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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Tsuruhara, Satoshi Ito, Kazuhisa Graduate School of Engineering and Science Functional Control Systems Shibaura Institute of Technology Minuma Saitama3378570 Japan Japan Society for the Promotion of Science Tokyo1020083 Japan Shibaura Institute of Technology Department of Machinery and Control Systems Minuma Saitama3378570 Japan

ISBN: (纸本)9798350395440

Adaptive FRIT (A-FRIT) with exponential for-getting (EF) has been proposed for time-varying systems to improve the data dependence of FRIT, which is a direct data-driven tuning method. However, the EF -based method is not a reliable controller because it can cause significant degradation of the control performance and instability unless the persistent excitation (PE) condition is satisfied. To solve this problem, we propose a new A-FRIT method based on directional forgetting (DF) and exponential resetting that can forget old data without instability regardless of the PE condition. To confirm the effectiveness of the proposed method, we applied it to artificial muscle control with strong asymmetric hysteresis characteristics and evaluated its robust performance against load changes during the experiment. The experimental results show that the proposed method based on DF achieves high control performance and is robust against changes in the characteristics and/or target trajectory. The proposed method is also practical because it does not require system identification, model structure, or prior experimentation. © 2024 IEEE.

关键词： Time varying systems

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Discussion of Teleoperation Support System Design Guideline for Working robot in Radiation Narrow Environment 23

Discussion of Teleoperation Support System Design Guideline ...

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23rd International Conference on control, Automation and Systems, ICCAS 2023

作者： Kobayashi, R. Yoshimi, T. Graduate School of Engineering and Science Shibaura Institute of Technology Functional Control Systems Course Tokyo135-8548 Japan College of Engineering Shibaura Institute of Technology Department of Electrical Engineering Tokyo135-8548 Japan

ISBN: (纸本)9788993215274

In this work, we propose a design guideline of teleoperation support system for working robots in radiation narrow environments. The proposed guideline is discussed to configure the robot system with as few sensors as possible because of decreasing the sensor failure risk by high radiation. This paper describes discussion results of the guideline candidate, focusing on relationship between the required information for robot teleoperation and number of sensors that consists of the support system. Additionally, we present some support systems that were developed for an inspection or an investigation of nuclear power plants as development cases. As a result of the guideline calculation for each development cases, we confirmed that the proposed guideline increases as the required radiation tolerance is high, and the support system is classified by the guideline. In case that the torelance is more than 200 Gy, available sensors are limited, and a sensor-saving configuration is adopted to decrease the robot failur risk by using in combination with a sensor for the robot operation. © 2023 ICROS.

关键词： Remote control

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A Dynamic Operational Optimization Method for robotic Mobile Fulfillment Systems with Inventory Discrepancy Events

A Dynamic Operational Optimization Method for Robotic Mobile...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Ma, Huai Zhao, Ziyan Liang, Jiaqi Li, Xingyang Liu, Shixin Northeastern University Department of Information Science and Engineering Shenyang110819 China College of Information Science and Engineering Northeastern University Shenyang110819 China Foshan Graduate School of Innovation Northeastern University Foshan528311 China Polytechnique Montréal Département de Mathématiques et Génie Industriel Montréal Canada Northeastern University Faculty of Robot Science and Engineering Shenyang110819 China School of Control Engineering Northeastern University at Qinhuangdao Hebei Qinhuang-dao066004 China

ISBN: (纸本)9781665410205

A robotic Mobile Fulfillment System (RMFS) is an emerging 'cargos-to-person' picking system that relies on the broom of Internet of Things (IoT) technology. It aims to offer significant enhancements in order picking efficiency. However, dynamic disturbances, such as inventory discrepancies arising from errors in receiving, shipping, and handling of goods, often disrupt its operations, leading to degraded service and increased operational costs, thereby affecting overall system performance. Traditional optimization solutions may necessitate adaptations or overhauls in response to such disturbances. This paper introduces a proactive multi-pathway response algorithm tailored to mitigating dynamic disturbances in RMFS, particularly concerning inventory discrepancies. We extend an open-source simulation framework to evaluate the performance of the proposed algorithm and conduct a comparative analysis of dynamic systems. Experimental results indicate that our proposed algorithm can effectively improve the processing efficiency of abnormal orders with the minimal system-wide impact, highlighting its potential to well address dynamic and abnormal events in smart warehouses. © 2024 IEEE.

