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International Conference on control, Automation and Systems ( ICCAS)

作者： Han Sol Kim Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control and Robotics Engineering Kunsan University Gunsan-si Jeonbuk South Korea

This paper concerns with the robust stabilization condition for the polynomial fuzzy system with parametric uncertainties. In the existing methods, nonlinear system with parametric uncertainties was modeled to the T-S fuzzy system. However, these methods has problem such as large number of the fuzzy rule. Therefore, this paper uses the polynomial fuzzy modeling method to manipulate the robust stabilization problem for the parameter uncertain nonlinear system. Furthermore, since new robust stabilization condition is derived from the polynomial Lyapunov function, so the condition is less conservative than previous robust stabilization condition. Finally, numerical example is given to show the validity of proposed method.

关键词： Polynomials Fuzzy systems Uncertainty Robustness Nonlinear systems Lyapunov methods Bismuth

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Triangular formation control using range measurements: An application to marine robotic vehicles

Triangular formation control using range measurements: An ap...

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3rd IFAC Workshop on Navigation, Guidance and control of Underwater Vehicles, NGCUV 2012

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Gallieri, Marco Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal CH-1015 Lausanne Switzerland Control Group Engineering Department Sidney Sussex College CB21PZ Cambridge United Kingdom

ISBN: (纸本)9783902823199

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements. To solve this station keeping problem, we propose a control strategy that estimates the formation speed and heading from the ranges obtained to the two leading vehicles, and uses simple feedback laws for speed and heading commands to drive suitably defined common and differential errors to zero. For straight-line motion, we provide guaranteed conditions under which the proposed control strategy achieves local convergence of the distance errors to zero. We also indicate how our design procedure can be extended to full dynamic models of marine robotic vehicles equipped with inner loops for yaw and speed control. Simulation results using realistic models are described and discussed.

关键词： Vehicles

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Visual Motion Observer-based Stabilizing Receding Horizon control via Obstacle Avoidance Navigation Function

Visual Motion Observer-based Stabilizing Receding Horizon Co...

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IEEE International Conference on control Applications

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Department of Robotics Kanazawa Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467345033

This paper investigates stabilizing receding horizon control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-to-hand visual feedback systems. Firstly, a visual motion observer for a controlled mobile robot is presented. Then, visual motion observer-based stabilizing receding horizon control for 3-D visual feedback systems, highly nonlinear and relatively fast systems, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

关键词： Visualization Navigation Mobile robots Collision avoidance Estimation error Vectors Observers

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.

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Development of real-time flight simulator for quadrotor

Development of real-time flight simulator for quadrotor

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International Conference on Advanced Computer Science and Information System (ICACSIS)

作者： Joga D. Setiawan Yuhanes D. Setiawan Mochammad Ariyanto Agus Mukhtar Agus Budiyono Laboratory of Control System and Robotics Faculty of Engineering Diponegoro University Indonesia Smart Robot Center AeroSpace Engineering Department Konkuk University South Korea

The purpose of this research is to build a real-time flight simulator for quadrotor systems and verify if the simulator runs in real time. The simulator was constructed by writing the mathematical models of quadrotor dynamic in MATLAB/Simulink. Using xPC Target software environment, three PCs were set up to work in sync to make the simulation run in real time. This paper shows several simulation results of the quadrotor dynamic in three flight directions. These results validate the stable performance of PD controller being used. At the same time it can be revealed that the simulation runs in real time by observing the percentage processing usage of the computer as function of simulation time. The simulator can be very useful for researchers to understand the character of the quadrotor system being developed and for pilots to complete a mission using the quadrotor system.

关键词： Solid modeling Computational modeling Mathematical model Real-time systems Computers Propellers PD control

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New delay-dependent stability criteria for T-S fuzzy systems with interval delay

New delay-dependent stability criteria for T-S fuzzy systems...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Min Kook Song Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control and Robotics Kunsan University Kunsan Chonbuk South Korea

This paper provides a new delay-dependent stability criteria for Takagi-Sugeno(T-S) fuzzy systems with interval delay. With a novel Lyapunov functional defined, a tighter upper bound of its derivatives are given. This functional leads to simplified and has advantages over some previous one in that it involves fewer matrix variables but has less conservatism. Finally, numerical examples show the resulting criteria outperform all existing ones in the literature.

关键词： Delay Fuzzy systems Stability criteria Time varying systems Robustness control systems

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An impact of model parameter uncertainty on scheduling algorithms

An impact of model parameter uncertainty on scheduling algor...

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14th International Conference on Enterprise Information Systems, ICEIS 2012

作者： Rudek, Radoslaw Rudek, Agnieszka Kozik, Andrzej Skworcow, Piotr Institute of Business Informatics Wroclaw University of Economics Wroclaw Poland Department of Systems and Computer Networks Wroclaw University of Technology Wroclaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland De Montfort University Water Software Systems Leicester United Kingdom

ISBN: (纸本)9789898565105

This short paper presents a preliminary analysis of the impact of model parameter uncertainty on the accuracy of solution algorithms for the scheduling problems with the learning effect. We consider the maximum completion time minimization flowshop problem with job processing times described by the power functions dependent on the number of processed jobs. To solve the considered scheduling problem we propose heuristic (NEH based) and metaheuristic (simulated annealing) algorithms. The numerical experiments show that NEH and simulated annealing are robust for this problem with respect to model parameter uncertainty.

关键词： Simulated annealing

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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Closed-loop stability and performance optimization in LPV control based on a reduced parameter set

Closed-loop stability and performance optimization in LPV co...

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IEEE Conference on Decision and control

作者： C. Hoffmann S. M. Hashemi H. S. Abbas H. Werner Institute of Control Systems Hamburg University of Technology Hamburg Germany Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (纸本)9781467320658

A difficulty encountered in applying linear parameter-varying (LPV) control is the complexity of synthesis and implementation for large numbers of scheduling parameters. Often, heuristic solutions involve neglecting individual scheduling parameters, such that LPV controller synthesis methods become applicable. However, stability and performance guarantees are rendered void, if a controller design based on an approximate model is implemented on the original plant. In this paper, a posteriori conditions are proposed to assess closed-loop stability and performance and possibly recover guarantees. The controller - synthesized based on a reduced parameter set - is first transformed back to depend on the original parameters. Then analysis is performed with respect to the original plant model, which is considered to be accurate. Moreover, an iterative approach for optimizing controllers with few scheduling parameters is sketched. A two-degrees-of-freedom (2-DOF) robotic manipulator is considered as an illustrative example. Experimental results indicate a significant increase in performance.

关键词： Stability analysis Vectors Optimization Robots Linear matrix inequalities Scheduling Approximation methods

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Visual Motion Observer-based Pose control via Obstacle Avoidance Navigation Function for Eye-in-Hand Systems

Visual Motion Observer-based Pose Control via Obstacle Avoid...

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Annual Conference on IEEE Industrial Electronics Society

作者： Yusei Tsuruo Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Department of Robotics Kanazawa Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467324199

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

关键词： Obstacle avoidance Collision avoidance Eye Standing Orders navigation Visualization Visual Feedback Passivity Computer Simulation Feedback kinematic error

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