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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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On active decoupling control for horizontal-lateral direction of hypersonic flight based on HIFOO 21

On active decoupling control for horizontal-lateral directio...

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

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Localization and autonomous navigation using GPU-based SIFT and virtual force for mobile robots

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Transactions of the Korean Institute of Electrical Engineers 2016年第10期65卷 1738-1745页

作者： Tak, Myung Hwan Joo, Young Hoon Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services). © The Korean Institute of Electrical Engineers.

关键词： Graphics processing unit

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Area classification, identification and tracking for multiple moving objects with the similar colors

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Transactions of the Korean Institute of Electrical Engineers 2016年第3期65卷 477-486页

作者： Lee, Jung Sik Joo, Yung Hoon Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

This paper presents the area classification, identification, and tracking for multiple moving objects with the similar colors. To do this, first, we use the GMM(Gaussian Mixture Model)-based background modeling method to detect the moving objects. Second, we propose the use of the binary and morphology of image in order to eliminate the shadow and noise in case of detection of the moving object. Third, we recognize ROI(region of interest) of the moving object through labeling method. And, we propose the area classification method to remove the background from the detected moving objects and the novel method for identifying the classified moving area. Also, we propose the method for tracking the identified moving object using Kalman filter. To the end, we propose the effective tracking method when detecting the multiple objects with the similar colors. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments. Copyright © The Korean Institute of Electrical Engineers.

关键词： Color

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Multi-criteria optimisation design of shapers with piece-wise equally distributed time-delay

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IFAC-PapersOnLine 2016年第10期49卷 112-117页

作者： Pilbauer, Dan Michiels, Wim Vyhlidal, Tomas CIIRC - Czech Institute of Informatics Robotics and Cybernetics and Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium

The paper presents an optimisation based method to parametrize input shapers with time delays of piece-wise-equal distribution. The design respects the two key requirements on the shaper performance that are the prompt response time and the robustness represented by residual vibration functions, which are however conflicting criteria as a rule. Thus, the optimisation task is solved as a constrained multi-objective problem where the constraints respect the additional requirements on the shaper performance such as a non-decreasing step response or zero residual function at some frequency points. The result is a Pareto front that shows a trade-off between the two main requirements. Next to the presentation of the results in an example, a user friendly shaper-design tool is presented. © 2016

关键词： Multiobjective optimization Computer control systems Constrained optimization Economic and social effects Time delay Timing circuits Distributed time delays Multi criteria optimisation Multi objective problem Pareto frontiers Residual functions Residual vibrations Signal shaper Vibration suppression

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Active Steerable Driving Mechanism Using Two In-Wheel Motors for Omnidirectional Motion of Robotic Mobile Platform

Active Steerable Driving Mechanism Using Two In-Wheel Motors...

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International Symposium on Soft Computing and Intelligent Systems (SCIS)

作者： Young-Jae Ryoo Susan Park Yong-Jun Lee Kyung Seok Byun Dept. of Control Engineering and Robotics Mokpo National University South Korea Dept. of Mechanical Engineering Mokpo National University South Korea

ISBN: (纸本)9781509026791

In this paper, an active steerable driving mechanism with in-wheel motors is proposed. Before designing the robotic mobile platform, active caster wheels and active steerable driving wheels are studied. For design of the robotic mobile platform, we discuss about active steerable wheel design. The omnidirectional motion through the digital design exploration of the robotic platform using active driving and steering wheel is examined. As the major mechanical components, an active steerable driving wheel and in-wheel motors are described. The design is established by rapid prototyping model of omnidirectional motion.

关键词： Wheels Mobile robots Permanent magnet motors Vehicles Traction motors Mobile communication

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Receding-horizon planning using recursive Monte Carlo Tree Search with Sparse Action Sampling for continuous state and action spaces

Receding-horizon planning using recursive Monte Carlo Tree S...

