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IFAC-PapersOnLine 2021年第19期54卷 119-124页

作者： J.G. Romero R. Ortega A.A. Bobtsov Departamento Académico de Sistemas Digitales ITAM Ciudad de México México Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

It is widely recognized that the existing parameter estimators and adaptive controllers for robot manipulators are extremely complicated to be of practical use. This is mainly due to the fact that the existing parameterization includes the complicated signal and parameter relations introduced by the Coriolis and centrifugal forces matrix. In an insightful remark of their seminal paper Slotine and Li suggested to use the parameterization of the power balance equation, which avoids these terms—yielding significantly simpler *** the best of our knowledge, such an approach was never actually pursued, mainly because the excitation requirements for the consistent estimation of the parameters is “very high". In this paper we use a recent technique of generation of “exciting" regressors developed by the authors to overcome this fundamental problem. The result is applied to general Euler-Lagrange systems and the fundamental advantages of the new parameterization are illustrated with comprehensive simulations of a 2 degrees-of-freedom robot manipulator.

关键词： Adaptive control systems identification Euler-Lagrange systems

Main Faults and Diagnostic Possibilities of BLDC Motors 27

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Main Faults and Diagnostic Possibilities of BLDC Motors

27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Kudelina, Karolina Asad, Bilal Vaimann, Toomas Rassolkin, Anton Kallaste, Ants Lukichev, Dmitri V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

This paper presents the main faults of brushless DC motors and their diagnostic possibilities. Due to the popularity gain of such devices in the past decade, the maintenance and diagnostic of such machines is getting more important. As the machines are used in various applications, they are often critical parts of devices. Due to this, the unexpected failures of such machines are undesired and are to be avoided. The main faults of the machines are listed, some possibilities of their monitoring and diagnostics have been addressed. The necessity of further study has been pointed out. © 2020 IEEE.

关键词： Brushless DC motors

Signal Source Prediction and Localization for Quadrotors with Non-Directional Antennas

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Signal Source Prediction and Localization for Quadrotors wit...

第32届中国过程控制会议(CPCC2021)

作者： Weiyu Lin Ke Yin Botao Zhang Qiang Lu Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

This paper deals with the problem of signal source localization for quadrotors with non-directional ***,the detected signal strength data is used to train the Gaussian process,which can provide the possible locations of signal *** to using the non-directional antenna,the predicted positions of signal sources may appear in any directions such that the quadorots waste searching time to adjudge the movement *** solve this issue and reduce the computational burden,the circle with the radius from the position of the quadrotor to the position of the predicted signal source is drawn in the initial searching *** a given time interval,all the intersections of the drawn circles based on idea of K-nearest neighbor algorithm are used to estimate the locations of signal ***,receding horizon control(RHC) approach is used to enable the quadrotor to move toward the probable position of signal ***,simulation results show the effectiveness of the proposed approach for the problem of signal source localization.

关键词： Source seeking Quadrotors Gaussian process Receding horizon control

Comparison Study on Event-Triggered Mechanism for Nonlinear Multi-Agent systems with Fixed-Time controller

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Comparison Study on Event-Triggered Mechanism for Nonlinear ...

第32届中国过程控制会议(CPCC2021)

作者： Xudong Tao Ke Yin Botao Zhang Qiang Lu Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

Our previous studies show that,after consensus is arrived,Zeno behaviors still occur for the multi-agent systems with static event-triggered mechanism and the fixed-time ***,event-triggering performance also descends for the multi-agent systems with nonlinear *** paper proposes a dynamical event-triggered mechanism and gives a comparison study of event-triggered mechanism for the multi-agent systems with the nonlinear dynamics under the fixed-time *** results shows that the better results can be obtain by using the proposed dynamical event-triggered mechanism for the nonlinear multi-agent systems with the fixed-time controller.

关键词： Static event-triggered mechanism dynamical event-triggered mechanism multi-agent systems fixed-time control

Autonomous, Mobile Manipulation in a Wall-building Scenario: Team LARICS at MBZIRC 2020

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arXiv 2022年

作者： Vatavuk, Ivo Polic, Marsela Hrabar, Ivan Petric, Frano Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object’s global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick’s magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms. © 2022, CC BY-SA.

关键词： Brick

Observability is sufficient for the design of globally exponentially convergent state observers for state-affine nonlinear systems

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arXiv 2021年

作者： Wang, Lei Ortega, Romeo Bobtsov, Alexei Australia Centre for Field Robotics The University of Sydney Australia Departamento Académico de Sistemas Digitales ITAM Mexico Faculty of Control Systems and Robotics ITMO University Russia

In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of observability of the system. To the best of the authors' knowledge this is the first time such a result is reported in the literature. © 2021, CC BY-NC-ND.

关键词： Observability

Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution

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Two approaches (GC-ECD and electrochemical sensors signals p...

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Karolina Brończyk Michał Adamski Agata Dąbrowska Adam Konieczka Adam Dąbrowski Department of Trace Analysis Faculty of Chemistry Adam Mickiewicz University Poznań Poland Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m 3 ) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples.

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Parameter Estimation of Two Classes of Nonlinear systems with Non-separable Nonlinear Parameterizations

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arXiv 2022年

作者： Ortega, Romeo Bobtsov, Alexey Costa-Castelló, Ramon Nikolaev, Nikolay Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico Department of Control Systems and Robotics ITMO University Saint-Petersburg Russia Spain

In this paper we address the challenging problem of designing globally convergent estimators for the parameters of nonlinear systems containing a non-separable exponential nonlinearity. This class of terms appears in many practical applications, and none of the existing parameter estimators is able to deal with them in an efficient way. The proposed estimation procedure is illustrated with two modern applications: fuel cells and human musculoskeletal dynamics. The procedure does not assume that the parameters live in known compact sets, that the nonlinearities satisfy some Lipschitzian properties, nor rely on injection of high-gain or the use of complex, computationally demanding methodologies. Instead, we propose to design a classical on-line estimator whose dynamics is described by an ordinary differential equation given in a compact precise form. A further contribution of the paper is the proof that parameter convergence is guaranteed with the extremely weak interval excitation requirement. © 2022, CC BY-NC-ND.

关键词： Nonlinear systems

Induction Motor Bearing Currents - Causes and Damages

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Induction Motor Bearing Currents - Causes and Damages

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Karolina Kudelina Toomas Vaimann Anton Rassõlkin Ants Kallaste Bilal Asad Galina Demidova Tallinn University of Technology Tallinn Estonia Aalto University Espoo Finland Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781665414562

ISBN: (纸本)9781665447607

Bearing damages make the biggest proportion of faults affecting AC electrical motors. There are various subdivisions of the bearing faults but one of them is the induced bearing and shaft currents in the machines. These currents cannot be fully avoided, yet with the development of power electronic control of the machines, the number of machines affected by potentially more dangerous and damaging frequency converter induced bearing and shaft currents is growing rapidly. This paper is opening the background of the nature and types of bearing currents, lists the damages inflicted by these currents and addresses problem as well as stresses the necessity of taking those currents into account for ensuring more efficient and longer lifespan of industrial electrical machines.

关键词： Shafts Induction motors Current measurement Frequency conversion Power electronics Loss measurement Frequency measurement

Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

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arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment. © 2023, CC BY-NC-SA.

关键词： Iterative methods