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American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Department of Electrical and Computer Engineering Control Robotics Research Laboratory CRRL Polytechnic University Brooklyn NY USA

A global adaptive output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. It is also shown that this assumption can be removed by introducing extra dynamics. This represents the first adaptive output-feedback tracking results for this class of systems.

关键词： Output feedback Nonlinear systems Control systems Adaptive control Programmable control Backstepping State feedback Linear feedback control systems Robot control Linearization techniques

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Voltage-fed permanent magnet stepper motor control with position only feedback

Voltage-fed permanent magnet stepper motor control with posi...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

A robust adaptive nonlinear dynamic controller is designed to achieve practical stabilization for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilizes only rotor positions measurements. Rotor velocity and stator phase currents are not available for feedback. Furthermore, the only motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized so that no other knowledge of motor parameters is required. The proposed controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. These results can also be extended to other classes of motors.

关键词： Motor drives Robust control Rotors Programmable control Adaptive control Voltage control Error correction Permanent magnet motors Control design Position measurement

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Decentralized control of large-scale nonlinear systems in generalized output-feedback canonical form

Decentralized control of large-scale nonlinear systems in ge...

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IEEE Conference on Decision and Control

作者： P. Krishnamurthy F. Khorrami Department of Electrical and Computer Engineering Six Metrotech Center Control/Robotics Research Laboratory Polytechnic University Brooklyn NY USA

ISBN: (纸本)0780370619

A global decentralized adaptive output-feedback dynamic compensator is proposed for stabilization and tracking of a class of large-scale systems that are globally diffeomorphic into systems which are interconnections of subsystems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. This represents the first decentralized adaptive output-feedback tracking results for this class of systems.

关键词： Distributed control Large-scale systems Nonlinear systems Programmable control Adaptive control Output feedback Control systems Polynomials Uncertainty Robot control

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Fuzzy Cognitive Maps Multi-Model for Complex Manufacturing Systems

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IFAC Proceedings Volumes 2001年第8期34卷 61-66页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +30 61 997293 Fax. +30 61 997309

This paper examines the usefulness of Fuzzy Cognitive Maps in modeling complex systems and specifically their use in modeling supervisory manufacturing systems and handling with information from an abstract point of view. The use of Fuzzy Cognitive Maps for developing behavioral model for a complex system is discussed. Fuzzy Cognitive Maps applicability in modeling complex systems is presented and a hierarchical structure is proposed to model and control a complex system. Complex system is decomposed in subsystems and for each one a FCM model is developed. A hierarchical structure is proposed where Fuzzy Cognitive Map models the supervisor of the system and develops an abstract conceptual model of the complex system.

关键词： Fuzzy Cognitive Map Modeling Supervision Complex Systems Manufacturing Systems

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Light signaling for social interaction with mobile robots

Light signaling for social interaction with mobile robots

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： F. Michaud Minh Tuan Vu Laborius-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be used to identify another individual and to communicate simple information. By having the agents relatively close to each other, they share the same perceptual space, which allows them to sense or deduce implicit information concerning the context of their interaction. Using a vision- and sonar-based Pioneer I robot equipped with a colored-light signaling device, experimental results demonstrate how the robot. can interact with a human interlocutor in a ball-passing game.

关键词： Mobile robots Intelligent robots Intelligent agent Human robot interaction Humanoid robots Robot sensing systems Orbital robotics Animals Robot vision systems Protocols

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Mobile robot that can read symbols

Mobile robot that can read symbols

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： F. Michaud D. Letourneau LABORIUS-Research Laboratory on Mobile Robotics aid Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.

关键词： Mobile robots Intelligent robots Robot vision systems Hardware Cameras Roads Sonar Mobile computing Intelligent systems Character recognition

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Proprioception based behavioral advances in a hexapod robot

Proprioception based behavioral advances in a hexapod robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Komsuoglu D. McMordie U. Saranli N. Moore M. Buehler D.E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Center for Intelligent Machines Ambulatory Robotics Laboratory McGill University Montreal Canada

ISBN: (纸本)0780365763

We report on our progress in extending the behavioral repertoire of RHex, a compliant leg hexapod robot. We introduce two new controllers, one for climbing constant slope inclinations and one for achieving higher speeds via pronking, a gait that incorporates a, substantial aerial phase. In both cases, we make use of an underlying open-loop control strategy, combined with low bandwidth feedback to modulate its parameters. The inclination behavior arises from our initial alternating tripod walking controller and adjusts the angle offsets of individual leg motion profiles based on inertial sensing of the average surface slope. Similarly, the pronking controller makes use of a "virtual" leg touchdown sensing mechanism to adjust the frequency of the open-loop pronking, effectively synchronizing the controller with the natural oscillations of the mechanical system. Experimental results demonstrate good performance on slopes inclined up to /spl sim/250 and pronking up to speeds approaching 2 body lengths per second (/spl sim/1.0 m/s).

关键词： Robots Open loop systems Leg Legged locomotion Control systems Bandwidth Feedback Motion control Frequency synchronization Mechanical systems

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Decentralized Predictive Control ofthe Heat Dynamics of a Greenhouse

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IFAC Proceedings Volumes 2001年第11期34卷 152-157页

作者： S.G. Tzafestast E.J. Kyriannal K.G. Arvanitis N. Sigrimis National Technical University of Athens. Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE. Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE.

This paper proposes a decentralized model - based predictive controller approach for the design of discrete-time control systems for the regulation of the air temperature and heat supply in greenhouses. A state space model is used at the greenhouse to predict the corresponding indoor temperature over a long-range time period. The sun radiation and outdoor temperature are treated as external disturbances tliat affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control Predictive control Greenhouse heat dynamics control

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A Simulink-based robotic toolkit for simulation and control of the PUMA 560 robot manipulator

A Simulink-based robotic toolkit for simulation and control ...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： W.E. Dixon D. Moses I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA

A Simulink robotic toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/Simulink-based platform. Through the use of the real-time Linux target and the real-time Windows target, the SRTK can be executed on the Linux or Win32-based operating systems in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRTK to be a flexible tool that can easily be customized to fit the specific needs of the user, that is, based on the layered approach of the SRTK, the user can perform operations such as calibration, joint control, Cartesian control, Cartesian PD control, impedance control, some trajectory generation tasks, and real-time simulation of the Puma 560 through a user-friendly MATLAB-based graphical user interface without writing any code. The SRTK allows a researcher to use the Puma 560 without the burden of the external issues related to the control, interface, and software issues, while providing for the flexibility for easily modifying components for increased functionality.

关键词： Robots Real time systems Linux Manipulators MATLAB Operating systems Calibration PD control Impedance computer languages

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Fault detection for wheeled mobile robots with parametric uncertainty

Fault detection for wheeled mobile robots with parametric un...

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

作者： W.E. Dixon I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

ISBN: (纸本)0780367367

We develop a new method for wheeled mobile robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering technique to develop a prediction error based fault detection residual. The structure of the prediction error allows for fault detection despite parametric uncertainty in the WMR model.

关键词： Fault detection Mobile robots Kinematics Deformable models Predictive models Wheels Tires Torque Filtering Uncertainty

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