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

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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DREM-based Parametric Estimation of Bias-affected Damped Sinusoidal Signals*

DREM-based Parametric Estimation of Bias-affected Damped Sin...

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European control Conference (ECC)

作者： Anastasiia Vediakova Alexey Vedyakov Alexey Bobtsov Anton Pyrkin Department of Computer Applications and Systems Saint Petersburg State University Saint Petersburg Russia Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

In this paper we propose new method to estimate parameters of a damped sinusoidal signal: a frequency, a damping factor, a bias, an amplitude, and a phase. The scheme consists of two cascaded parts. On the first step, the frequency, the damping factor and the bias are estimated. On the second step, these estimates are used to reconstruct the amplitude and the phase. The exponentially damped signals do not provide necessary excitation to parameters identification. To overcome this problem the Dynamic Regressor Extension and Mixing (DREM) method is used to replace third order regression with three first order regression models, where simple relaxation is applied to provide exponential convergence of the estimation error to zero. On the last step, the parameters estimates are calculated from the estimated regression model parameters. Numerical simulations are presented confirming the effectiveness of the proposed methodology.

关键词： Damping Estimation Frequency estimation Linear regression Convergence Relaxation methods Delays

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Gait Phase Detection for Biped Robots

Gait Phase Detection for Biped Robots

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2019 International Russian Automation Conference, RusAutoCon 2019

作者： Bzhikhatlov, Islam Cheloshkina, Kseniia Abramchuk, Mikhail Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Faculty of Computer Science National Research University Higher School of Economics Moscow Russia

ISBN: (纸本)9781728102658

Gait phase detection is an important task for walking cycle planning because the stability of walking could be estimated by gait phase sequence. The machine learning models were developed for detection of support type and walking gait phase for given posture to be used for stability estimation of walking robots through phases sequence. It was revealed that it is possible to build high quality model based on human motion capture data using only normalized data from a body lower part without toes with the degrees of freedom same as biped robot degrees of freedom. Among different machine learning methods applied to support type prediction by all available motion capture data gradient boosting model showed the highest quality in 7-fold cross-validation having 0.97 accuracy, mean per class precision and recall. Additionally, it was demonstrated that removal of an upper half of body data as well as toes data did not lead to any significant model quality decrease as a final reduced model gives 0.964 accuracy, mean per class precision and recall. Finally, the model for prediction of 5 walking gait phases was developed and showed comparable quality namely 0.95 accuracy, mean per class precision and recall. © 2019 IEEE.

关键词： Degrees of freedom (mechanics)

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Robust control system for parallel kinematics robotic manipulator

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IFAC-PapersOnLine 2018年第22期51卷 62-66页

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： controllers

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Simulation of a Modern Assembly Plant

Simulation of a Modern Assembly Plant

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

作者： Iureva, R.A. Kuchenov, N.S. Andreev, Yu.S. Vakhviyanova, P.D. ITMO University Faculty of Control Systems and Robototechnics Saint-Petersburg Russia

ISBN: (纸本)9781728100616

The paper is devoted to investigation of facelift of a modern plant, specifically assembly plant. The question of optimization of production and number of required specialists is examined with Anylogic. The pros of this kind of simulation are illustrated. An assembly plant is considered to be a multiagent heterogeneous system. © 2019 IEEE.

关键词： Multi agent systems

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A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

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Procedia Computer Science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

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Application of deep convolutional and long short-term memory neural networks to red blood cells motion detection and velocity approximation

Application of deep convolutional and long short-term memory...

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Kornaev, Alexey V. Dremin, Viktor V. Kornaeva, Elena P. Volkov, Mikhail V. Dept. Of Mechatronics Mechanics and Robotics Orel State University 95 Komsomolskaya Street Orel302026 Russia Lab. of Artificial Intelligence Innopolis University 1 Universitetskaya street Innopolis 420500 Russia Research and Development Center of Biomedical Photonics Orel State University 95 Komsomolskaya Street Orel302026 Russia College of Engineering and Physical Sciences Aston University BirminghamB4 7ET United Kingdom Dept. of Information Systems Orel State University 95 Komsomolskaya Street Orel302026 Russia Faculty of Applied Optics ITMO University 49 Kronverksky St. Petersburg197101 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

The paper deals with processing data obtained using nailfold high-speed videocapillaroscopy. To detect the red blood cells velocity two approaches are used. The deterministic approach is based on pixel intensities analysis for object detection and calculation of the displacement and velocity of red blood cells in a capillary. The obtained data formulate targets for the second approach. The stochastic approach is based on a sequence of artificial neural networks. The semantic segmentation network UNet is used for capillary detection. Then, the classification network GoogLeNet or ResNet is used as a feature extractor to convert masked video frames to a sequence of feature vectors. And finally, the long short-term memory network is used to approximate the red blood cells velocity. The results demonstrated that the accuracy of the mean velocity approximation in the time range of several seconds is up to 0.96. But the accuracy at each specific time moment is less accurate. So, the proposed algorithm allows the determination of the RBCs mean velocity but it doesn't allow determination of the RBCs pulsations accurate enough. © 2022 SPIE.

关键词： Stochastic systems

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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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Design of versatile gripper with robust control

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IFAC-PapersOnLine 2018年第22期51卷 56-61页

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 Adaptive control systems Degrees of freedom (mechanics) Industrial plants Industrial robots Kinematics Robust control Adaptive Grasping Anthropomorphic grippers Finger mechanisms Industrial automation Positioning control Robotic systems Steady state errors Versatile grippers

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Parameter identification of a class of nonlinear systems with structure uncertainly using controlled symmetric motions

Parameter identification of a class of nonlinear systems wit...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Aleksandr Alyshev Salimzhan Gafurov Natalia Dudarenko Autonomous Driving Lab Innopolis Univeristy Innopolis Russia Faculty of Control Systems and Robotics ITMO Univeristy Saint-Petersburg Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

This paper proposes the generalization of the nonlinear models for which the identification method based on symmetric motions can be applied with high efficiency. We chose two symmetric motion intervals which helps to simplify the calculations. We also propose a new iterative-adaptive algorithm for a high accuracy tracking control. Based on the symmetry criteria we iteratively calculate estimations and use them in the control algorithm.

关键词： Mathematical model Trajectory Tracking Indexes Friction Gravity

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