检索结果-内蒙古大学图书馆

State Observation of Affine-in-the-States systems with Unknown Time-Varying Parameters and Output Delay

IFAC-PapersOnLine 2022年第12期55卷 341-346页

作者： Alexey Bobtsov Nikolay Nikolaev Romeo Ortega Denis Efimov Olga Kozachek Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg 197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México México INRIA Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The development of the results proposed in the [Bobtsov et al. 2021a] and in the [Bobtsov et al. 2021c] is considered. The case with known parameters has been studied by many researchers—see [Sanz et al. 2019, Bobtsov et al. 2021b] and references therein—where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2021] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions.

关键词： Nonlinear time-varying systems state observer delay systems parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory

arXiv

引用

arXiv 2021年

作者： Barišić, Antonella Petric, Frano Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb Croatia

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results. © 2021, CC BY-NC-SA.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

The Complex of Operations on Cybersecurity in Man-Made Objects

The Complex of Operations on Cybersecurity in Man-Made Objec...

引用

2019 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2019

作者： Iureva, R.A. Popova, V.O. Andreev, Y.S. Nikitina, M.V. ITMO University Dept. of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9781728100616

The paper deals with the problem of cybersecurity in man-made objects, especially with protection from destructive information in automated enterprise control systems. This topic is most acute in the context of managing systems critical to safety, for example, at nuclear power plants (NPP). Besides, violation of cybersecurity can have catastrophic consequences. © 2019 IEEE.

关键词： Nuclear power plants

来源：评论

学校读者我要写书评

暂无评论

Modified Backstepping Algorithm with Disturbances Compensation for Nonlinear MIMO systems ⁎

引用

IFAC-PapersOnLine 2020年第2期53卷 6012-6018页

作者： Dmitry E. Konovalov Sergey A. Vrazhevsky Igor B. Furtat Artem S. Kremlev Department of Control Systems and Industrial Robotics ITMO University The Laboratory ”Control of Complex Systems” Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS)

The paper deals with a novel modified backstepping algorithm to ensure the stability of the nonlinear multiple-input multiple-output plant under unknown bounded parametric uncertainties, Lipschitz nonlinear disturbances, and cross-couplings. The modification is based on the auxiliary loop method that permits to estimate undesired dynamics as disturbances and suppress them. High robustness of the closed-loop system without using high-gain components is achieved. The ractical contribution of the results is demonstrated using laboratory platform ”Twin Rotor MIMO System”.

关键词： Backstepping recurcive procedure auxiliary loop method robust control nonlinear system MIMO systems output control parametric uncertainties external disturbances cross reactions

来源：评论

学校读者我要写书评

暂无评论

A Modified Dempster Shafer Approach to Classification in Surgical Skill Assessment

A Modified Dempster Shafer Approach to Classification in Sur...

引用

Iranian Conference on Electrical Engineering (ICEE)

作者： Arash Iranfar Mohammad Soleymannejad Behzad Moshiri Hamid D. Taghirad School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

Artificial intelligence systems are usually implemented either using machine learning or expert systems. Machine learning methods are usually more accurate and applicable to a broader range of applications. Expert systems, on the other hand, require much less data for training and generate more comprehensible results. These characteristics are typically desired in the fields of surgery and medicine because there isn't much data available. In order to give a machine's decisions a deeper level of semantics, it is also advantageous to incorporate a doctor's expertise into it. Furthermore, it is safer to understand the reasoning behind a machine's choices. In this paper, a Dempster-Shafer Theory (DST) based expert system is suggested for the task of surgical training skill assessment. An interval-based probabilistic feature analysis was applied to the data to assign values to the mass functions. Zhang's rule of combination was applied to handle the conflicting evidence in the prediction phase. The performance of the proposed method was compared to another DST classifier, SVM, and XGBoost. Our method outperforms SVM and other DST classifiers, but it is not as precise as XGBoost. By reducing the size of the dataset, the added benefit of using an expert system as opposed to a machine learning method was explored further. The performance of the suggested method is not adversely affected by the size of the dataset, whereas the XGBoost classifier is.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Tracking Output Robust control of Unmanned Surface Vessel with Disturbance Cancellation and Anti-Windup

Tracking Output Robust Control of Unmanned Surface Vessel wi...

引用

Mediterranean Conference on control and Automation (MED)

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

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

This paper shows an explicit application example of the robust output high-gain control framework augmented with the internal model and back-calculation anti-windup technique. The application in question concerns station-keeping and tracking of an unmanned surface vessel modeled as MIMO systems with cross-couplings. The framework is illustrated by a set of simulation runs under different conditions.

关键词： Observers Monitoring Task analysis Surface waves Robots Oscillators Robust control

来源：评论

学校读者我要写书评

暂无评论

Parameter Estimation of Quadrotor Model

Parameter Estimation of Quadrotor Model

引用

Nonlinearity, Information and robotics, (NIR) International Conference

作者： Mikhail A. Kakanov Stanislav I. Tomashevich Vladislav S. Gromov Oleg I. Borisov Fatimat B. Gromova Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This article is devoted to the estimation of unknown parameters of the quadrotor dynamic model. The linear regression model of the quadrotor was obtained. To estimate the unknown parameters of the regression model, the gradient approach and its modifications, such as the advanced Kalman filter, and dynamic regressor extension and mixing (DREM) methods were applied. The effectiveness of the proposed methods was confirmed by simulation. The results showed the benefits of the DREM algorithm, in particular, concerning the convergence rate.

关键词： Parameter estimation Linear regression Estimation Numerical models Kalman filters Robots Convergence

来源：评论

学校读者我要写书评

暂无评论

Output Robust control of a Surface Vessel with Uncertainties, Exogenous Inputs, and Unmodeled Dynamics*

Output Robust Control of a Surface Vessel with Uncertainties...

引用

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Fatimat B. Karashaeva Oleg I. Borisov Anton A. Pyrkin Sergei V. Shavetov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

This paper focuses on the applied research on the output control problem of a surface vessel with parametric, signal, and structural uncertainties. The control framework based on the extended observer design is augmented with the internal model to reject exogenous inputs such as reference derivatives and external disturbances. Special attention in this study is given to the presence of unmodeled dynamics due to the vessel actuators.

关键词： Uncertainty Nonlinear dynamical systems Heuristic algorithms Actuators Task analysis Robust control Uncertain systems

来源：评论

学校读者我要写书评

暂无评论

Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

引用

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

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect 27

Experimental Prototype of High-Efficiency Wind Turbine Based...

引用

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

作者： Lukin, Aleksandr Demidova, Galina L. Lukichev, Dmitry V. Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Belahcen, Anouar ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9781728141589

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon. © 2020 IEEE.

关键词： Wind power

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：