关键词： Intelligent robots

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Finite-time robust performance improvement for non-linear systems in the presence of input non-linearity and external disturbance

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IET control Theory and Applications 2023年第6期17卷 672-682页

作者： Wang, Haoping Ghaffari, Valiollah Mobayen, Saleh Bartoszewicz, Andrzej Fekih, Afef Assawinchaichote, Wudhichai School of Automation Nanjing University of Science and Technology Nanjing China Department of Electrical Engineering Persian Gulf University Bushehr Iran Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Yunlin Douliou Taiwan Institute of Automatic Control Lodz University of Technology Lodz Poland Department of Electrical and Computer Engineering University of Louisiana at Lafayette LafayetteLA United States Department of Electronic and Telecommunication Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

The main focus of this research is on improving the performance of dynamic systems with actuator non-linearities and time-varying disturbances. To this end, using the concept of finite-time stability, a novel observer is presented to estimate the disturbances in systems with input non-linearities. Then, introducing an innovative sliding manifold, a robust observer-based technique is derived to guarantee the finite-time stability of the sliding surface. Hence, the closed-loop system would be stable in the presence of hard non-linearities and time-varying disturbances. The performance of the proposed approach was assessed in using a simulation study of two numerical examples. The obtained results and comparison with a conventional method confirmed the benefits of the suggested approach. © 2022 The Authors. IET control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Closed loop systems

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LMI-Based Luenberger Observer Design for Uncertain Nonlinear Systems with External Disturbances and Time-Delays

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IEEE Access 2023年 11卷 71823-71839页

作者： Karami, Hamede Nguyen, Ngoc Phi Ghadiri, Hamid Mobayen, Saleh Bayat, Farhad Skruch, Pawel Mostafavi, Fatemeh University of Zanjan Faculty of Engineering Department of Electrical Engineering Zanjan45371-38791 Iran Sejong University Department of Aerospace Engineering Seoul05006 Korea Republic of Islamic Azad University Qazvin Branch Department of Electrical Engineering Qazvin34199-15195 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Douliou640301 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper investigates the simultaneous design of a controller and Luenberger state observer for systems with time-delays, external disturbances, uncertainties, modeling errors, and unknown nonlinear perturbations. The state-feedback control approach and state-observer existence conditions are formulated using the Linear Matrix Inequalities (LMIs). By defining the estimation error, the equations of the closed-loop system are rewritten. External disturbances, uncertainties, unknown nonlinear perturbations, and constant time-delays are considered in system modeling. By using LMI techniques, the estimation error is converged to zero. Therefore, the time-delays, uncertainties, and external disturbance effects on the system output, which have not been considered simultaneously before, are minimized, and the closed-loop system is stabilized. The performance of the proposed approach is verified by simulation of two examples, Flexible-Link Manipulator (FLM) dynamics, and Continuous Stirred Tank Reactor (CSTR) system. These examples illustrate the reliability of the suggested method. © 2013 IEEE.

关键词： Linear matrix inequalities

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Robust-Guaranteed Approximation of Disturbance Invariant Set for Systems with Near-Unit-Disk Spectral Radius 63

Robust-Guaranteed Approximation of Disturbance Invariant Set...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Nguyen, Duc Giap Park, Suyong Li, Nan Park, Jinrak Kim, Dohee Eo, Jeong Soo Han, Kyoungseok Kyungpook National University Graduate School of Mechanical Engineering Korea Republic of Hanyang University Department of Automotive Engineering Seoul04763 Korea Republic of Tongji University School of Automotive Studies Shanghai201804 China Hyundai Motor Company Electrified Systems Control Research Lab Korea Republic of

ISBN: (纸本)9798350316339

This study presents a practical algorithm for approximating the Robust Positively Invariant (RPI) set within the context of robust Tube Model Predictive control (MPC) for discrete-time, linear time-invariant systems. When the stable matrix exhibits a spectral radius close to the unit disk, computing the RPI set becomes challenging, potentially rendering it infeasible. We first analyze the impact of the spectral radius on RPI set convergence, providing an insight into the problem. Subsequently, we propose an approach to integrate approximation into the RPI set computation while preserving the robustness of the corresponding tightened sets. This is achieved by enforcing the upper and lower dimensional bounds of the RPI set during computation. Additionally, we incorporate disturbance estimation error bounding into the Tube MPC framework to address substantial additive disturbances. These disturbances, if directly treated by Tube MPC, otherwise lead to over-conservative or empty tightened state and control sets. Throughout the study, we demonstrate the effectiveness of the proposed algorithm through numerical simulations of a car-following problem. © 2024 IEEE.

