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Differential flatness-based distributed control of underactuated robot swarms

Applied Mathematics and Mechanics(English Edition) 2023年第10期44卷 1777-1790页

作者： Ningbo AN Qishao WANG Xiaochuan ZHAO Qingyun WANG Department of Dynamics and Control Beihang UniversityBeijing 100191China Institute of Computer Application Technology China North Industries Group Corporation LimitedBeijing 100095China

This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

关键词： differential flatness(DF) underactuated robot distributed control synchronization

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Rover Attitude Determination Using Kinematics Model and its Applications in Pragyan Operations

Rover Attitude Determination Using Kinematics Model and its ...

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2024 IEEE Region 10 Symposium, TENSYMP 2024

作者： Ghosh, Rima Bharat Kumar, G.V.P. Sumithra, Kakanuru U R Rao Satellite center Isro Control Dynamics Design Group Bangalore India U R Rao Satellite center Isro Mission Simulation Group Bangalore India

ISBN: (纸本)9798350364866

Rover plays an important role in planetary exploration missions. They serve as mobile laboratory traversing over challenging terrains to carry out in situ scientific experiments. One crucial part of path planning is to ensure safety of rover as it traverses uneven terrain covered with boulders & craters. This paper deals with kinematic modelling of a 6-wheel rocker-bogie rover and its application in different phases like design & mission operations. A geometric model of the rover inverse kinematics is developed to compute rover attitude as a function of terrain. This model is used to select a path which has less chances of the rover toppling. The model accuracy is proved by carrying out experiments on calibrated test bed. The application of this model during Pragyan mobility operations, post Chandrayaan-3 landing on 23 Aug, 2024 is illustrated. © 2024 IEEE.

关键词： Motion planning

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Kernel Management strategy for Reaction wheel optimal speed control system for Spacecrafts for enhanced Pointing accuracy and agility 74

Kernel Management strategy for Reaction wheel optimal speed ...

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74th International Astronautical Congress, IAC 2023

作者： Majumder, Chiranjib Guha Kapoor, Shubha Siva, M.S. Srivastava, Pratibha Control Dynamics Design Group U R Rao Satellite Centre Indian Space Research Organization Bangalore India

With the demand for high accuracy and high agility slewing requirements, it is imperative that the simultaneous use of 4-RWs is important for a spacecraft. Now, if the angular momentum capability is enhanced, it increases the spacecraft agility by allowing fast large angle manoeuvres thereby catering to spot imaging requirement. Moreover, it also leads to enhanced pointing accuracy (significant for science missions) by maximizing the dumping gaps i.e. by reducing the frequency of attitude disturbing momentum unloading from wheels. Mention worthy, the use of the fourth wheel provides DOF which allows regulation and optimization of the operating point by choosing a trade of between saturation and margin before zero cross-over (where stiction can impact the performance). The current paper brings to light the design of RW momentum management algorithm with mathematical formulation and the philosophy and rationale for tuning of the pertinent parameters of the algorithm. The variants of momentum management with accommodation of explicit constraints such as speed magnitude limit of actuators are presented. Simulations are carried out in 4-RW configuration in MATLAB/SIMULINK with typical acquisition manoeuvres and single axis slews. Copyright © 2023 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Allocation problem Kernel management Null space scaling Null space torque Optimal speed management

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Adaptive nonlinear model predictive control: maximizing tire force and obstacle avoidance in autonomous vehicles

Field Robotics

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Field Robotics 2025年 3卷 222-242页

作者： James Dallas Michael Thompson Jonathan Y. M. Goh Avinash Balachandran Extreme Vehicle Dynamics Control group Toyota Research Institute Los Altos CA 94022

The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending with tire force saturation, balancing model fidelity and computational efficiency, and coordinating inputs with the lower level chassis control system. This work studies nonlinear model predictive control for limit handling, specifically adapting to changing tire-road conditions and maximally allocating tire force utilization. We present a novel hierarchical framework that combines a single-track model with longitudinal weight transfer dynamics in the predictive control layer, with lateral brake distribution occurring at the chassis control layer. This vehicle model is simultaneously used in the unscented Kalman filter for online friction estimation. Comparative experiments on a full-scale vehicle operating on a race track at up to 95% of maximum tire force usage demonstrate the overall practical effectiveness of this approach.

