a tennis court is designed and developed. The robot perceives the balls by using a camera placed on it and starts to collect the balls starting from the nearest ones. Mechanical design is achieved with considerations given to increase ease of ball capturing and to prevent captured balls falling out. Image processing is implemented using OpenCV libraries on Raspberry Pi 3. Using edge detection algorithm and appropriate color filter, tennis balls are detected and sorted by their distance to the robot. After the generation of desired robot angle, it is converted to appropriate motor velocity values and transmitted to the motor controller unit. In order to achieve the operation, four DC motors are used. Two of them are used for platform movement, one of them is used to control camera angle for ball scanning operation, and the last one is utilized for ball capturing mechanism. On motor controller board with ARM MCU, position and velocity control of two DC motors with rotary encoders are achieved by discrete PI controllers. System design is validated through real world experimental tests.

关键词： Mobile robots DC motors Sports equipment Cameras Robot vision systems Software

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Design and Implementation of Autonomous Parallel and Vertical Parking Mobile Vehicle

Design and Implementation of Autonomous Parallel and Vertica...

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International Conference on control, engineering & Information Technology (CEIT)

作者： Abdullah Kızıl Arzuman Can Kutlucan Cihad Doğan Sena Koçak Volkan Sezer Mechatronics Engineering Department Istanbul Technical University Istanbul Turkey Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676424

With the increase of autonomous vehicle popularity, autonomous parking approaches become more critical. In this study, the autonomous parking problem of a model car with Ackermann steering system is discussed and various algorithms have been tested for both vertical and parallel parking. We also propose a method for the problem of vertical parking. Algorithms have been tested in the simulation environment and on the designed vehicle model. It has been observed that the parking process is successful in real-world tests.

关键词： Mathematical model Kinematics Wheels Software algorithms Robot sensing systems Automobiles DC motors

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A Comparative Study on the Nonlinear control of Ball and Plate

A Comparative Study on the Nonlinear Control of Ball and Pla...

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International Conference on Methods and Models in automation and Robotics (MMAR)

作者： Büşra Şen Türker Türker Department of Control & Automation Engineering Yıldız Technical University İstanbul Turkey

Two different nonlinear controller design techniques are presented and compared for ball and plate system. Firstly, a cascaded controller is designed consisting of inner and outer loop controllers separately. In this design procedure, the inner loop controller provides the tracking of a trajectory by the plate while the outer loop controller generates the reference trajectory for the plate with respect to the command input for the ball. Secondly, a backstepping controller is developed for the same system. Linear dynamics is obtained in the closed loop system with both of the control structures. Finally, numerical simulations are implemented for different reference signals with controller gains providing the closed loop dynamics having the same eigenvalues for both of the designed controllers, and the responses are compared comprehensively.

关键词： Backstepping Dynamics Tracking Mathematical model Trajectory Closed loop systems

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A Lyapunov Function Based Nonlinear controller Design for PVTOL Aircraft

A Lyapunov Function Based Nonlinear Controller Design for PV...

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International Conference on Methods and Models in automation and Robotics

作者： Evren Subasi Turker Turker Department of Control & Automation Engineering Yıldız Technical University İstanbul Turkey

An alternative stabilization procedure based on a Lyapunov function is presented for PVTOL aircraft. The rotational dynamics of the aircraft is represented with complex numbers, and the controller design procedure is given based on this model. Almost global asymptotic stability of the desired position for the aircraft is shown with a Lyapunov function and by the utilization of LaSalle's invariant set principle. The performance of the developed controller is tested via numerical simulations and the results are presented.

关键词： PVTOL Nonlinear control

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PSO Based Approach to the Synthesis of a Cylindrical-Rectangular Ring Microstrip Conformal Antenna Using SVR Models with RBF and Wavelet Kernels

PSO Based Approach to the Synthesis of a Cylindrical-Rectang...

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Mediterrannean Microwave Symposium (MMS)

作者： Mahmud Esad Yigit Tayfun Günel Gülay Öke Günel Department of Electronics & Communication Engineering Istanbul Technical University Istanbul Turkey Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

In this work, particle swarm optimization (PSO) based approach to the synthesis of a cylindrical-rectangular ring microstrip conformal antenna using support vector regression (SVR) models is presented. Resonant frequency of the antenna is obtained by PSO of trained SVR models. Radial basis function (RBF) and wavelet kernel functions are used in SVR models. Simulation examples are given and the results are compared.

关键词： Kernel Resonant frequency Microstrip antennas Computational modeling Training Microstrip

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Model reduction of linear hybrid systems

arXiv

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arXiv 2020年

作者： Gosea, Ion Victor Petreczky, Mihaly Leth, John Wisniewski, Rafael Antoulas, Athanasios C. Group Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstrasse 1 Magdeburg39106 Germany UMR CNRS 9189 CNRS Ecole Centrale de Lille France Department of Electronic Systems Automation and Control Aalborg University Fredrik Bajers Vej 7C Aalborg Denmark Department of Electrical and Computer Engineering Rice University 6100 Main St MS-366 HoustonTX77005 United States DRI Group Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstrasse 1 Magdeburg39106 Germany Baylor College of Medicine 1 Baylor Plaza HoustonTX77030 United States

The paper proposes a model reduction algorithm for linear hybrid systems, i.e., hybrid systems with externally induced discrete events, with linear continuous subsystems, and linear reset maps. The model reduction algorithm is based on balanced truncation. Moreover, the paper also proves an analytical error bound for the difference between the input-output behaviors of the original and the reduced order model. This error bound is formulated in terms of singular values of the Gramians used for model reduction. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear systems

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Internal model controller design via H ∞ dynamic output feedback

Internal model controller design via H ∞ dynamic output fee...

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作者： Iplikci, Serdar Yaman, S. Ustoglu, I. Ucun, L. Department of Control and Automation Engineering Ylldlz Technical University Turkey

This paper deals with internal model controller design via H ∞ dynamic output feedback for linear perturbed systems. The study proposes an internal model controller within the perspective of H ∞ dynamic output feedback, utilizing a linear matrix inequality based optimization algorithm. This proposed method is a synthesis of an internal model controller design that has different application fields, as reported in the literature, and an H ∞ dynamic output feedback controller, which has proven its success in several studies. The proposed controller attenuates disturbances, having bounded energies on controlled output. The originality of the work lies in the combination of two different approaches to obtain an optimal controller design algorithm. The liability and performance of the proposed method are illustrated via simulations, which are applied to a couple of benchmark problems. © The Author(s) 2017.

关键词： Linear matrix inequalities

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