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作者： Dobriborsci, Dmitrii Kolyubin, Sergey Margun, Alexei ITMO University Faculty of Control systems and Robotics United States

This paper deals with the designing of robust trajectory tracking controller for parallel kinematics robotic manipulators that can be used for nonprehensile material handling and dynamic simulators in industrial and medical applications. The controller design is based on output control algorithm for structurally and parametrically uncertain systems called consecutive compensator. controller performance is verified for the task of moving a ball along circular reference trajectories. Only ball coordinates on a plane are measured, but not its velocities and accelerations, while noise in measurements is assumed to be serial uncorrelated with zero mean. Taking into account control magnitude constraints, we implemented an anti-windup correction for the control law. The experimental validation is performed by a parallel manipulator ball-and-plate with tactile feedback. © 2018

关键词： Robust control

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Development of Complex Surfaces Adaptive Polishing Method for Robotic Cell

Development of Complex Surfaces Adaptive Polishing Method fo...

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International Russian Automation Conference (RusAutoCon)

作者： Alexander M. Iuvshin Sergey D. Tretyakov Sergey V. Egorov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Federation

This paper presents the solutions adopted for an automated robotic polishing cell for processing complex surfaces of parts, such as turbine blades. Turbine blade is frequently carried out manually, and these operations are iterative, time consuming and require experience. Automation can provide cost reduction minimizing production times on such manual finishing operations. The authors presented a step-by-step plan for the implementation of a robotized installation for adaptive polishing of complex surface profiles and a method for control the geometry of the complex surfaces. The research shown in this paper provides an overall solution without discarding aspects that could be relevant to the task considered in the turbine blade making environment. The application of this solution will allow increasing labor productivity, repeatability of the result and significantly reduce the cost of the finished product.

关键词： Robot sensing systems Turbines Blades Task analysis Surface treatment Automation

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Sensorless control of Permanent Magnet Synchronous Motors based on Finite-Time Robust Flux Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9270-9275页

作者： Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov Dmitry Cherginets Dmitry Bazylev Petranevsky Igor ITMO University Faculty of Control Systems and Robotics49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

A sensorless control algorithm is developed based on novel finite-time robust flux observer for the non-salient permanent magnet synchronous motor (PMSM). Total flux equality and motor model are used to find the linear regression-like model with respect to the flux. Applying dynamic regressor extension and mixing method, we obtain two independent scalar equations and construct a finite-time flux observer. The flux estimate is used to reconstruct the rotor position and velocity with well-known trigonometric relation and phase-locked loop observer, respectively. To complete a sensorless control design, we pass these estimates to standard field orient control. The efficiency and robustness of the proposed approach are demonstrated through the set of numerical simulations.

关键词： Sensorless nonlinear observer flux observer nonlinear control systems synchronous motor

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Three Phase Dual Active Bridge Power Converter Implementation in Power Supply System of Telescope Rotary Support Device

Three Phase Dual Active Bridge Power Converter Implementatio...

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International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)

作者： Nikolai Poliakov Konstantin Vorobev School of Computer Technologies and Control Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (纸本)9781728139432

The article considers the method of uninterruptible power supply realization for the case of longterm grid voltage dips to provide work of the telescope rotating support device without reduction of its dynamics. That allows to provide full operation range for the telescope system in condition of partial power supply from grid. Mathematical model of three phase dual active bridge-based power converter is presented which consist of rectifier, power filter, three phases dual active bridge and inverter with permanent magnet synchronous machine drive and takes into account parameters of the electric drive of the azimuth axis trajectory measurements telescope.

关键词： Uninterruptible power systems Voltage fluctuations Telescopes Conferences Bridge circuits Power supplies Load modeling

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Frequency estimation of multi-sinusoidal signals in finite-time

arXiv

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arXiv 2020年

作者： Vediakova, Anastasiia Vedyakov, Alexey Pyrkin, Anton Bobtsov, Alexey Gromov, Vladislav Department of Computer Applications and Systems Saint Petersburg State University Universitetskaya nab. 7/9 Saint Petersburg199034 Russia Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 Saint Petersburg197101 Russia

This paper considers the problem of frequency estimation for a multi-sinusoidal signal consisting of n sinuses in finite-time. The parameterization approach based on applying delay operators to a measurable signal is used. The result is the nth order linear regression model with n parameters, which depends on the signals frequencies. We propose to use Dynamic Regressor Extension and Mixing method to replace nth order regression model with n first-order regression models. Then the standard gradient descent method is used to estimate separately for each the regression model parameter. On the next step using algebraic equations finite-time frequency estimate is found. The described method does not require measuring or calculating derivatives of the input signal, and uses only the signal measurement. The efficiency of the proposed approach is demonstrated through the set of numerical *** Codes 93C40 Copyright © 2020, The Authors. All rights reserved.

