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American control Conference (ACC)

作者： Shiqing Wei Prashanth Krishnamurthy Farshad Khorrami Dept. of ECE Control/Robotics Research Laboratory NYU Tandon School of Engineering Brooklyn NY USA

Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is available. We propose a learning framework that can synthesize state-feedback controllers and a CLF for control-affine nonlinear systems with unstructured uncertainties. Based on a regularity condition on these uncertainties, we model them as bounded disturbances and prove that a CLF for the nominal system (estimate of the true system) is an input-to-state stable control Lyapunov function (ISS-CLF) for the true system when the CLF’s gradient is bounded. We integrate the robust Lyapunov analysis with the learning of both the control law and CLF. We demonstrate the effectiveness of our learning framework on two examples, such as an inverted pendulum system and a cart-pole system.

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface 1

Optical Evanescent Field for Direct Observation of Sub-100nm...

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1st International Conference on robotics, Engineering, Science, and Technology, RESTCON 2024

作者： Khajornrungruang, Panart Permpatdechakul, Thitipat Suzuki, Keisuke Blattler, Aran Terayama, Yutaka Goto, Daiki Phaisalpanumas, Pipat Bun-Athuek, Natthaphon Phunopas, Amornphun Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Division Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Fukuoka Japan Kyushu Institute of Technology Iizuka-Shi Mechanical Information Science and Technology Division Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Production and Robotics Engineering Bangkok Thailand Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Course Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Industiral Engineering Bangkok Thailand King Mongkut's University of Technology North Bangkok Bangsue College of Industrial Technology Dept. of Mechanical Engineering Technology Bangkok Thailand

ISBN: (纸本)9798350348842

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes. © 2024 IEEE.

关键词： Visualization

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Robust Prescribed-Time Practical Tracking and Disturbance Attenuation for Flexible-Joint Manipulators with Input Unmodeled Dynamics

Robust Prescribed-Time Practical Tracking and Disturbance At...

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European control Conference (ECC)

作者： P. Krishnamurthy F. Khorrami A. Tzes Dept. of ECE NYU Tandon School of Engineering Control/Robotics Research Laboratory (CRRL) Brooklyn NY USA Dept. of ECE NYU Abu Dhabi UAE

A prescribed-time robust nonlinear controller for multi-link robotic manipulators with flexible joints and uncertain input unmodeled dynamics is considered. The controller achieves regulation of the tracking error to within an arbitrarily specified neighborhood of zero (i.e., “practical” tracking) within an arbitrary time interval specified by the control designer. The controller is robust to disturbance torques as well as uncertainties in parameters of the robotic manipulator in addition to uncertain actuator dynamics in the form of input unmodeled dynamics. Time-varying control gains in a vector backstepping approach along with a dynamic scaling based approach to handle input unmodeled dynamics are used to enforce convergence of the tracking error to within the specified neighborhood within the specified time interval. Simulation studies for a two-link manipulator with flexible joints and input unmodeled dynamics are presented to demonstrate the efficacy of the proposed controller design.

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Multi-aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot

Multi-aspect Optimal Sliding Mode Controller for a Mecanum W...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sohrab Allahyari Hamid Rahmanei S. Ali A. Moosavian Dept. of Mechanical Engineering Center of Excellence in Robotics & Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications.

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Adaptive Output Regulation of MIMO LTI Systems with Unmodeled Input Dynamics

Adaptive Output Regulation of MIMO LTI Systems with Unmodele...

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IEEE Conference on Decision and control

作者： Oleg Borisov Alberto Isidori Anton Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Dept. of Computer Control and Management Engineering University “Sapienza” Rome Italy

This paper addresses the problem of adaptive output regulation of a minimum-phase MIMO LTI system in the presence of un-modeled (fast) input dynamics. The adoption of a post-processing tunable internal model makes it possible to implement standard methods for the analysis of two-time-scale systems. The proposed adaptation law guarantees, under suitable hypotheses, convergence to zero of the regulation error as well as of the parameter estimation error.

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Camera-LiDAR Jaywalking Detection in Traffic Surveillance System

Camera-LiDAR Jaywalking Detection in Traffic Surveillance Sy...

