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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Eui-jung Jung Jae Heon Chung Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Ubiquitous Functions Research Group National Institute for Advanced Industrial Science and Technology Japan Department of Control and Instrumentation Engineering Korea University South Korea

This work deals with a motion planning algorithm of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. This is due to mismatching between the command and the mechanical hardware. To cope with this problem, a motion planning algorithm pursuing the natural configuration of the mobile wheel was mainly investigated, which resolves the skidding problem and uncertain motions of the steering wheel. Through simulations and experimentation, the feasibility of this algorithm was verified.

关键词： Mobile robots Wheels Kinematics computer science Motion planning Motion control Roads Intelligent robots USA Councils

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Erratum to: “controlling complex dynamical networks with coupling delays to a desired orbit” [Phys. Lett. A 359 (2006) 42]

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Physics Letters A 2007年第5-6期370卷 533-535页

作者： Zhi Li Ju-Jang Lee Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 South Korea Department of Automatic Control Engineering Xidian University PO Box 136 Xi'an 710071 PR China

In this Letter, we indicate that the proposed sufficient condition in Letter [Z. Li, G. Feng, D., Hill, Phys. Lett. A 359 (2006) 42] does not hold, which cannot guarantee that the states of complex network with coupling delays globally exponentially synchronize with a desired orbit and it only applies to globally asymptotical synchronization with a desired orbit. For correcting the mistakes, a correct version of globally exponential synchronization is given and proved in this Letter.

关键词： 05.10.-a 05.45.Pq Global exponentially synchronization Dynamical networks Coupling time-delay Linear matrix inequality

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AN ASYMPTOTIC SECOND-ORDER SMOOTH SLIDING MODE control

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Asian Journal of control 2008年第4期5卷

作者： Yuri B. Shtessel Ilya A. Shkolnikov Mark D.J. Brown Department of Electrical and Computer Engineering University of Alabama in Huntsville Huntsville AL 35899 USA. Z/I Imaging Corporation 301 Cochran Road Suite 9 Huntsville AL 35824 USA. Principal Engineer Sikorsky Aircraft Corporation 6900 Main Street Stratford CT 06615 USA. Dr. Mark Brown received the PhD. degree in Electrical Engineering from the University of Alabama in Huntsville in 2001. He is the principal scientist supporting the development of technology for test and evaluation Prior to this Dr. Brown was the lead researcher developing the weapons control algorithms for the Comanche RAH-66 helicopter at Sikorski. He has also led the development of missile defense system technologies including research into the development of flight control algorithms at the U.S. Army Space and Missile Defense Command. Dr. Brown is currently employed by Scientific Research Corporation.

Presented is a method of smooth sliding mode control design to provide for an asymptotic second-order sliding mode on the selected sliding surface. The control law is a nonlinear dynamic feedback that in absence of unknown disturbances provides for an asymptotic second-order sliding mode. Application of the second-order disturbance observer in a combination with the proposed continuous control law practically gives the second-order sliding accuracy in presence of unknown disturbances and discrete-time control update. The piecewise constant control feedback is “smooth” in the sense that its derivative numerically taken at sampling rate does not contain high frequency components. A numerical example is presented.

关键词： Sliding mode control second order sliding mode sliding mode observer

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Satellite formation flying via lyapunov stabilization

Satellite formation flying via lyapunov stabilization

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International Conference on control, Automation and Systems ( ICCAS)

作者： Hyo-Sung Ahn Chang-Hee Won Sang-Young Park Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Department of Electrical and Computer Engineering Temple University Philadelphia PA USA Astrodynamics and Control Laboratory Department of Astronomy and Space Science Yonsei University Seoul South Korea

This paper presents a control scheme for satellite formation flying based on Lyapunov stabilization. It is assumed that the angular rate and angular acceleration of true anomaly are not known, but they are bounded. In such a case, the control law proposed in this paper guarantees asymptotical convergence of the states to the desired values. Through numerical simulations, the validity of the proposed-formation flying scheme is illustrated.

关键词： Satellites Adaptive control Force control Aerodynamics Convergence Programmable control Acceleration Earth Automatic control control systems

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Neural network feedforward control for mechanical systems with external disturbances

Neural network feedforward control for mechanical systems wi...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 2301-2758

作者： Xuemei Ren Frank L Lewis Shuzhi Sam Ge Jingliang Zhang Department of Automatic Control Beijing Institute of Technology Beijing China Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Department of Electrical and Computer Engineering National University of Singapore Singapore ASTAR Data Storage Institute Singapore

ISBN: (纸本)9781424414970;1424414970

In this paper, a novel feedforward control based on accelerometer measurements is proposed for mechanical systems with external disturbances. The control scheme includes a feedback controller and a neural network feedforward compensator. The feedback controller is employed to guarantee the stability of the mechanical systems, while the neural network is used to provide the required feedforward compensation input for trajectory tracking with the help of a sensor to detect external vibrations. Dynamics knowledge of the plant, disturbances and the sensor is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a hard disk drive system and a two-link manipulator.

