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Further Studies of A Proof of Utkin's Theorem for ITSMC of Second Order Uncertain Plants

Transactions of the Korean Institute of Electrical Engineers 2023年第10期72卷 1208-1220页

作者： Choi, Myeong-Soo Lee, Jung-Hoon Dept. of Control & Robot Engineering Gyeongsang National University Korea Republic of ERI Dept. of Control & Robot Engineering Gyeongsang National University Korea Republic of

In this paper, the two sliding surface part transformations are investigated for ITSMC (integral terminal sliding mode control) of second-order uncertain linear plants when the input gain uncertainty of the system is not zero i.e. ∆b≠0 as the further study of [33] and as the alternative methods of [33]. As highlighted in [33], the realm of designing ITSMCs encompasses five distinctive approaches: control input transformation, sliding surface full transformation, and three variations of sliding surface part transformations. While the discussion on the first three methods has been comprehensively covered in [33], this paper centers its focus on the previously unexplored last two transformations. These latter two transformations are presented as novel alternatives to the approaches detailed in [33]. The initial three transformations, as elucidated in [33], demonstrate a performance wherein the real output can be effectively predicted through the utilization of solutions derived from the ideal sliding dynamics. These solutions are thoughtfully pre-designed and predetermined through the application of the ideal sliding dynamics. This paper significantly contributes by presenting a comprehensive exploration of the last two transformation methods, achieving performance on par with the first three transformations described in [33]. These final two sliding surface part transformations stand as noteworthy design methodologies for ITSMCs with the same performance as in [33], offering alternative avenues in contrast to those laid out in [33]. The practical value of our key findings is effectively demonstrated through an illustrative example and an extensive simulation study, thereby underscoring the pertinence and applicability of our research outcomes. © The Korean Institute of Electrical Engineers.

关键词： Sliding mode control

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A Proof of Utkin's Theorem for ITSMC with Output Prediction of Second Order Uncertain Plants

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Transactions of the Korean Institute of Electrical Engineers 2023年第5期72卷 628-642页

作者： Choi, Myeong-Soo Lee, Jung-Hoon Dept. of Control and Robot Engineering Gyeongsang National University Korea Republic of

In this paper, a complete proof of Utkin's theorem is presented for the ITSMC(integral terminal sliding mode control) of second order uncertain linear plants when ∆b≠0. The addition of integral action to the TSMCs so called the ITSMC enhances performance in both transient and steady states. Therefore, proof of Utkin's theorem is essential for ITSMC systems. There are five approaches to designing ITSMCs;control input transformation, sliding surface full transformation, and three sliding surface part transformations, which is for first time pointed out in this paper. The invariance property of the Utkin's theorem applies only to the first two transformations. Specifically, the sliding mode equation, i.e., the sliding surface, remains invariant for the first two transformations. However, the invariance property of Utkin's theorem can not apply to the three additional sliding surface part transformations, although they serve as design and stabilization approaches. The sliding surface full transformation first appears in the TSMCs, except in [32], while the three sliding surface part transformations appear for the first time in the TSMCs. This paper includes research on the first three transformations, and further studies will cover the last two sliding surface part transformations. This paper presents three transformation methods that achieve the same performances as those obtained through output prediction, predetermination, and predesign. Through an illustrative example and simulation study, the usefulness of the main results is verified. © The Korean Institute of Electrical Engineers This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://***/licenses/by-nc/4.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

关键词： Sliding mode control

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The Measurement Algorithm of the Center of Pressure Based on the Tactile Sensor

The Measurement Algorithm of the Center of Pressure Based on...

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Intelligent Systems, International Workshop on

作者： Jaehyeon Baik Sejun Park Yunho Choi Kyung-Joong Kim Hosu Lee Dept. of Control and Robot Engineering Gyeongsang National University Jinju Korea School of Integrated Technology Gwangju Institute of Science and Technology Gwangju Korea

ISBN: (数字)9798350353303

ISBN: (纸本)9798350353310

Stroke survivors often experience balance disorders, significantly increasing the risk of falls. Accurate COP (Center of Pressure) measurements are essential for evaluating balance and rehabilitation outcomes. To measure COP, force plates are expensive and not user-friendly. Another system for measuring COP is Insole Pressure Sensors (IPS). However, IPS has limitations in accuracy and usability. In this paper, we suggested a cost-effective COP measurement algorithm based on high-resolution Tactile sensors which has electrodes aligned at right angles on each side of a commercial piezoresistive film, and can capture human footprints in great detail. Furthermore, a static experiment was conducted with weight plates to evaluate the COP measurement capability of the system. In future works, we will focus on validating the system's durability, usability, and integration into rehabilitation programs, as well as comparing dynamic COP measurements with force plate data.

