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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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QUALITY IMPROVEMENTS OF OMNIDIRECTIONAL PLATFORMS

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IFAC-PapersOnLine 2023年第2期56卷 2140-2145页

作者： Dmitrii N. Zakharov Kirill Yu Bodrov Andrei Yu. Zhivitskii Alisa D. Rodionova Anton K. Golubev Oleg I. Borisov Anton A. Pyrkin Botao Zhang Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia School of Automation Hangzhou Dianzi University Hangzhou China

This article discusses the general issues of designing modular mobile robotic platforms (MRPs), which are transport agents in internal logistics systems. The proposed algorithm for the synthesis of robotic systems develops the previously obtained research results of mecanum platform design methods and expands their use as transport agents in the field of e-commerce. The document presents not only general design issues of modular MRPS, but also indicates possible areas of research, offers specific solutions and develops a number of prototypes for omnidirectional platforms.

关键词： robotics Omniplatform

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Analysis of Acoustic Emission Parameters During the control of Samples at Their Direct Laser Melting 7

Analysis of Acoustic Emission Parameters During the Control ...

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7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Kuzivanov, Dmitriy Stepanova, Kseniya Lobastov, Maxim Fedorov, Alexey Kinzhagulov, Igor Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia Stc 'Etalon' Department of Scientific and Technical Development Saint-Petersburg Russia Jsc 'S&PA Energomash' Desigh Engineering Department Khimki Russia

ISBN: (纸本)9798350340945

This research paper considers the possibility of using an acoustic emission control method in the process of direct laser melting to determine the moment of the development of cracking in the samples being melted under incorrectly selected melting modes. After the samples were made, their metallography was carried out, confirming the presence of defects in one of the samples. The data obtained during post-processing of acoustic emission signals were also compared with the results of metallographic analysis. © 2023 IEEE.

关键词： Melting

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Simplified Rotor Angular Velocity Estimation for a Permanent Magnets Synchronous Motor by Current and Voltage Measurements 3rd

Simplified Rotor Angular Velocity Estimation for a Permanent...

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3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018

作者： Vediakova, Anastasiia O. Vedyakov, Alexey A. Department of Computer Applications and Systems St. Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia Faculty of Control Systems and Robotics ITMO University Kronverkskiy Pr. 49 St. Petersburg197101 Russia

ISBN: (纸本)9783030374358

This paper is devoted to the rotor angular velocity estimation of the permanent-magnet synchronous motor (PMSM). It is an actual problem, for example, in sensorless control. We consider a classical, two-phase model in the stator frame of the unsaturated, non-salient PMSM in the state-space representation. All parameters of the model except the stator windings resistance and rotor inertia are assumed to be known. On the first step, we find the relation between measured signals and angular velocity and excluding the unknown parameters of the motor. This relation is simplified using properties of the measured signals and represented as the first-order regression model, where the unknown parameter is the angular velocity. On the next step, we propose the estimation scheme, which is based on the gradient descent method. The efficiency is illustrated through a set of numerical simulations. © Springer Nature Switzerland AG 2020.

关键词： Sensorless control

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LMI-Based Design of Output Robust controller with Static Anti-Windup*

LMI-Based Design of Output Robust Controller with Static Ant...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Mikhail A. Kakanov Oleg I. Borisov Anton A. Pyrkin Faculty of Control Systems and Robotics St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

The article discusses the development of a robust algorithm for controlling the system output in the presence of restrictions on the input signals. The nominal controller contains an integral component to compensate for the external disturbance. Undesired effects of saturation of the input signals are compensated by the static anti-windup correction sheme. An approach is proposed for adjusting the coefficient of anti-windup correction based on the tools of linear matrix inequalities. The effectiveness of the proposed approach is illustrated by the example of an autopilot system by surface vessel.

关键词： Interference Tools Linear matrix inequalities Robots

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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions

Magnetic Flux Servoing for Precise Localization Based on Gra...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Dean Martinović Matko Orsag Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality.

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Validation of two-wire power line UAV localization based on the magnetic field strength

Validation of two-wire power line UAV localization based on ...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Matko Batoš Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

关键词： Location awareness Magnetic field measurement Power measurement Magnetometers Current measurement Wires Transmission line measurements

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Advanced Technologies in High Education in Cooperation with High-Tech Companies ⁎

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IFAC-PapersOnLine 2019年第9期52卷 312-317页

作者： Anton A. Pyrkin Alexey A. Bobtsov Alexey A. Vedyakov Sergey V. Shavetov Yuriy S. Andreev Oleg I. Borisov ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper discusses advanced educational technologies in control engineering implemented at ITMO University. They are module-based education, project-based bachelor’s degree program and project tracks based on academia-industry collaboration. All of them are oriented on the students needs and aimed to update the educational processes, reduce its bureaucracy and improve its outcome. The positive experience of such initiatives is already confirmed by a number of successful participations of the students in top level world competitions on robotics.

关键词： Education control education Projects Teaching Industrial control

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The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

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Optimal control for Discrete-Time systems under Bounded Disturbances

arXiv

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arXiv 2024年

作者： Dogadin, Egor Peregudin, Alexey Shirokih, Dmitriy The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly observable sets. We provide exact solutions for state-feedback control and filtering problems, aligning with existing methods while offering improved computational efficiency. Moreover, our main contribution is the optimal solution to the output-feedback control problem for discrete-time systems which was not known before. Numerical simulations demonstrate the superiority of this result over previous sub-optimal ones. © 2024, CC BY.

关键词： Discrete time control systems

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