Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rath...
Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.
Intelligent Pneumatic Actuators (IPA) is a system for application that requires better control and accuracy. The purpose of this paper is to present a controller design for simulation control of an IPA system using Pr...
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Intelligent Pneumatic Actuators (IPA) is a system for application that requires better control and accuracy. The purpose of this paper is to present a controller design for simulation control of an IPA system using Proportional-Integrative (PI) controller and pole-placement feedback controller. Before the controller is designed, a model identification is used to obtain the plant using transfer function. The flow for the controller design starts with the theory, mathematical calculation, procedures and the implementation of the simulation control by using MATLAB software. Furthermore, simulation results are compared and analyzed to illustrate the performance of the proposed controllers.
The purpose of this work is to identify stability margins in systems controlled by Sliding Mode control (SMC)/High Order Sliding Modes (HOSM). The proposed stability margins characterize robustness of SMC/HOSM against...
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ISBN:
(纸本)9781457710957
The purpose of this work is to identify stability margins in systems controlled by Sliding Mode control (SMC)/High Order Sliding Modes (HOSM). The proposed stability margins characterize robustness of SMC/HOSM against parasitic dynamics and allow to certifying the performance of systems controlled by SMC/HOSM in different applications. An example with third order HOSM control algorithm is presented. The proposed technique is confirmed via phase and gain margin identification for systems with third order HOSM control.
This paper presents a nonlinear mathematical modeling of an Intelligent Pneumatic Actuator (IPA) systems and comparison of simulation results with existing experimental results of position and force control data. The ...
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ISBN:
(纸本)9781467325752
This paper presents a nonlinear mathematical modeling of an Intelligent Pneumatic Actuator (IPA) systems and comparison of simulation results with existing experimental results of position and force control data. The derivation method of mathematical equation is referred and reviewed from several literatures. From the mathematical modeling, a simulation analysis was done and compared with existing data from previous research. This paper proposed a reverse engineering method from existing real system on the intelligent actuator that focused more on development of hardware and experimental setup to simulation analysis for validation of the developed model. The simulation results show the affirmation of the developed model based on the mathematical derivation work. The simulation results demonstrate the open-loop and close-loop control systems of position and force tracking control. Finally, performance of this system are analyzed and compared. For future research, this simulation can be used for development of new controllers, validation process and can be applied to real system.
A heterogeneous, mobile, self-reconfigurable and modular robot platform is being developed in the projects SYMBRION and REPLICATOR. The locomotion of the robots as well as forming of the robot organisms will be contro...
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A heterogeneous, mobile, self-reconfigurable and modular robot platform is being developed in the projects SYMBRION and REPLICATOR. The locomotion of the robots as well as forming of the robot organisms will be controlled using evolutionary and bio-inspired techniques. As the robots are not available at the beginning of the projects and experiments are time consuming and carry risks of damaging the robots, the evolutionary algorithms will be run using a simulation. The simulation has to provide realistic movements of a swarm of robots, simulating the docking procedure between the robots as well as simulating organism motion. High requirements are imposed on such a simulator. We developed the Robot3D simulator, which dynamically simulates a swarm of mobile robots as well as robot organisms. In this paper we will give an overview of the simulation framework, we will show first results of performance tests and we will present applications for which Robot3D has already been used.
Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA ...
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Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system.
The fault detection and isolation problem is studied for a class of nonlinear systems. Under structural conditions, a bank of High-Order Sliding-Mode observers is proposed. The value of the equivalent output injection...
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The fault detection and isolation problem is studied for a class of nonlinear systems. Under structural conditions, a bank of High-Order Sliding-Mode observers is proposed. The value of the equivalent output injection is used for detecting and isolating particular faults in the system. The proposed method provides finite-time isolation of actuator and plant faults. Simulation results support the proposed approach.
The problem of simultaneous estimation of the continuous and discrete state with additive faults in linear switched systems is addressed. Under mild structural conditions a robust estimator is designed to solve the pr...
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The problem of simultaneous estimation of the continuous and discrete state with additive faults in linear switched systems is addressed. Under mild structural conditions a robust estimator is designed to solve the problem. The proposed strategy includes a technique for fault detection. Simulation results support the proposed estimation scheme.
The continuous and discrete state estimation problem in linear switched systems with unknown inputs and unstable internal dynamics is addressed. A robust observer based on High-Order Sliding-Mode is proposed to solve ...
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The continuous and discrete state estimation problem in linear switched systems with unknown inputs and unstable internal dynamics is addressed. A robust observer based on High-Order Sliding-Mode is proposed to solve the problem under mild structural conditions. Simulation results support the proposed estimation approach.
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