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Advanced control for Applications: Engineering and Industrial systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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Fuzzy control system design for wheel slip prevention and tracking of desired speed profile in electric trains

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Asian Journal of control 2022年第1期24卷 388-400页

作者： Moaveni, Bijan Rashidi Fathabadi, Fatemeh Molavi, Ali Center of excellence for Modelling and Control of Complex Systems Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Western Michigan University MI United States Institute of Robotics and Industrial Informatics Polytechnical University of Catalonia Barcelona Spain

This study proposes an anti-slip control system for electric trains based on the fuzzy logic theory, which prevents the wheels from slipping during the acceleration and simultaneously tracks the desired speed profile. To improve the control performance, the train longitudinal velocity and the slip ratio are estimated. By using a field-oriented control (FOC), the angular speed of the traction motor is controlled. The fuzzy control system determines the desired angular speed of the traction motor as the reference input of FOC to obtain the desired slip ratio and track the desired speed profile. Simulation results show the effectiveness of the control system in various wheel–rail surface conditions based on the real parameters of ER24PC locomotive. © 2020 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Traction motors

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Identifiability implies robust, globally exponentially convergent on-line parameter estimation: Application to model reference adaptive control

arXiv

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arXiv 2021年

作者： Wang, Lei Ortega, Romeo Bobtsov, Alexey Romero, Jose Guadalupe Yi, Bowen The Australian Center for Field Robotics The University of Sydney SydneyNSW2006 Australia The Departamento Académico de Sistemas Digitales ITAM Río Hondo 1 Ciudad de México01080 Mexico The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia

In this paper we propose a new parameter estimator that ensures global exponential convergence of linear regression models requiring only the necessary assumption of identifiability of the regression equation, which we show is equivalent to interval excitation of the regressor vector. Continuous and discrete-time versions of the estimators are given. An extension to-separable and monotonic-non-linear parameterizations is also given. The estimators are shown to be robust to additive measurement noise and-not necessarily slow-parameter variations. Moreover, a version of the continuous-time estimator that rejects sinusoidal disturbances with unknown internal model is given. The estimator is shown to be applicable to the classical model reference adaptive control problem relaxing the conspicuous assumption of known sign of the high-frequency gain. Simulation results that illustrate the performance of the estimator are given. © 2021, CC BY-NC-SA.

关键词： Model reference adaptive control

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Optimal swing motion control for single-rod brachiation robot *

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IFAC-PapersOnLine 2023年第2期56卷 6320-6325页

作者： Juraj Lieskovský Hijiri Akahane Jaroslav Bušek Ikuo Mizuuchi Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering and CIIRC-Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Technická 4 Prague 6 16607 Czechia Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Koganei-city Tokyo Japan

This paper focuses on the optimal swing and rotation control of a single-rod brachiation robot by repositioning its center of gravity. First, a time-optimal control is proposed and analyzed. It utilizes impulses of force at the robot's zero-angle and the turning-angle positions to reposition the center of gravity. Then, a practical implementation that addresses force limits is proposed, in the form of a PD controller paired with input-output linearization which uses the optimal solution as a setpoint. Both control policies are validated through simulations as a preliminary step to laboratory validation on an assembled single-rod robot. Enhanced attention is paid to energy evolution during the swing and rotation of the robot, in particular to the energy pumping achieved by repositioning the center of gravity.

关键词： Single-link robot optimal swing nonlinear control brachiation

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Application of Rna Genetic Algorithm Based on Gradient Descent in Function Optimization and Engineering Optimization

SSRN

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SSRN 2023年

作者： Wu, Qiuxuan Chen, Mingming Zhao, Zikai Chi, Xiaoni Luo, Yanbin Zeng, Pingliang Zhang, Botao Wang, Jian Zhilenkov, Anton A. Chepinski, Sergey A. Institute of Electrical Engineering School of Automation Hangzhou Dianzi University Hangzhou China HDU-ITMO Joint Institute Hangzhou Dianzi University Hangzhou China Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University Saint Petersburg Russia Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

In engineering optimization problems, most are function optimization problems. RNA genetic algorithmhas apparent advantages in function optimization but has low accuracy and is easy to fall into local *** paper proposes an RNA genetic algorithm based on gradient descent. Gradient descent is used as amutation operator to improve the local development ability of the algorithm. Inspired by the inner-loopstructure of RNA molecules, we designed an inner-loop crossover operator and an inner-loop mutationoperator to improve the global exploration ability of the algorithm in the early stage of evolution and theability to jump out of the local extremum. The algorithm uses an RNA genetic algorithm to find individualsnear the optimal region in the pre-evolutionary stage and performs gradient descent variation on theseindividuals in the post-evolutionary stage to improve the quality of the solution. In addition, this algorithmuses the adaptive gradient descent method to alleviate the oscillation in the gradient descent process anduses the niche punishment method to deal with complex constraints. The algorithm is tested on 17benchmark functions and compared with other optimization algorithms, indicating that the algorithm hasbetter performance. Finally, Adam RNA-GA is used to solve four engineering design problems, and theresults obtained show that the algorithm has high solution accuracy. © 2023, The Authors. All rights reserved.

关键词： Genetic algorithms

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Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Orbital stabilization of nonlinear systems via mexican sombrero energy shaping and pumping-and-damping injection

arXiv

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arXiv 2019年

作者： Yi, Bowen Ortega, Romeo Wu, Dongjun Zhang, Weidong Department of Automation Shanghai Jiao Tong University Shanghai200240 China Laboratoire des Signaux et Systèmes CNRS-CentraleSupélec Gif-sur-Yvette91192 France Faculty of Control Systems and Robotics ITMO University St. Petersburg197101 Russia

In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method-originally proposed for stabilization of equilibria of nonlinear systems-allows us to provide a solution to the more challenging orbital stabilization problem. Two different, though related, ways how this procedure can be applied are proposed. First, the assignment of an energy function that has a minimum in a closed curve, i.e., with the shape of a Mexican sombrero. Second, the use of a damping matrix that changes "sign" according to the position of the state trajectory relative to the desired orbit, that is, pumping or dissipating energy. The proposed methodologies are illustrated with the example of the induction motor and prove that it yields the industry standard field oriented control. Copyright © 2019, The Authors. All rights reserved.

关键词： Damping

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A flux and speed observer for induction motors with unknown rotor resistance and load torque and no persistent excitation requirement

arXiv

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arXiv 2020年

作者： Pyrkin, Anton Bobtsov, Alexey Vedyakov, Alexey Ortega, Romeo Vediakova, Anastasiia Sinetova, Madina Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 Saint Petersburg197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico Department of Computer Applications and Systems St.Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia

In this paper we address the problems of flux and speed observer design for voltage-fed induction motors with unknown rotor resistance and load torque. The only measured signals are stator current and control voltage. Invoking the recently reported Dynamic Regressor Extension and Mixing-Based Adaptive Observer (DREMBAO) we provide the first global solution to this problem. The proposed DREMBAO achieves asymptotic convergence under an excitation condition that is strictly weaker than persistent excitation. If the latter condition is assumed the convergence is exponential. Copyright © 2020, The Authors. All rights reserved.

关键词： Induction motors

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