关键词： Frequency estimation

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Human intention recognition for human aware planning in integrated warehouse systems

arXiv

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arXiv 2020年

作者： Petković, Tomislav Hvězda, Jakub Rybecký, Tomáš Marković, Ivan Kulich, Miroslav Přeučil, Libor Petrović, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague160 00 Czech Republic

With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However, even in fully automatized warehouse systems the need for human intervention frequently arises, whether because of maintenance or because of fulfilling specific orders, thus bringing mobile robots and humans ever closer in an integrated warehouse environment. In order to ensure smooth and efficient operation of such a warehouse, paths of both robots and humans need to be carefully planned;however, due to the possibility of humans deviating from the assigned path, this becomes an even more challenging task. Given that, the supervising system should be able to recognize human intentions and its alternative paths in real-time. In this paper, we propose a framework for human deviation detection and intention recognition which outputs the most probable paths of the humans workers and the planner that acts accordingly by replanning for robots to move out of the human's path. Experimental results demonstrate that the proposed framework increases total number of deliveries, especially human deliveries, and reduces human-robot encounters. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Design of versatile gripper with robust control

Design of versatile gripper with robust control

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作者： Borisov, Ivan I. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Dobriborsci, Dmitrii Kolyubin, Sergey A. Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper presents a novel approach to the development of finger mechanisms for anthropomorphic grippers. The proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. This approach can be used to create grippers for different tasks such industrial grippers as well as prosthesis. In this paper, the proposed approach was used to create our gripper named "UHVAT" (Usable Holding Versatile Adjustable Tool) for industrial tasks. The gripper consists of three fingers and a palm and equipped with four motors. The robust regulator was designed for positioning control of the motors. The control law includes cancellation of steady state error and anti-windup portions. © 2018

关键词： Grippers

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Output Feedback control for MIMO systems with Disturbances Compensation

Output Feedback Control for MIMO systems with Disturbances C...

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European control Conference (ECC)

作者： D.E. Konovalov S.A. Vrazhevsky I.B. Furtat A.S. Kremlev Martin Cech Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia The Laboratory ”Control of Complex System” Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS) St. Petersburg Russia Pilsen — NTIS - European Center of Excellence University of West Bohemia

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

The paper deals with the novel feedback output control law for multiple-input multiple-output (MIMO) plant with mismatched bounded disturbances. The plant model is described by linear and Lipshitz nonlinear terms. The control law is based on the auxiliary loop method for disturbance estimation and modified backstepping method for control under mismatched disturbances. Differently from existing results based on backstepping method the proposed algorithm allows to reduce the accuracy in steady state, while the existing auxiliary loop based algorithm are feasible under matched disturbances. The results in the England Power System Benchmark illustrate the efficiency of the proposed scheme.

关键词： Backstepping Steady-state control systems Mathematical model Attenuation MIMO communication Estimation

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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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Case study on human-free water heaters production for industry 4.0 1

Case study on human-free water heaters production for indust...

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1st IEEE International Conference on Industrial Cyber-Physical systems, ICPS 2018

作者： Borisov, Oleg I. Gromov, Vladislav S. Kolyubin, Sergey A. Pyrkin, Anton A. Dema, Nikolay Y. Salikhov, Vladimir I. Petranevsky, Igor V. Klyunin, Alexey O. Shavetov, Sergey V. Bobtsov, Alexey A. Faculty of Control Systems and Industrial Robotics ITMO University St. Petersbur Russia

ISBN: (纸本)9781538665312

This paper focuses on the design of an industrial cyber-physical system for workpieces production and processing using three articulated robots (Mitsubishi MELFA RV-3SDB, KUKA youBot and Kawasaki FS06N). These equipment is integrated within the control software center based on MATLAB. The main goal is to design unified system comprised of heterogeneous technical systems. The control strategy has three levels structure (orchestration, tactic and local levels). A range of issues addressed within the study covers spatial movements planning for articulated robots, navigation, computer vision, force control, sensory system. © 2018 IEEE.

关键词： MATLAB

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