关键词： Weight measurement Force measurement Accuracy Force Dynamics Tactile sensors Pressure measurement IP networks Reliability Usability

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Asymmetric S-Curve Generation and Tracking Under Motion Constraints: An Experimental Validation

Asymmetric S-Curve Generation and Tracking Under Motion Cons...

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2022 Advances in Science and engineering Technology International Conferences, ASET 2022

作者： Cicek, Elif Turker, Turker Akbati, Onur Vedat Sancak, Kamil ALTINAY Robot Technologies Inc. Istanbul Turkey Al Dar University College School of Engineering and Technology Dubai United Arab Emirates Yildiz Technical University Dept. of Control and Automation Eng. Istanbul Turkey

ISBN: (纸本)9781665418010

S-curve is one of the most applied approaches for trajectory generation for the point-to-point movement in industrial drives. In this note, the asymmetric S-curve structure is addressed to develop a single-axis motion structure, and an algorithm is introduced to generate the desired motion. Furthermore, a cascade P/PI position controller structure with a feed-forward path is suggested and the determination of the controller gains is discussed. Aiming to improve the smoothness of the desired trajectory and to reduce the tracking error, the proposed scheme containing both trajectory generation and controller structure is implemented experimentally in a ball screw linear motion system. The mechanical model parameters in that experimental setup, and accordingly the controller gains, are obtained based on an estimation algorithm. The acquired results show that the proposed controller structure with the asymmetric S-curve generation algorithm is convenient for practical applications. © 2022 IEEE.

关键词： controllers

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Mapless Navigation with Deep Reinforcement Learning based on The Convolutional Proximal Policy Optimization Network

Mapless Navigation with Deep Reinforcement Learning based on...

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International Conference on Big Data and Smart Computing (BIGCOMP)

作者： Nguyen Duc Toan Kim Gon Woo Dept. of Control and Robot Engineering Cheongju Chungbuk Korea

ISBN: (数字)9781728189246

ISBN: (纸本)9781728189253

In recent years, mapless navigation with a deep reinforcement learning approach in Autonomous Mobile robot has shown a considerable benefit in improving robot behavior flexibility. Specifically, the robot adapts to complex constraints and performs well in various environments without the need for a predetermined map and route plan. However, several previous studies show a lack of stability in the training of deep reinforcement learning networks for mapless navigation. Moreover, the exploration and exploitation in a specific work environment play an essential role in improving mapless navigation performance, which needs to be carefully considered. From the aforementioned issues, as well as inspired by the Proximal Policy optimization algorithm has shown that it does not only evaluates the advantages and disadvantages of policy but also prevents the policy from changing too much after each time weight update. In this paper, we propose to build a Convolutional Proximal Policy optimization network for the Mapless Navigation problem. Furthermore, the use of Boltzmann's policy to help balance exploration and exploitation also contributes to the robot's ability to explore more deeply in complex environments, and the performance of the mapless navigation problem is also significantly improved.

关键词： Training Navigation Conferences Reinforcement learning Big Data Mobile robots Optimization

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Static output feedback control for continuous-time t-s fuzzy systems: An iterative linear matrix inequalities approach

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Journal of Institute of control, robotics and Systems 2021年第11期27卷 913-918页

作者： Jeung, Eun Tae Dept. of Robot Control and Instrumentation Engineering Changwon National University Korea Republic of

This investigation deals with the design method of a static output feedback controller for continuous-time T-S fuzzy systems via iterative linear matrix inequalities. First, a matrix inequality that guarantees the stability of the nonlinear system is introduced. Based on this, an algorithm for finding the stabilization control gains, using the cone complementary linearization method, for continuous-time T-S fuzzy systems is presented. The validity of the proposed algorithm is verified through a simple example. © ICROS 2021.