关键词： Tires Force Brakes Vehicle dynamics Computational modeling Torque Predictive control Mathematical models Friction Adaptation models

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Baseline Results for Selected Nonlinear System Identification Benchmarks

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IFAC-PapersOnLine 2024年第15期58卷 474-479页

作者： Max Champneys Gerben I. Beintema R. Tóth Maarten Schoukens Timothy J. Rogers Dynamics Research Group University of Sheffield Sheffield UK Control System group Eindhoven University of Technology Eindhoven the Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

Nonlinear system identification remains an important open challenge across research and academia. Large numbers of novel approaches are seen published each year, each presenting improvements or extensions to existing methods. It is natural, therefore, to consider how one might choose between these competing models. Benchmark datasets provide one clear way to approach this question. However, to make meaningful inference based on benchmark performance it is important to understand how well a new method performs comparatively to results available with well-established methods. This paper presents a set of ten baseline techniques and their relative performances on five popular benchmarks. The aim of this contribution is to stimulate thought and discussion regarding objective comparison of identification methodologies.

关键词： Nonlinear System Identification Benchmarks NARX Nonlinear State-Space

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Exploring The Sensitivity Window In Subsurface Scanning Probe Microscopy Using Frequency Mixing Scheme

Exploring The Sensitivity Window In Subsurface Scanning Prob...

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2023 IEEE International Ultrasonics Symposium, IUS 2023

作者： Mukherjee, Dipankar Hoogesteger, Marinus Sadeghian, Hamed Nijmeijer, Henk Eindhoven University of Technology Dynamics and Control Group Department of Mechanical Engineering Eindhoven Netherlands Nearfield Instruments B.V Rotterdam Netherlands

ISBN: (纸本)9798350346459

The subsurface contrast in Scanning Probe Microscopy(SPM) based techniques is usually a result of change in Contact Stiffness. In subsurface ultrasound imaging using a frequency mixing scheme, a high frequency excitation is used to increase the mechanical impedance and a modulation frequency sensitive to contact stiffness changes is used, simultaneously. The nonlinear nature of the tip-sample interaction, which depends on various probe and sample properties, causes the instantaneous contact stiffness to vary greatly. Adding the complexity of multi-frequency excitation makes it difficult to do quantifiable subsurface imaging. Subsurface ultrasound imaging can be used to measure subsurface structures through various different layers with hundreds of nanometers of depth sensitively. In this technique the tip is excited at mixed frequencies with a high carrier frequency which is either amplitude modulated or frequency modulated to a modulation frequency near the contact resonance. Thus, benefiting from the increasing mechanical impedance of the tip leading to an effective transfer of ultrasonic energy into the sample and the sensitivity to change in local stiffness changes of the material. This dynamic variation in stiffness is a culmination of depth of the nanofeatures, local (visco)-elastic properties, tip velocity and time. In this research, we thus study the influence of experimental parameters like the carrier signal, modulation signal, depth of modulation of the excitation and indentation force on the achievable sensitivity for the subsurface contrast. © 2023 IEEE.

关键词： Scanning probe microscopy

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Pose Estimation of a Differential-Drive Mobile Robot Using EKF-Based Sensor Fusion 26

Pose Estimation of a Differential-Drive Mobile Robot Using E...

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26th Robotics Mexican Congress, COMRob 2024

作者： Martínez-Algarín, Fernando-Rafael Santos-Ruiz, Ildeberto López-Estrada, Francisco-Ronay Domínguez-Zenteno, Joaquín-Eduardo Tecnológico Nacional de México I. T. Tuxtla Gutiérrez Turix-Dynamics Diagnosis and Control Group Tuxtla Gutiérrez29050 Mexico

ISBN: (纸本)9798331533397

Localization is an important process in navigation systems. In this stage, the robot gathers the necessary data to navigate safely and reach its destination. This paper presents a robust pose estimation method for a differential-drive robot using sensor fusion techniques, along with the design, instrumentation, and implementation in a warehouse robot used for transporting loads, focusing on real-world applications. The objective is to accurately determine the robot's position and orientation by integrating data from wheel encoders and an Inertial Measurement Unit (IMU) mounted on the robot. The wheel encoders allow the estimation of the linear and angular velocities of the robot, while the IMU offers complementary data on the robot's acceleration and angular rates. The data is fused through the Extended Kalman Filter (EKF), considering the kinematics of the differential-drive robot and the uncertainties of the sensor measurements. The results from simulations and real-world experiments demonstrate an improvement in the pose estimation accuracy. © 2024 IEEE.

