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European control Conference (ECC)

作者： Bilin Aksun Güvenç Levent Güvenç Dirk Odenthal Tilman Bünte Department of Mechanical Engineering Ístanbul Technical University Istanbul Turkey Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center (DLR) - Oberpfaffenhofen Wessling Germany

Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability and a mixed sensitivity frequency domain bound. Simple, and therefore, easily implementable controller transfer functions with two design parameters are chosen for the two steering controller degrees of freedom. Using the parameter space method, the design specifications are mapped into the plane of controller parameters. The effectiveness of the final design is demonstrated using simulations.

关键词： Vehicles Robustness Sensitivity Vehicle dynamics Roads Uncertainty Stability analysis

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Experimental demonstration of input preconditioning for residual vibration suppression using low-pass FIR digital filters

Experimental demonstration of input preconditioning for resi...

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American control Conference (ACC)

作者： D. Economou C. Lee C. Mavroidis I. Antoniadis Mechanical Design and Control Systems Division Department of Mechanical Engineering National and Technical University of Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering State University of New Jersey Rutgers Piscataway NJ USA

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) window-based method (using Chebyshev window); and c) constrained least squares method, are shown to demonstrate excellent vibration suppression when they are properly designed while they introduce minimum possible delay. In order to ensure maximally robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. The proposed method does not require modeling of the flexible system, can be used in a variety of systems exhibiting vibrations, is independent of the guidance function, is simple to implement in practical applications and robust to variations of the system dynamic parameters. The method is experimentally verified using a flexible aluminum beam attached at the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. During this motion, vibrations of the beam are excited due to inertial forces. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.

关键词： Finite impulse response filter Robustness Digital filters Delay control systems Mechanical engineering Vibration control Manipulator dynamics Convolution Aerodynamics

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots control systems Trajectory Costs Stability Mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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Advantage of low complexity in digital controllers with finite wordlength

Advantage of low complexity in digital controllers with fini...

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SICE Annual Conference

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group OPAL-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal QUE Canada Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan

ISBN: (纸本)0780373065

The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.

关键词： Digital control control systems Sampling methods Finite wordlength effects Costs Stability Computational modeling Mechanical engineering Robot control Paper technology

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A framework for discrete-time models of continuous-time systems

A framework for discrete-time models of continuous-time syst...

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American control Conference (ACC)

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal Montreal QUE Canada Institute of Engineering Mechanics University of Tsukuba Tsukuba Japan

This paper shows that the analysis and the design of discrete-time models of continuous-time systems can be carried out within a single framework. Briefly, all classes of discrete-time models, namely the invariant models, the mapping models and the matched pole-zero models, are shown to incorporate the common structure of a hold followed by a continuous-time system and the ideal sampler. This interpretation of discrete-time models of continuous-time systems facilitates the understanding of the differences and similarities among the various discrete-time models. A numerical example illustrates the concepts involved.

关键词： Transfer functions Poles and zeros State-space methods Mechanical engineering Robot control Design engineering Signal processing System identification control systems Hardware

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Prediction Algorithms for Multi-Agent Systems

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IFAC Proceedings Volumes 2001年第17期34卷 153-157页

作者： K. Aleksic M.-W. Han P. Kopacek Faculty of Mechanical Engineering Department of Automatic Control University of Nis Beogradska 14 18000 Nis Yugoslavia. Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstr. 9-11 A-1040 Vienna Austria.

The main features of Multi-Agent System (MAS) are the cooperation, coordination and communication between agents. One good test-bed for MAS is the robotsoccer. In robotsoccer the behaviour of each player in own team can be calculated. But the behaviour of opponent robots and the ball can not be exactly estimated. It is necessary to predict the future position of the opponent robots and the ball. This paper will present an algorithm for the prediction of position of robots and ball.

关键词： Prediction estimation least-square algorithm multi-agent system

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Experiments on robust vibration suppression in mechatronic systems using IIR digital filters

Experiments on robust vibration suppression in mechatronic s...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： D. Economou C. Mavroidis I. Antoniadis Meohanical Design and Control Systems Division Departmeat of Mechanical Engineering National and Technical University of Athens Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using infinite impulse response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed.

关键词： Robustness Mechatronics Digital filters IIR filters Vibrations Finite impulse response filter control systems Cranes Convolution Mechanical engineering

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Optimal landmark pattern for precise mobile robots dead-reckoning

Optimal landmark pattern for precise mobile robots dead-reck...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Amat J. Aranda A. Casals X. Fernandez Institut of Robotics IRI UPC-CSIC Barcelona Spain Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain R&D Department Industrias de Òptica Barcelona Spain

ISBN: (纸本)0780365763

The aim of the work is to determine the best landmark for its use in tasks such as precise positioning of AGVs or mobile robots in front of loading/unloading areas. The work developed aims at determining the precision that can be achieved with different pattern landmarks, of use in positioning systems, based on computer vision. Different computer vision algorithms have been tested from the images acquired from different camera configurations and bending angles with respect to the vertical axis. As a result of the evaluation of these errors, we extract the recommendation of the most favourable bicolour pattern to be used, as well as the bounding errors obtained from the segmentation and recognition methods most frequently used.

关键词： Mobile robots Remotely operated vehicles Computer vision Robot vision systems Cameras Computer errors Navigation Machine vision Vehicle detection Target tracking

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Effective modeling and simulation of internal combustion engine control systems

Effective modeling and simulation of internal combustion eng...

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American control Conference (ACC)

作者： C.A. Rabbath H. Desira K. Butts Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada IDepartment of Mechanical Engineering McGill University Montreal Montreal QUE Canada Powertrain Control Systems Department Ford Motor Company Limited Dearborn MI USA

The paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine control systems. The solution is based on RT-LAB/sup TM/. The characteristics of the proposed modeling and simulation approach are the preservation of accuracy in the face of relatively large fixed simulation steps and the achievement of real-time and faster than real-time simulation execution. The results of numerical simulations, which show a relatively high accuracy and the gains in execution speeds obtained with various physical configurations, are also provided.

关键词： Internal combustion engines control system synthesis Electronic mail Discrete event simulation Fuels control systems Mechanical engineering Robot control Paper technology Numerical simulation

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O 2 CA 2 : A New Hybrid control Architecture for a Low Cost AUV

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IFAC Proceedings Volumes 2001年第7期34卷 311-316页

作者： P. Ridao M. Carreras J. Batlle J. Amat Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Department of Automatic Control and Computer Engineering Politechnical University of Catalunya. Pau Gargallo n°5 08028 Barcelona (Spain).

The Object Oriented control Architecture for Autonomy (O 2 CA 2 ) is a control architecture being developed at the University of Girona for the GARBI underwater vehicle. Conceived as a hybrid, it is organised in three layers (Deliberative, control Execution and Reactive) merging the deliberation mechanisms of planning with reactive behaviours in charge of controlling the robot. The aim of this paper is to provide an overall description of the whole architecture and an in depth description of the Reactive-layer. The concepts of the architecture have been tested with the simulation of a simple mission consisting of navigating through a sequence of way-points while avoiding contact with obstacles.

关键词： Autonomous Vehicles control architectures behaviour fuzzy systems guidance navigation marine systems

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