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control Technology and Applications (CCTA),

作者： Andrei Battistel Tiago Roux Oliveira Victor Hugo Pereira Rodrigues Leonid Fridman Department of Electronics and Telecommunication Engineering 4State University of Rio de Janeiro (UERJ) Rio de Janeiro RJ Brazil Dept. of Control Engineering and Robotics National Autonomous University of Mexico (UNAM) Federal District Mexico

This paper presents an extension of the Binary Model Reference Adaptive control (BMRAC) for uncertain multivariable (square) systems with non-uniform arbitrary relative degrees, using only output feedback. The BMRAC algorithm is a robust adaptive strategy which has the good transient and robustness properties of sliding mode control with the important advantage of preserving a continuous control signal free of chattering, inherited from classical adaptive systems. Unlike most of the publications which consider plants with uniform relative degree one, here we circumvent the arbitrary relative degree obstacle using a multivariable generalization of global finite-time differentiators with dynamic gains and higher-order sliding modes. State-norm observers are employed to obtain an upper bound for the unmeasured state and to update the gains of the proposed robust and exact multivariable differentiator. Global and exact output tracking is guaranteed without requiring stringent symmetry assumptions on the plant High-Frequency Gain matrix, usually assumed in other works in the literature.

关键词： MIMO communication Adaptive control Adaptation models Robustness Observers Heuristic algorithms Output feedback

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Observer-based H∞ fuzzy controller design of interval type-2 Takagi-Sugeno fuzzy systems under imperfect premise matching

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Transactions of the Korean Institute of Electrical Engineers 2017年第11期66卷 1620-1627页

作者： Hwang, Sounghwan Park, Jin Bae Joo, Young Hoon Dept. of Electrical and Electronic Engineering Yonsei University Korea Republic of Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, we design an observer-based H∞ fuzzy controller for interval type-2 Takagi-Sugeno (T-S) fuzzy systems under imperfect premise matching. The designed observer-based controller can effectively estimate the state of the system and make fuzzy system satisfy the H∞ disturbance attenuation performance. Using the slack matrix, the derived stabilization condition is expressed in terms of a linear matrix inequality. Finally, the effectiveness of the proposed method is verified through a simulation example. © 2017 The Korean Institute of Electrical Engineers.

关键词： Lyapunov functions

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Distributed Functional Safety for Modular Process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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Output feedback consensus of triangular nonlinear systems with a communication delay

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Journal of Institute of control, robotics and Systems 2017年第9期23卷 745-750页

作者： Lee, Sungryul Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, the output feedback consensus of lower triangular nonlinear systems under a directed network with a communication delay is studied. The proposed controller incorporates a high-gain approach into the existing low-gain controller to compensate for the triangular nonlinearity and time delay. Combining low- and high-gain approaches demonstrated that if a communication delay is sufficiently small, the proposed output feedback controller can achieve a consensus in the presence of both a triangular nonlinearity and a communication delay. Finally, a simulation example is given to validate the proposed controller. © ICROS 2017.

关键词： Nonlinear systems

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Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications

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IFAC-PapersOnLine 2019年第18期52卷 121-126页

作者： Matěj Kuře Jaroslav Bušek Tomáš Vyhlídal Silviu-Iulian Niculescu Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 1902/4 166 07 Praha 6 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 160 00 Praha 6 Czech Republic Laboratoire des Signaux et Systemes Universite Paris Saclay CNRS-CentraleSupelec-Universite Paris Sud 3 rue Joliot-Curie 91192 Gif-sur- Yvette cedex France. The author is also a member of the Inria team "DISCO (Inria- CNRS-CentraleSupelec)

A case study problem of damping oscillations of a pendulum by moving a pivot in vertical direction is presented. The motivation for solving this task comes from a broader research on designing advanced control algorithms for Unmanned Aerial Vehicles (UAVs) carrying a suspended payload. First, a nonlinear model for vertical motion of a quadcopter carrying a payload is derived and simplified to a nonlinear pendulum-like model. The main result is in deriving a nonlinear time-delay control law allowing to predefine a damping factor of the oscillations. Note that the problem at hand cannot be solved by a linear controller, as the oscillatory mode is not controllable once the model is linearised. The control law is then extended from pendulum to the quadcopter model considering an outer loop to control the horizontal motion. The theoretical results are then validated by simulations.

关键词： quadcopter suspended load oscillation suppression pendulum moving pivot delayed feedback

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Repetitive control design and implementation for periodic motion tracking in aerial robots

Repetitive control design and implementation for periodic mo...

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American control Conference

作者： Xiang He Dejun Guo Kam K. Leang Design Automation Robotics and Control (DARC) Lab Univ. of Utah Robotics Center Dept. of Mechanical Engineering

ISBN: (纸本)9781509045839

This paper describes the design and implementation of a repetitive controller (RC) for tracking periodic trajectories in aerial robots, such as unmanned aerial vehicles (UAVs). The RC is ideally suited for situations where the robot is required to execute a defined flight pattern, over and over again in a periodic fashion. Applications include precision agriculture, and search and rescue, where the desired trajectory is often periodic in time and known a priori. Compared to iterative learning control (ILC), RC is a feedback-based approach which can be plugged into an existing feedback control loop to improve the tracking of period trajectories. Herein, a plug-in type RC is applied to a micro aerial robot, and a systematic approach is presented for designing the control system. The plug-in nature of the design also allows users to enable/disable the controller on the fly. The proposed RC is also compared to existing approaches, including no-reset ILC, which have recently been applied to control aerial robots. The effectiveness of the RC is demonstrated on a custom-designed experimental micro aerial robot. Tracking of circle, square, and figure-eight trajectories are shown in both simulations and experiments. In these cases, the RC reduces the average tracking error by over 58% compared to a well-tuned PID controller, and simulations that compare to no-reset ILC show that the performance of RC is less sensitive to changes in the reference trajectory.

