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Robust energy aware output controller for uncertain plant

IFAC-PapersOnLine 2019年第13期52卷 259-264页

作者： Dobriborsci, Dmitrii Margun, Alexey Kolyubin, Sergey Control systems and Robotics faculty ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Nowadays, safety guarantee during physical Human-Robot Interaction (pHRI) is important problem. control over energy becomes very useful approach and provides possibility of safety conditions implementation but requires measurement of energy variables. In this paper we extend our previous results for discrete robust output control algorithm by insertion of energy aware mechanism in the structure of control system. It is proven earlier that this way make the controller aware of the energy that they inject into the plant. By combining this approaches we introduce here a robust discrete-time output controller for uncertain plant that provides exponential convergence of tracking error to the bounded area and passivity of the closed loop system. The proposed approach is validated through simulation and experiments using Ball-and-Plate setup. © 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers Budget control Closed loop systems Human robot interaction Man machine systems Plates (structural components) Power management Robust control Energy aware Energy budgets Exponential convergence Output controllers Passive systems Physical humanrobot interaction (phri) Safety guarantees Uncertain plants

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Robotic Glove Prototype: Development and Simulation

Robotic Glove Prototype: Development and Simulation

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

作者： Elena Morozova Galina Demidova Anton RassÕlkin Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Tallinn University of Technology Tallinn Estonia

ISBN: (纸本)9781665438056

With the fast development in the field of the Internet of Things, remote control for laboratory equipment has the potential to grow up. Moreover, due to COVID-19 restrictions, it has rapid application in research and educational laboratories. This paper presents a robotic glove prototype based on sensors that can control the robotic fingers for remote operation of conventional laboratory test benches. The robotic glove prototype is implemented with an Arduino. An additional low pass filter is used to level down the remote measurement noise. The development approach used in a particular case study may be applied for remote control of similar devices. Designed mathematical models are publicly available on GitHub.

关键词： Biological system modeling Fingers Prototypes Position control Arms Manipulators Robot sensing systems

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Investigation of FEM Software for Magnus Effect Simulation

Investigation of FEM Software for Magnus Effect Simulation

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

作者： Aleksandr Lukin Galina Demidova Dmitry Lukichev Anton Rassõlkin Toomas Vaimann Ants Kallaste Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Tallinn University of Technology Tallinn Estonia

ISBN: (数字)9781665414562

ISBN: (纸本)9781665447607

The implementation of the software for Finite Element Analysis in different engineering fields has overgrown in recent years. Finite Element Analysis calculates given parameters and boundaries and based on numerical computation. Due to the development of powerful computer processors, Finite Element Method software receives close attention from the research society. The current case study is focused on achieving the Magnus effect with several software packages. ANSYS software packages were used for the shape optimization of the Magnus-effect based wind turbine cylinders. Furthermore, the multiplatform, open-source application Agros2D was used to determine the optimal working point for the development of Magnus-effect based wind turbine control algorithms. The application benchmark based on Magnus effect simulation is presented, along with the pros and cons of used packages are highlighted in the paper.

关键词： Analytical models Software packages Shape Software algorithms Finite element analysis Wind turbines Software reliability

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On finite-time stability analysis of homogeneous Persidskii systems using LMIs*

On finite-time stability analysis of homogeneous Persidskii ...

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IEEE Conference on Decision and control

作者： Konstantin Zimenko Denis Efimov Andrey Polyakov Artem Kremlev Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Inria Univ. Lille CNRS UMR 9189 - CRIStAL Lille France

The paper provides a sufficient condition to en-sure robust finite-time stability of homogeneous generalized Persidskii systems. The proposed condition is formulated using linear matrix inequalities and it allows to o... 详细信息

ISBN: (纸本)9781665436601

关键词： Sufficient conditions Conferences Observers Stability analysis Linear matrix inequalities Numerical stability

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Serial Chain Hinge Support for Soft, Robust and Effective Grasp

arXiv

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arXiv 2022年

作者： Stuhne, Dario Vuletić, Jelena Car, Marsela Orsag, Matko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed several experiments on payload and deflection of the SofIA gripper under both horizontal and vertical approach. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. We showcase the proprioceptive and exteroceptive capabilities (RGB-D camera and flex sensor) for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities. © 2022, CC BY.

