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Robust source-seeking hybrid controllers for nonholonomic vehicles

Robust source-seeking hybrid controllers for nonholonomic ve...

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2008 American control Conference (ACC), vol.7

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA

We develop a hybrid controller that drives a nonholonomic vehicle to the source of a radiation-like signal. The control signal depends only on measurements of the signal, which may be corrupted by noise, and internal states of the controller. The control strategy is inspired by a line minimization-based algorithm for unconstrained optimization of nonlinear functions without gradient information. We state the main properties of the algorithm and then discuss its implementation in a hybrid controller that coordinates the optimization algorithm with vehicle steering. We present semi-global practical convergence and stability results for the closed-loop system. These results are illustrated by simulation and experiment.

关键词： Robust control Remotely operated vehicles Mobile robots Noise measurement Convergence Vehicle driving Working environment noise Position measurement Tin Noise robustness

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Robust hybrid source-seeking algorithms based on directional derivatives and their approximations

Robust hybrid source-seeking algorithms based on directional...

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IEEE Conference on Decision and control

ISBN: (纸本)9781424431236

A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semi-global practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller fitting into this family is developed and demonstrated by simulation and experiment.

关键词： Robustness Remotely operated vehicles Mobile robots Robust control Stability Position measurement Noise measurement Working environment noise Chemical sensors Current measurement

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An Application of Convex Optimization Concepts to Approximate Dynamic Programming

An Application of Convex Optimization Concepts to Approximat...

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2008 American control Conference (ACC), vol.10

作者： Edilson F. Arruda Marcelo D. Fragoso Joao Bosco R. do Val Department of Systems And Control National Laboratory for Scientific Computing Petropolis Rio de Janeiro Brazil Department of Telematics School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil

This paper deals with approximate value iteration (AVI) algorithms applied to discounted dynamic (DP) programming problems. The so-called Bellman residual is shown to be convex in the Banach space of candidate solutions to the DP problem. This fact motivates the introduction of an AVI algorithm with local search that seeks an approximate solution in a lower dimensional space called approximation architecture. The optimality of a point in the approximation architecture is characterized by means of convex optimization concepts and necessary and sufficient conditions to global optimality are derived. To illustrate the method, two examples are presented which were previously explored in the literature.

关键词： Dynamic programming Function approximation Approximation algorithms Sufficient conditions Stochastic processes Large-scale systems Heuristic algorithms Robustness Convergence computer architecture

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Robust adaptive control of a twin-roaor Aircraft

Robust adaptive control of a twin-roaor Aircraft

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Q. Lam IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA Orbital Sciences Corporation Dalles VA USA

We propose robust adaptive control designs for a twin-rotor aircraft with specific focus on attaining good disturbance attenuation properties to facilitate operation in a shipboard environment wherein the aircraft is subject to severe aerodynamic disturbances including ship airwake, deck vortices, and rotor downwash especially during ship roll and pitch motions. Furthermore, the controllers can operate on their own or can gracefully co-exist with a baseline controller in a control augmentation fashion thus minimizing flight software change impact. The performance of the proposed controllers was validated through extensive simulation studies.

关键词： Robust control Adaptive control Aircraft Aerospace control Aerodynamics Marine vehicles Three-term control Error correction Motion control Attenuation

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Claus Lenz Suraj Nair Markus Rickert Alois Knoll Wolgang Rosel Jurgen Gast Alexander Bannat Frank Wallhoff Robotics and Embedded Systems Laboratory Department of Computer Science Technische Universitat Munchen Munchen Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universitat Munchen Munchen Germany Human Machine Communication Department of Electrical Engineering and Information Technologies Technische Universitat Munchen Munchen Germany

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Furthermore, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robotpsilas body.

关键词： Robots

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Output feedback control of linear systems with input and output quantization

Output feedback control of linear systems with input and out...

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IEEE Conference on Decision and control

作者： Daniel Coutinho Minyue Fu Carlos E. de Souza Group of Automation and Control Systems Faculty of Engineering Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Systems and Control Laboratory Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

ISBN: (纸本)9781424431236

A considerable amount of research has been done on the use of logarithmic quantizers for networked feedback control systems. However, most results are developed for the case of a single quantizer (either measurement or control signal quantization). In this paper, we investigate the case of simultaneous input and output quantization for SISO linear output feedback systems. Firstly, we show that the problem of quadratic stabilization via quantized feedback can be addressed with no conservativeness by means of the sector bound approach. Secondly, we provide a bound on the maximal admissible sector bound via a scaled H ¿ optimization problem.