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American control Conference

作者： Moritz Schneider Laboratory of Control Methods and Robotics Institute of Automatic Control and Mechatronics Dept. of Electrical Engineering and Information Technology Technische Universit?t Darmstadt Germany

ISBN: (纸本)9781467386838

This paper introduces a recursive, sampling-based Monte Carlo Tree Search (MCTS) approach to planning, i.e. receding horizon control, in continuous state and action nonlinear set-point control problems. Usually, predictive control methods for nonlinear systems aim at (sub-)optimal control behavior through solving a dynamic optimization problem over a fixed prediction horizon in every time step. Tree-based methods, which have recently gained interest in planning, model-based reinforcement learning and path planning, replace the optimization problem by an incremental probabilistic search for (sub-)optimal open-loop control sequences in the space of variable-length closed-loop trajectories. The benefit of using a weaker optimization procedure is that the algorithm is very simple to understand/apply and works for general nonlinear systems. This article is concerned with increasing the control performance and sampling-efficiency of MCTS in continuous state and action spaces based on ideas from the field of standard nonlinear model predictive control.

关键词： Search problems Planning Aerospace electronics Optimization Trajectory Monte Carlo methods Prediction algorithms

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A dynamic control redesign procedure for uncertain nonlinear systems subjected to input unmodeled dynamics

A dynamic control redesign procedure for uncertain nonlinear...

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American control Conference

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Dept. of ECE NYU Polytechnic School of Engineering Brooklyn NY 11201 USA

ISBN: (纸本)9781467386838

A global dynamic scaling based control redesign procedure is proposed for a general class of uncertain nonlinear systems with both static and dynamic input uncertainties (input unmodeled dynamics). It is shown that if a nominal control law is available that can globally asymptotically stabilize the nominal system (without the input unmodeled dynamics), then a dynamic redesign of the nominal control law can be performed to achieve global asymptotic stabilization of the system with the uncertain input unmodeled dynamics. The proposed control redesign approach is based on adding a singular-perturbation-like dynamic system extension to the nominal control law to address the control input uncertainties. The proposed technique is applicable to a general class of nonlinear systems including both triangular and non-triangular system structures and provides a global robust output-feedback stabilizing controller.

关键词： Artificial intelligence Asymptotic stability Gold

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Adaptive repetitive visual-servo control of a low-flying unmanned aerial vehicle with an uncalibrated high-flying camera

Adaptive repetitive visual-servo control of a low-flying unm...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dejun Guo Woosoon Yim Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Dept. of Mechanical Engineering University of Utah Salt Lake City 84112 United States Intelligent Structures & Control Laboratory Dept. of Mech. Engineering Univ. of Nevada - Las Vegas 89154 United States

ISBN: (纸本)9781509037636

This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame (image frame). Due to the circulatory motion of the HFV, the resulting motion trajectory of the LFV in the image frame is periodic in time, thus an adaptive repetitive control system is exploited to improve the tracking precision from one operating period to the next. Not only is the adaptive control law able to deal with uncertainties in the camera's intrinsic and extrinsic parameters, but it can also tolerate uncertainties in the localization of the LFV. The design and stability analysis of the closed-loop control system is presented, where the Lyapunov approach is used to show stability. Simulations and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter vehicle. Results show good tracking performance for three simulated test cases, where the average maximum tracking error is reduced by approximately 75% compared to the performance of a standard adaptive visual-servo controller.

关键词： low frequency vibration vehicle Cameras tracking accuracy Repetitive Servo control Closed loop control systems Self tuning control systems visual tracking drone honey bees Unmanned Aerial Vehicle Frame

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Output-feedback generalization of Variable Gain Super-Twisting Sliding Mode control via global HOSM differentiators

Output-feedback generalization of Variable Gain Super-Twisti...

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International Workshop on Variable Structure Systems, VSS

作者： Tiago Roux Oliveira Antonio Estrada Leonid Fridman Dept. of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) RJ Brazil CONACYT Research Fellow of Center for Engineering and Industrial Development (CIDESI) Queretaro C.P. Mexico Dept. of Control Engineering and Robotics National Autonomous University of Mexico (UNAM) Federal District C.P. Mexico

In this paper, an output-feedback version of the Variable Gain Super-Twisting Sliding Mode control is proposed for uncertain plants with arbitrary relative degree. This extension is achieved by using global HOSM (higher-order sliding modes) differentiators with dynamic gains. Norm observers for the unmeasured state are employed to dominate the disturbances as well as to adapt the gains of the proposed differentiator, since the disturbances may be state-dependent and time-varying. The proposed control scheme guarantees global stability with robust exact tracking. As the control signal is continuous the proposed scheme alleviates the chattering phenomenon. Numerical simulations illustrate the theoretical results.

关键词： Sliding mode control Gain Observers Convergence Upper bound Transfer functions Xenon

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