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IEEE/SICE International Symposium on System Integration

作者： Taek-Lim Kim Byung Jin Jang Joo Yeon Yeon Tae-Hyeong Kim Tae-Hyoung Park Dept. of Robot Control Eng Chungbuk National University Cheongju Republic of Korea Dept. of Intelligent Systems and Robotics Chungbuk National University Cheongju Republic of Korea Dept. of Research & Development Korea Intelligent Automotive Parts Promotion Institute (KIAPI) Daegu Republic of Korea

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Roadside sensors like cameras and LiDAR enhance pedestrian safety by providing comprehensive traffic data. While traditional traffic surveillance systems primarily focus on vehicle-related violations, such as signal violations and speeding, pedestrian jaywalking remains a significant cause of accidents. This paper presents a jaywalking detection method that fuses camera-based image segmentation with LiDAR ground segmentation to handle various conditions, including day and night. Our system addresses challenges such as poor lighting and vehicle occlusion by leveraging LiDAR’s robustness in unlearned environments. Road segmentation is enhanced by combining camera outputs with LiDAR ground data, refining road boundary detection for more accurate road area analysis. By integrating road segmentation and object tracking, the system reduces false negatives and improves jaywalking detection. Experimental results from real-road data validate its effectiveness, showing significant potential to enhance traffic surveillance.

关键词： Image segmentation Laser radar Pedestrians Roads Surveillance Transportation System integration Traffic control Cameras Sensors

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Design of Output and Impacts control Systems

Design of Output and Impacts Control Systems

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International Russian Automation Conference (RusAutoCon)

作者： Anatoly Gaiduk Nikolay Prokopenko Vladislav Chumakov Dept. of Automatic Control Systems Scientific Design Office Robotics and Control Systems Taganrog Southern Federal University Rostov-on-Don Russia Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes.

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Fuzzy controlled Adaptive Follow the Gap Obstacle Avoidance Algorithm 21

Fuzzy Controlled Adaptive Follow the Gap Obstacle Avoidance ...

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Proceedings of the 7th International Conference on robotics and Artificial Intelligence

作者： Bilal Yucel Abdurrahman Yilmaz Osman Ervan Hakan Temeltas Control and Automation Engineering Dept. Robotics Laboratory Istanbul Technical University Turkey

ISBN: (纸本)9781450385855

Follow the Gap Method (FGM) and Improved Follow the Gap Method (FGM-I) are geometric obstacle avoidance algorithms for navigation. In these methods, the vehicle detects the gaps around the object and navigates to the midpoint of the optimal gap calculated according to a defined function. One missing point of these algorithms is failure to the goal point when there is an obstacle near to it. Another drawback is that early consideration of obstacles causes long trajectories. In this paper, Adaptive Follow the Gap (A-FGM) is presented to overcome these two points. In A-FGM, a fuzzy controlled evaluation radius is set and only obstacles within this region are included in the evaluation. A differential drive robot is used in simulations and results show that A-FGM increases the success rate of reaching the goal and efficiency of previous algorithms. The source code of the developed approach is shared on GitHub 1.

关键词： Mobile Robots Fuzzy control Path Planning Robot Navigation Adaptive control Obstacle Avoidance

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A New Robust control for Mobile Robots with Differential Wheels: Output- and State- Dependent Riccati Equation Approach

A New Robust Control for Mobile Robots with Differential Whe...

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International Conference on control, Instrumentation, and Automation

作者： Neda Nasiri Ahmad Fakharian Mohammad Bagher Menhaj Dept. of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Dept. of Electrical Engineering The Center of Excellence on Control and Robotics Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

A new application of Output- and State- Dependent Riccati Equation (OSDRE) framework for robust control of over-actuated uncertain systems with constraints is addressed in this paper. Towards this aim, an equivalent optimal problem is introduced using OSDRE. The performance index for an auxiliary output- and state- dependent system is modified through inclusion uncertainty upper bounds and then minimized. The proposed method is employed for controller design of a mobile robot with differential wheels. Uncontrollability condition put on SDRE due to differential constraints of wheels. This problem leads to SDRE to be hardly solved. One could overcome this problem by a proper coordinate transformation. In this paper considering the capability of output feedback to remove outer layer of kinematic and direct control the output dynamics, this problem is handled. Simulation results for a mathematical model and a wheeled mobile robot easily demonstrate the efficiency and satisfactory performance of the proposed robust control scheme.

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Neural Lyapunov control for Nonlinear Systems with Unstructured Uncertainties

arXiv

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arXiv 2023年

作者： Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Dept. of ECE NYU Tandon School of Engineering 5 Metrotech Center BrooklynNY11201 United States

Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is available. We propose a learning framework that can synthesize state-feedback controllers and a CLF for control-affine nonlinear systems with unstructured uncertainties. Based on a regularity condition on these uncertainties, we model them as bounded disturbances and prove that a CLF for the nominal system (estimate of the true system) is an input-to-state stable control Lyapunov function (ISS-CLF) for the true system when the CLF’s gradient is bounded. We integrate the robust Lyapunov analysis with the learning of both the control law and CLF. We demonstrate the effectiveness of our learning framework on several examples, such as an inverted pendulum system, a strict-feedback system, and a cart-pole system. © 2023, CC BY.

关键词： State feedback

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