关键词： Output feedback Linear feedback control systems control systems Linear systems Quantization Communication system control Feedback control Communication channels Digital control Bandwidth

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Formal embedding of the Spring Loaded Inverted Pendulum in an Asymmetric hopper 9

Formal embedding of the Spring Loaded Inverted Pendulum in a...

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2007 9th European control Conference, ECC 2007

作者： Poulakakis, Ioannis Grizzle, J.W. Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48105 United States

ISBN: (纸本)9783952417386

The control of running is discussed in terms of a model called the Asymmetric Spring Loaded Inverted Pendulum (ASLIP), shown in Fig. 1. The ASLIP consists of a Spring Loaded Inverted Pendulum (SLIP) with the addition of pitch dynamics, and can be used to study the sagittal plane motion of bipedal running. A hybrid controller for the ASLIP is developed that acts on two levels. In the first level, continuous in-stride control is used to stabilize the torso at a desired posture, and to create an invariant surface on which the stance dynamics of the closed-loop system is diffeomorphic to the center of mass dynamics of a SLIP. In the second level, event-based control is employed to stabilize the closed-loop hybrid system along a periodic orbit of the SLIP dynamics. These results provide a systematic framework for designing control laws with provable stability properties which take advantage of existing SLIP controllers that are known to induce elegant running motions in legged models. © 2007 EUCA.

关键词： Closed loop systems

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Design of state estimators for linear discrete-time systems with constrained error variance 9

Design of state estimators for linear discrete-time systems ...

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2007 9th European control Conference, ECC 2007

作者： Milias, Andreas Bitsoris, George Department of Electrical and Computer Engineering University of Patras Patras26500 Greece Automatic Control Laboratory ETH Zurich Switzerland Control Systems Laboratory University of Patras Patras26500 Greece

ISBN: (纸本)9783952417386

In this paper, the state estimation problem with constrained error variance for linear discrete-time systems is investigated. To this end, in a first stage, the vector variance equation describing the evolution of the state error variance is established. Then, by applying results from the theory of positively invariant polyhedral sets of discrete-time systems, necessary and sufficient conditions for the state error variance to respect linear constraints are developed. Thus, the determination of the state estimator parameters is reduced to a nonlinear programming problem which can be solved by using various optimization algorithms. © 2007 EUCA.

关键词： State estimation

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High performance differential elastic actuator for robotic interaction tasks

High performance differential elastic actuator for robotic i...

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2007 AAAI Spring Symposium

作者： Lauria, Michel Legault, Marc-Antoine Lavoie, Marc-André Michaud, François LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Que. J1K2R1 Canada

ISBN: (纸本)9781577353164

For complex robotic tasks (manipulation, locomotion, haptics, ...), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (force, speed, ...) in real time and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, some researchers proposed a new approach named «interaction control» that refers to regulation of the robot's dynamic behavior at its ports of interaction with the environment. Interaction control involves specifying a dynamic relationship between motion and force, and implementing a control law that attempts to minimize deviation from this relationship [1]. The implementation of machines able to precisely control interaction with its environment begins with the use of actuators specially designed for that purpose. To that effect, a new compact implementation design for high performance actuators that are especially adapted for integration in robotic mechanisms is presented, this design making use of a mechanical differential as central element. Differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance spring element provides the same benefits as serial coupling [4]. However differential coupling allows new interesting design implementations possibilities, especially for rotational actuators.

关键词： robotics

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Level-triggered control of a scalar linear system

Level-triggered control of a scalar linear system

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2007 Mediterranean Conference on control and Automation, MED

作者： Rabi, Maben Baras, John S. Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Stockholm 100 44 Sweden Institute for Systems Research Department of Electrical and Computer Engineering University of Maryland College Park MD 20742 United States

ISBN: (纸本)142441282X

In networked control systems, because of limits on communication rates, control waveforms are frequently piece-wise constant with limits on rates at which they can switch levels. It is, therefore, natural to expect event-triggered control switchings to perform more efficiently than time-triggered ones. This article verifies the validity of this supposition. A method for designing good level-triggered control schemes is obtained by reducing the continuous time problem to one in discrete time. Then, by numerical procedures, the performance of the level-triggered scheme is computed for comparison with that of the periodically switched control scheme. © 2007 IEEE.

关键词： Networked control systems

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