关键词： Extended Kalman filters

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Frequency-Domain Properties of Moving Average and Moving Standard Deviation with Application to Stage (Motion) control

Frequency-Domain Properties of Moving Average and Moving Sta...

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European control Conference (ECC)

作者： Marcel Heertjes Department of Mechanical Engineering Dynamics & Control group Control Systems Technology group Eindhoven University of Technology MB Eindhoven Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In wafer scanners, moving average and moving standard deviation constitute time-domain measures that quantify scanning stage performance in terms of overlay and imaging. Though for control design a frequency-domain interpretation would be desirable to have, for moving standard deviation such an interpretation is not easily found. As a practical solution, an analytical expression for the response to single sinusoidal input will be derived. For data from an industrial scanning stage the usefulness of such an expression and the insights obtained from it will be discussed.

关键词： Time-frequency analysis Filtering control design Imaging Europe Frequency response Error correction codes

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Image-based quantitative probing of 3D heterogeneous pore structure in CBM reservoir and permeability estimation with pore network modeling

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International Journal of Coal Science & Technology 2024年第5期11卷 121-141页

作者： Peng Liu Yulong Zhao Zhengduo Zhao Huiming Yang Baisheng Nie Hengyi He Quangui Li Guangjie Bao State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400030China State Key Laboratory of Gas Disaster Detecting Preventing and Emergency ControllingChongqing 400037China College of Resources and Safety Engineering Chongqing UniversityChongqing 400030China China Coal Technology Engineering Group Chongqing Research Institute Chongqing 400037China

Coalbed methane(CBM)recovery is attracting global attention due to its huge reserve and low carbon burning benefits for the *** understanding the complex structure of coal and its transport properties is crucial for CBM *** study describes the implementation of mercury intrusion and μ-CT techniques for quantitative analysis of 3D pore structure in two anthracite *** shows that the porosity is 7.04%-8.47%and 10.88%-12.11%,and the pore connectivity is 0.5422-0.6852 and 0.7948-0.9186 for coal samples 1 and 2,*** fractal dimension and pore geometric tortuosity were calculated based on the data obtained from 3D pore *** results show that the pore structure of sample 2 is more complex and developed,with lower tortuosity,indicating the higher fluid deliverability of pore system in sample *** tortuosity in three-direction is significantly different,indicating that the pore structure of the studied coals has significant *** equivalent pore network model(PNM)was extracted,and the anisotropic permeability was estimated by PNM gas flow *** results show that the anisotropy of permeability is consistent with the slice surface porosity distribution in 3D pore *** permeability in the horizontal direction is much greater than that in the vertical direction,indicating that the dominant transportation channel is along the horizontal direction of the studied *** research results achieve the visualization of the 3D complex structure of coal and fully capture and quantify pore size,connectivity,curvature,permeability,and its anisotropic characteristics at micron-scale *** provides a prerequisite for the study of mass transfer behaviors and associated transport mechanisms in real pore structures.

关键词： CT image Heterogeneous pore structure Pore network model Coal permeability Coalbed methane

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Modular Model Reduction of Interconnected Systems: A Top-Down Approach 22

Modular Model Reduction of Interconnected Systems: A Top-Dow...

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22nd IFAC World Congress

作者： Janssen, Lars A.L. Besselink, Bart Fey, Rob H.B. van de Wouw, Nathan Dynamics and Control group Department of Mechanical Engineering Eindhoven University of Technology Netherlands Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen Netherlands

ISBN: (纸本)9781713872344

Complex systems often involve interconnected subsystem models developed by multi-disciplinary teams. To simulate and control such systems, a reduced-order model of the interconnected system is required. In the scope of this paper, we pursue this goal by subsystem reduction to warrant modularity of the reduction approach. However, reducing subsystem models affects not only the subsystems accuracy, but also the interconnected model accuracy, making it difficult to predict a priori the accuracy impact of subsystem reduction. To address this challenge, we introduce a top-down approach using mathematical tools from robust performance analysis, enabling the translation of accuracy requirements from the interconnected model to the subsystem level. This enables independent subsystem reduction while ensuring the desired accuracy of the interconnected model. We demonstrate the effectiveness of our approach through a structural dynamics case study. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Complex systems control of interconnected systems Error bounds Model reduction Robust performance Top-down approach

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