关键词： Predictive control systems

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Disturbance Observer-Based Data Driven Model Predictive Tracking control of Linear Systems

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IEEE Access 2023年 11卷 88597-88608页

作者： Farbood, Mohsen Echreshavi, Zeinab Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel Shiraz University of Technology Department of Electrical and Electronics Engineering Shiraz71557-13876 Iran University of Zanjan Department of Electrical Engineering Zanjan45371-38791 Iran National Yunlin University of Science and Technology Douliou Graduate School of Intelligent Data Science Yunlin640301 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces a new data-driven MPC structure based on two offline and online parts to achieve the robust and constrained performance in an optimal scheme. In the first step, according to the model matching condition, an offline data-driven controller is designed to reach the tracking performance. In addition, to reduce the effects of the external disturbance, a data-driven-based disturbance observer is presented to estimate the external disturbance. Therefore, the robustness against the external disturbances is achieved in an offline procedure. Then, a data-driven model predictive control (MPC) is structured based on a data-driven-based model of a stabilized system. In other words, the overall controller is configured such that the limitations of the system states and control input are considered in the control design process. Moreover, by employing the move blocking strategy, the online computational burden of the suggested controller is greatly reduced. To further improve of the feasibility problem, an ellipsoidal terminal (ET) constraint is considered. The rows number of the blocking matrix influences on the ET set which leads to feasibility enhancement. So, the main contributions of the presented data-driven controller are feasibility improvement and reducing online computational burden in an optimal and constrained scheme which are illustrated in the simulation section. © 2013 IEEE.

关键词： Linear systems

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Development of a Navigation System Using MY VISION for Visually Impaired People – A Method to Guide the Direction of Travel

Development of a Navigation System Using MY VISION for Visua...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Yuki Koike Yui Tanjo Graduate School of Engineering Kyushu Institute of Technology Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

The number of visually impaired people in Japan as of 2016 was 312,000, and 70.4% of them have experienced accidents such as falls or collisions while going out. In addition, while a white walking cane is commonly used to move around when going out, there is a problem of not being able to recognize a wide range of areas. Many studies have been conducted to support the movement of visually impaired people using camera images, and many methods have been proposed to support walking on sidewalks and crossing intersections. However, when considering walking on a sidewalk, there are cases where the sidewalk is broken by a side street intersecting the roadway, and few studies have focused on such a break in the sidewalk. In many cases, there are no traffic signals or pedestrian crossings at such breaks in the sidewalk, making them dangerous places for people with vision difficulties. In this study, we propose a walking assistance method at a break in the sidewalk using images obtained by MY VISION (a Magic eYe of a Visually Impaired for Safety and Independent actiON) and deep learning. MY VISION is a system that analyzes videos obtained from a camera attached to the user's body and provides useful visual information, functioning as a virtual eye for visually impaired people. The proposed method provides a model for recognizing the sidewalk environment and a model for guiding a user to the center of the sidewalk in order to guide the visually impaired people safely. Experiments were conducted to verify the accuracy of each model, and the effectiveness of the proposed method was shown.

关键词： Legged locomotion Deep learning Visualization Pedestrians Navigation Machine vision Cameras Safety Cybernetics Videos

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A master-slave generalized predictive synchronization control for preheating process of multi-cavity hot runner system

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Chinese Journal of Chemical engineering 2023年第10期62卷 270-280页

作者： Hongyi Qu Shengyong Mo Ke Yao Zhao-Xia Huang Zhihao Xu Furong Gao Institute of Intelligent Manufacturing Guangdong Academy of SciencesGuangdong Key Laboratory of Modern Control TechnologyGuangzhou 510070China Fok Ying Tung Graduate School The Hong Kong University of Science and TechnologyGuangzhou 511442China Department of Chemical and Biological Engineering The Hong Kong University of Science and TechnologyHong Kong 999077China National Engineering Research Center of Novel Equipment for Polymer Processing Department of Mechanical and Automotive EngineeringSouth China University of TechnologyGuangzhou 510641China

As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the *** thermal imbalance in the system has been considered as the leading ***,the solution may rest with the synchronization of those heating processes in MCHR *** paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’***’strategy for preheating stage of MCHR *** core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature *** corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.

关键词： Process control Thermodynamics process Model-predictive control Multi-cavity hot runner system Master-Slave synchronization Mr.Slowest

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Human-robot Collaboration using Monte Carlo Tree Search

Human-Robot Collaboration using Monte Carlo Tree Search

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2022 International Conference on Automation, robotics and Computer engineering, ICARCE 2022

作者： Yao, Feng Zhao, Huailin Liu, Huaping Shanghai Institute of Technology University Graduate School of Control Science and Engineering Shanghai China Tsinghua University Department of Computer Department Beijing China

ISBN: (纸本)9781665475488

Human-robot collaboration as a challenging task has received great attention in the academic research field. Many existing search models are aimed at single agent or multi-agent, but there are some defects in the search efficiency of their task targets. Therefore, we propose a human-computer cooperative search algorithm in the indoor scene, where people and agents cooperate to complete the search of related objects. We have developed a platform for human-robot collaboration, and designed a set of algorithms for agent to integrate scene prior knowledge, target recognition, and path planning. The experimental results that the H-R cooperative search model proposed by us shows good efficiency in target search tasks. © 2022 IEEE.

关键词： Motion planning

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