关键词： Stabilization

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Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation

arXiv

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arXiv 2024年

作者： Aucone, Emanuele Sferrazza, Carmelo Gregor, Manuel D'Andrea, Raffaello Mintchev, Stefano The Environmental Robotics Laboratory Dept. of Environmental Systems Science ETH Zürich Zürich8092 Switzerland Birmensdorf8903 Switzerland The Robot Learning Lab UC Berkeley BerkeleyCA94704 United States The Institute for Dynamic Systems and Control Dept. of Mechanical and Process Engineering ETH Zürich Zürich8092 Switzerland

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed multi-contact sensing. Designed to be easily mounted at the bottom of a drone, we propose an optical tactile sensor that features a large and curved soft sensing surface, a hollow structure and a new illumination system. Even when spaced only 2 cm apart, multiple contacts can be detected simultaneously using our software pipeline, which provides real-world quantities of 3D contact locations (mm) and 3D force vectors (N), with an accuracy of 1.5 mm and 0.17 N respectively. We demonstrate the sensor’s applicability and reliability onboard and in real-time with two demos related to i) the estimation of the compliance of different perches and subsequent re-alignment and landing on the stiffer one, and ii) the mapping of sparse obstacles. The implementation of our distributed tactile sensor represents a significant step towards attaining the full potential of drones as versatile robots capable of interacting with and navigating within complex environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Drones

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Object Recognition for Autonomous Driving in Adverse Weather Condition Using Polarized Camera

Object Recognition for Autonomous Driving in Adverse Weather...

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International Conference on control, Mechatronics and Automation (ICCMA)

作者： Min-Ho Ha Chan-Hoe Kim Tae-Hyoung Park Industrial AI Research Center Chungbuk National University Cheongju South Korea Dept. Control and Robot Engineering Chungbuk National University Cheongju South Korea Dept. Intelligent Systems and Robotics Chungbuk National University Cheongju South Korea

ISBN: (纸本)9781665490498

Autonomous driving refers to a vehicle driving by itself without human intervention. An autonomous vehicle must recognize the environment with an attached sensor, make judgments appropriate to the situation, and drive toward its destination. Although many studies have been conducted on autonomous driving in clear weather, the response to bad weather is insufficient because the sensor encounters difficulties recognizing the environment when it is backlight or raining. This study proposes a method for recognizing objects (e.g., vehicles, pedestrians, lanes) based on polarization cameras for safe autonomous driving in backlight conditions or rain. First, the camera’s light input is adjusted, altering its aperture backlight conditions. Then, the polarized image from the camera is synthesized and inputted into the object recognition network. The object detection network used Yolo v5, while the lane detection network used an ultrafast lane detection network. By extracting features from the same backbone, the inference speed of the object recognition network increased. On average, a speed of 23 fps and an object recognition accuracy of over 90% were shown in the Xavier environment.

关键词： Rain Lane detection Roads Vehicle driving Cameras Feature extraction Reduced order systems

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Assembly defect classification of SMD components by cascade convolutional neural network

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Transactions of the Korean Institute of Electrical Engineers 2019年第10期68卷 1236-1243页

作者： Ryu, Jong-Hyun Kim, Young-Gyu Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

In this paper, we propose the classification method of assembly defects in the surface mount technology process. We used a cascade convolution neural network which two convolutional neural networks were merged into one network, for assembly defect classification. The first network classifies whether the surface mount device (SMD) is defect or not. The second network classify the result of the first network more detail. We classified the SMD defects as six types using a cascade convolution neural network. Experiment result shows that the proposed method can optimize memory usage and improve classification accuracy compared to previous methods. Copyright © The Korean Institute of Electrical Engineers.

关键词： Convolution

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An effective auto-focusing method for curved panel inspection system

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Transactions of the Korean Institute of Electrical Engineers 2017年第4期66卷 709-714页

作者： Lee, Hwang-Ju Park, Tae-Hyoung Dept. of Electronics Engineering Chungbuk National University Korea Republic of Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of

The curved panel is widely used for display of TVs and smart phones. This paper proposes a new auto-focusing method for curved panel inspection system. Since the distance between the camera and the panel varies with the curve position, the camera should change its focus at every inspection time. In order to reduce the focusing time, we propose an effective focusing method that considers the mathematical model of panel curve. The Lagrange polynomial equation is applied to modeling the panel curve. The foci of initial three points are used to get the curve equation, and the other foci are calculated automatically from the curve equation. The experiment result shows that the proposed method can reduce the focusing time. Copyright © The Korean Institute of Electrical Engineers.

关键词： Cameras

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