关键词： Mechanical systems external disturbance feedback controller FEEDFORWARD control disk drive system Neural network Sensors trajectory tracking

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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H∞ Filtering for a class of 2D systems

H∞ Filtering for a class of 2D systems

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European Signal Processing Conference (EUSIPCO)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Gałkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China Department of Mechanical Engineering The University of Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65–246 Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Department of Electronics and Computer Science University of Southampton Southampton U.K. Information and Media Engineering University of Wuppertal Faculty of Electrical

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required.

关键词： Stability analysis Asymptotic stability Process control Signal processing Linear systems Filtering State-space methods

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The Stability Analysis of the Adaptive Fading Extended Kalman Filter

The Stability Analysis of the Adaptive Fading Extended Kalma...

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IEEE Conference on control technology and Applications (CCTA)

作者： Kwang Hoon Kim Jang Gyu Lee Chan Gook Park Gyu In Jee Department of Electronics Engineering Brain Korea 21 Research Group Konkuk University Seoul South Korea School of Electrical Engineering and Computer Science and Automatic Control Research Center Seoul National University Seoul South Korea School of Mechanical and Aerospace Engineering and Institute of Advanced Aerospace Technology Seoul National University Seoul South Korea Department of Electronics Engineering Konkuk University Seoul South Korea

The well-known conventional Kalman filter gives the optimal solution but requires an accurate system model and exact stochastic information. Thus, the Kalman filter with incomplete information may be degraded or even diverged. In a number of practical situations, the system model and the stochastic information are incomplete. To solve this problem, a new adaptive fading Kalman filter (AFKF) using the forgetting factor has recently been proposed. This paper extends the AFKF to nonlinear system models to obtain an adaptive fading extended Kalman filter (AFEKF). The forgetting factor is generated from the ratio between the calculated innovation covariance and the estimated innovation covariance. Based on the analysis result of Reif for the EKF, the stability of the AFEKF is also analyzed.

关键词： Stability analysis Fading Stochastic systems Nonlinear equations Nonlinear systems Information filtering Information filters Adaptive filters control systems Degradation

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The Design of humanoid Robot Arm based on Morphological and Neurological Analysis of Human Arm

The Design of humanoid Robot Arm based on Morphological and ...

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IEEE International Conference on Mechatronics and Automation

作者： Yongseon Moon Kwang Seok Lee Cheol-Ho Yun Tae-Uk Jung Nak Yong Ko Youngchul Bae School of Information Communication Sunchon National University Suncheon South Korea Gwangju research center Korea Institute of Industrial and Technology Gwangju South Korea Department of Control and Instrumentation Engineering Chosun University Gwangju South Korea Division of Electrical Electronic Communication Computer Engineering Chonnam National University Yeosu South Korea

In this paper, we analyzed and verified possibility and validity of overcoming present limitations of humanoid robot by using morphological and neurological analysis of human arm. Through design, implementation and performance evaluation of humanoid robot arm, we will be verifying applicability and effectiveness of humanoid robot arm system based on SERCOS network that fulfills the concept of opening, networking and modularizations that are progressive direction of future robot.

关键词： Humanoid robots Humans Service robots Unified modeling language Information analysis Communication industry Mechatronics Design automation Robotics and automation Moon

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The Design of humanoid Robot Arm based on Morphological and Neurological Analysis of Human Arm

The Design of humanoid Robot Arm based on Morphological and ...

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Annual Conference of Industrial Electronics Society

作者： Yongseon Moon Jinju Park Cheol-Ho Yun Nak Yong Ko Hong Sik Moon Youngchul Bae School of Information Communication Sunchon National University Suncheon South Korea Gwangju research center Korea Institute of Industrial and Technology Gwangju South Korea Department of Control and Instrumentation Engineering Chosun University Gwangju South Korea Division of Electrical-Electronic Communication Computer Engineering Chonnam National University Yeosu South Korea

In this paper, we analyzed and verified the possibility and validity of overcoming present limitations of humanoid robots by using morphological and neurological analysis of human arm. Through design, implementation and performance evaluation of humanoid robot arm, we will be verifying applicability and effectiveness of humanoid robot arm system based on SERCOS network which fulfills the concept of opening, networking and modularizations which are progressive direction of future robot. Moreover, we proposed design and analysis of a single joint module for humanoid robot.

关键词： Humanoid robots Humans Service robots Information analysis ISO standards Moon Design engineering Performance analysis Actuators Industrial Electronics Society

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