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Application of Enhanced Extended Observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles ⁎

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IFAC-PapersOnLine 2019年第16期52卷 837-842页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Quadrotors

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Generation of New Exciting Regressors for Consistent On-line Estimation of Unknown Constant Parameters

arXiv

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arXiv 2021年

作者： Bobtsov, Alexey Yi, Bowen Ortega, Romeo Astolfi, Alessandro Hangzhou310018 China The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Australian Centre for Field Robotics The University of Sydney SydneyNSW2006 Australia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

The problem of estimating constant parameters from a standard vector linear regression equation in the absence of sufficient excitation in the regressor is addressed. The first step to solve the problem consists in transforming this equation into a set of scalar ones using the well-known dynamic regressor extension and mixing technique. Then a novel procedure to generate new scalar exciting regressors is proposed. The superior performance of a classical gradient estimator using this new regressor, instead of the original one, is illustrated with comprehensive simulations. © 2021, CC BY.

关键词： Parameter estimation

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Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: engineering and Industrial Systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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A Model predictive control for the yaw control system of horizontal-axis wind turbines

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Energy Procedia 2019年 158卷 237-242页

作者： Dongran Song Li Li Jian Yang Young Hoon Joo School of Information Science and Engineering Central South University Changsha 410083 China Department of Control and Robotics Engineering Kunsan National University Jeonbuk 54150 Rep. of Korea

Advanced prediction technologies have enabled model predictive control (MPC) to be a potential powerful method for controlling wind turbines (WTs). However, the MPC technique available for the yaw control system of WTs is lacking. In this study, we propose a novel MPC using finite control set and multi-step prediction models for the yaw control system and solve the optimal problem using an exhaustive search method. Then, the proposed method is demonstrated by the simulation tests and the achievable performance of the yaw control system under different prediction horizons is investigated. Finally, our results show that, along with the extended prediction horizon, the power production performance is enhanced while maintaining the same yaw actuator usage.

关键词： Wind turbine yaw control system model predictive control mulit-step prediction power reduction

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Design and experience of a test-bed for gearboxes

Design and experience of a test-bed for gearboxes

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作者： González-Cruz, Claudia A. Ceccarelli, Marco Alimehmeti, Mario Jáuregui-Correa, Juan Carlos Universidad Autónoma de Querétaro Querétaro74010 Mexico Laboratory of Robotics and Mechatronics Department of Industrial Engineering University of Rome Tor Vergata Rome00133 Italy Motion System and Information Control Sora03039 Italy

This paper presents an analysis of feasibility to develop a robust, practical and versatile test-bed for rotordynamic tests with low-cost and user-oriented features. The experience of a particular case of a test-bed design is present for two degrees of freedom (2-DOFs) planetary gearboxes at Laboratory of robotics and Mechatronics (LARM). Different designing steps are discussed, including the structural design, instrumentation, data acquisition system, actuators control, online signal processing and maintenance. The outcomes of this experience are presented as a synthesis of a variety of requirements which need to be considered during the design of experiments for rotordynamics tests for a wide range of machinery and suitable tests repeatability and accuracy of the data acquisition system. An example is reported to show the implementation of the proposed procedure. © 2019, Springer Nature Switzerland AG.

关键词： Design of experiments

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Improving Learning-based Ego-motion Estimation with Homomorphism-based Losses and Drift Correction

Improving Learning-based Ego-motion Estimation with Homomorp...

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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Xiangwei Wang Daniel Maturana Shichao Yang Wenshan Wang Qijun Chen Sebastian Scherer Carnegie Mellon University Robotics Institute Carnegie Mellon University Department of Control Science and Engineering Tongji University

Visual odometry is an essential problem for mobile robots. Traditional methods for solving VO mostly utilize geometric optimization. While capable of achieving high accuracy, these methods require accurate sensor calibration and complicated parameter tuning to work well in practice. With the rise of deep learning, there has been increased interest in the end-to-end, learning-based methods for VO, which have the potential to improve robustness. However, learning-based methods for VO so far are less accurate than geometric methods. We argue that one of the main issues is that the current ego-motion estimation task is different from other problems where deep learning has been successful such as object detection. We define a novel cost function for learning-based VO considering the mathematical properties of the group homomorphism. In addition to the standard L2 loss, we incorporate losses based on the identity, inverse and closure properties of SE(3) rigid motion. Furthermore, we propose to reduce the VO drift by estimating the drivable regions using semantic segmentation and incorporate this information into a pose graph optimization. Experiments on KITTI datasets show that the novel cost function can improve ego-motion estimation compared to the state-of-the-art and the drivable region-based correction further reduces the VO drift.