关键词： Aerial robot Ritchey-Chretien telescope Unmanned Aerial Vehicle design control trajectory tracking International Labour Conference simulating Rescue Periodic Motion

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HOSM Differentiator with Varying Gains for Global/Semi-Global Output Feedback

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IFAC-PapersOnLine 2017年第1期50卷 1728-1735页

作者： Oliveira T.R. Rodrigues V.H.P. Estrada A. Fridman L.M. Dept. of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) Rio de Janeiro RJ 20550-900 Brazil CONACYT Research Fellow - Center for Engineering and Industrial Development (CIDESI) Queretaro C.P. 76125 Mexico Dept. of Control Engineering and Robotics National Autonomous University of Mexico (UNAM) Federal DistrictC.P. 04510 Mexico

This paper develops a higher-order sliding mode (HOSM) differentiator with adaptive gains to address the exact tracking control problem using only input-output information of a wider class of nonlinear systems with disturbances and parametric uncertainties. The complete state of the plant is assumed unmeasured so that a norm state estimator is constructed to norm bound the state-dependent disturbances and dynamically update the gains of the proposed differentiator. Global/semi-global stability properties and robust exact tracking can be achieved when the proposed adaptive HOSM based differentiator is applied to output-feedback purposes. Numerical simulations are presented for different sliding mode control designs, such as: (a) first-order sliding mode control, (b) non-singular terminal sliding modes, (c) second order sliding mode (SOSM) algorithms (twisting and super-twisting) as well as (d) quasi-continuous HOSM finite-time controllers. © 2017

关键词： differentiators global/semi-global stability higher-order sliding modes output feedback tracking variable structure control

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Learning task-specific dynamics to improve whole-body control

arXiv

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arXiv 2018年

作者： Gams, Andrej Mason, Sean A. Ude, Aleš Schaal, Stefan Righetti, Ludovic Humanoid and Cognitive Robotics Lab Dept. of Automatics Bio-cybernetics and Robotics Jožef Stefan Institute Ljubljana Slovenia Computational Learning and Motor Control Lab University of Southern California Los AngelesCA United States Tandon School of Engineering New York University New York United States Max Planck Institute for Intelligent Systems Tuebingen Germany

In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate dynamic models or external disturbances. On underactuated, free-floating robots, such as humanoids, good tracking accuracy often necessitates high feedback gains, which leads to undesirable stiff behaviors. The magnitude of these gains is anyways often strongly limited by the control bandwidth. In this paper, we show how to reduce the required contribution of the feedback controller by incorporating learned task-space reference accelerations. Thus, we i) improve the execution of the given specific task, and ii) offer the means to reduce feedback gains, providing for greater compliance of the system. In contrast to learning task-specific joint-torques, which might produce a similar effect but can lead to poor generalization, our approach directly learns the task-space dynamics of the center of mass of a humanoid robot. Simulated and real-world results on the lower part of the Sarcos Hermes humanoid robot demonstrate the applicability of the approach. Copyright © 2018, The Authors. All rights reserved.

关键词： Feedback

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A unified angle control scheme for hypersonic vehicle based on disturbance rejection 21

A unified angle control scheme for hypersonic vehicle based ...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Piao, Minnan Zhu, Kai Sun, Mingwei Chen, Zengqiang Dept. of Automation and Intelligent Science College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Hypersonic vehicles are characterized with strong nonlinearities, coupling effects and uncertainties as well as fast time-varying parameters, which impose great difficulty to the attitude control. This study proposes a unified scheme for all the Euler angles, angle of attack, and sideslip angle. First, three controllers based on active disturbance rejection control (ADRC) are designed for the Euler angles respectively, in which the external disturbances and the internal uncertainties can be estimated by the extended state observer (ESO) and compensated in real time actively. Then the geometric relations among the angles with different time scales are utilized to transform the commands of α and β into the commands of the pitch angle and the yaw angle. Next the stability-margin tester method is employed to tune the controller parameters, which guarantees the stability and robustness of the control system. 1000 nonlinear six-degree-of-freedom Monte Carlo simulation results demonstrate the good tracking performance and the robustness of the proposed control method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

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An experimental mechatronic design and control of a 5 DOF Robotic arm for identification and sorting of different sized objects

arXiv

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arXiv 2017年

作者： Tolis, Christos Fragulis, George F. Laboratory of Robotics and Applied Control Systems Dept. Of Electrical Engineering Western Macedonia Univ. of Applied Sciences Kozani Hellas

The purpose of this paper is to present the construction and programming of a five degrees of freedom robotic arm which interacts with an infrared sensor for the identification and sorting of different sized objects. The main axis of the construction design will be up to the three main branches of science that make up the Mechatronics: Mechanical engineering, Electronic-Electrical engineering and Computer engineering. The methods that have been used for the construction are presented as well as the methods for the programming of the arm in cooperation with the sensor. The aim is to present the manual and automatic control of the arm for the recognition and the installation of the objects through a simple (in operation) and low in cost sensor like the one that was used by this paper. Furthermore, this paper presents the significance of this robotic arm design and its further applications in contemporary industrial forms of production. Copyright © 2017, The Authors. All rights reserved.

关键词： Inverse problems

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