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Flight control design for a highly flexible flutter demonstrator

Flight control design for a highly flexible flutter demonstr...

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AIAA Scitech Forum, 2019

作者： Luspay, Tamás Baár, Tamás Teubl, Dániel Vanek, Bálint Ossmann, Daniel Wüstenhagen, Matthias Pusch, Manuel Kier, Thiemo Waitman, Sérgio Iannelli, Andrea Marcos, Andres Lowenberg, Mark Systems and Control Lab Institute for Computer Science and Control Kende u 13-17 Budapest Hungary DLR German Aerospace Center Institute of Robotics and Mechatronics Wessling82234 Germany Aerospace Engineering Department University of Bristol University Walk BristolBS8 1TR United Kingdom

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

The paper presents the control design approaches for the European research project FLEXOP. The ultimate goal is to develop and apply active flutter suppression and load alleviation techniques on an unmanned flying aircraft demonstrator. Due to the flexible wing of the aircraft new challenges rise for the control design: the traditional rigid body (baseline) control loops have to be augmented with flutter control laws. In our approach, the controllers are designed based on a dynamical model, which is briefly discussed first. Details of the baseline control design, as well as the two different flutter suppression algorithms are discussed in the paper. Hardware-in-the-Loop testing of the controllers are reported before the first test flights of the aircraft. © 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Discrete Fourier Transform based Virtual Constraint control of Powered Ankle-Foot Prosthesis

Discrete Fourier Transform based Virtual Constraint Control ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Awais Naeem Mohsin Rizwan Hafiz Farhan Maqbool Muhammad Ahsan Ali Raza Syed Abbas Zilqurnain Naqvi Al-Khwarizmi Institute of Computer Science UET Lahore HCR Lab National Center of Robotics and Automation Lahore Pakistan Department of Mechatronics and Control Engineering National Center of Robotics and Automation Lahore Pakistan Department of Mechatronics and Control Engineering UET Lahore Lahore Pakistan

Active prosthetic devices have been controlled using several methods such as Echo control, EMG signal based Position control and Finite State Machine (FSM) based Impedance/Compliance control. This manuscript proposes Virtual Constraint control of active prosthesis which obviates any need for the classification of EMG signals, identification of the gait phase for state switching and potentially avoids an exhaustive procedure for the tuning of impedance parameters. In this paper, a Discrete Fourier Transform (DFT) based Virtual Constraint control is presented to characterize the ankle-foot joint trajectory as a function of the human-inspired phase variable in a unified manner. An optimization-based algorithm is employed for the robust generation of continuously monotonic and linear phase variable for DFT based Virtual Constraint control. The results are generalized across various walking speeds for a specific user during the level ground walking.

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On idle energy consumption minimization in production: Industrial example and mathematical model

arXiv

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arXiv 2020年

作者： Benedikt, Ondřej Šůcha, Přemysl Hanzálek, Zdeněk Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 Prague Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Karlovo náměstí 13 Prague Czech Republic

This paper, inspired by a real production process of steel hardening, investigates a scheduling problem to minimize the idle energy consumption of machines. The energy minimization is achieved by switching a machine to some power-saving mode when it is idle. For the steel hardening process, the mode of the machine (i.e., furnace) can be associated with its inner temperature. Contrary to the recent methods, which consider only a small number of machine modes, the temperature in the furnace can be changed continuously, and so an infinite number of the power-saving modes must be considered to achieve the highest possible savings. To model the machine modes efficiently, we use the concept of the energy function, which was originally introduced in the domain of embedded systems but has yet to take roots in the domain of production research. The energy function is illustrated with several application examples from the literature. Afterward, it is integrated into a mathematical model of a scheduling problem with parallel identical machines and jobs characterized by release times, deadlines, and processing times. Numerical experiments show that the proposed model outperforms a reference model adapted from the literature. Copyright © 2020, The Authors. All rights reserved.

关键词： Scheduling

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Compliant net for AUV retrieval using a UAV

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IFAC-PapersOnLine 2018年第29期51卷 431-437页

作者： Ivanovic, Antun Polic, Marsela Salah, Omar Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid-ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload. © 2018

关键词： Autonomous underwater vehicles Antennas Unmanned aerial vehicles (UAV) Autonomous underwater vehicles (AUV) Marine systems Mechanical design Retrieval tool Soft robotics Underwater vehicles

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