关键词： Grippers

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On Convex Embedding and control Design for Nonlinear Homogeneous systems *

On Convex Embedding and Control Design for Nonlinear Homogen...

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European control Conference (ECC)

作者： Konstantin Zimenko Andrey Polyakov Denis Efimov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia CNRS UMR 9189 - CRIStAL Inria Univ. Lille Lille France

The paper presents methods for nonlinear homogeneous systems representation in a canonical form allowing stability conditions to be given by a linear matrix inequality. The main restriction for a system to admit the required representation is that its right-hand side has to be bounded on a unit sphere. It is shown that some nonhomogeneous systems can also be presented in the canonical form. Based on canonical representation a stabilizing control algorithm for affine in control nonlinear systems is presented with LMI-based tuning procedure. The results are supported with numerical examples.

关键词： control design Europe Stability analysis Robustness Linear matrix inequalities Delays Nonlinear systems

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Preface

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2022年 491卷 vii-x页

作者： Nikiforov, Vladimir Gerasimov, Dmitry Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

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Mitigating Motion Sickness with Optimization-based Motion Planning

arXiv

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arXiv 2023年

作者： Zheng, Yanggu Shyrokau, Barys Keviczky, Tamas The Department of Cognitive Robotics Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology 2628CD Netherlands Delft Center for Systems and Control Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology 2628CD Netherlands

The acceptance of automated driving is under the potential threat of motion sickness. It hinders the passengers’ willingness to perform secondary activities. In order to mitigate motion sickness in automated vehicles, we propose an optimization-based motion planning algorithm that minimizes the distribution of acceleration energy within the frequency range that is found to be the most nauseogenic. The algorithm is formulated into integral and receding-horizon variants and compared with a commonly used alternative approach aiming to minimize accelerations in general. The proposed approach can reduce frequency-weighted acceleration by up to 11.3% compared with not considering the frequency sensitivity for the price of reduced overall acceleration comfort. Our simulation studies also reveal a loss of performance by the receding-horizon approach over the integral approach when varying the preview time and nominal sampling time. The computation time of the receding-horizon planner is around or below the real-time threshold when using a longer sampling time but without causing significant performance loss. We also present the results of experiments conducted to measure the performance of human drivers on a public road section that the simulated scenario is actually based on. The proposed method can achieve a 19% improvement in general acceleration comfort or a 32% reduction in squared motion sickness dose value over the best-performing participant. The results demonstrate considerable potential for improving motion comfort and mitigating motion sickness using our approach in automated vehicles. © 2023, CC BY-NC-ND.

关键词： Motion planning

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Comfort-oriented driving: performance comparison between human drivers and motion planners

arXiv

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arXiv 2023年

Motion planning is a fundamental component in automated vehicles. It influences the comfort and time efficiency of the ride. Despite a vast collection of studies working towards improving motion comfort in self-driving cars, little attention has been paid to the performance of human drivers as a baseline. In this paper, we present an experimental study conducted on a public road using an instrumented vehicle to investigate how human drivers balance comfort and time efficiency. The human driving data is compared with two optimization-based motion planners that we developed in the past. In situations when there is no difference in travel times, human drivers incurred an average of 23.5% more energy in the longitudinal and lateral acceleration signals than the motion planner that minimizes accelerations. In terms of frequency-weighted acceleration energy, an indicator correlated with the incidence of motion sickness, the average performance deficiency rises to 70.2%. Frequency-domain analysis reveals that human drivers exhibit more longitudinal oscillations in the frequency range of 0.2-1 Hz and more lateral oscillations in the frequency range of up to 0.2 Hz. This is reflected in time-domain data features such as less smooth speed profiles and higher velocities for long turns. The performance difference also partly results from several practical matters and additional factors considered by human drivers when planning and controlling vehicle motion. The driving data collected in this study provides a performance baseline for motion planning algorithms to compare with and can be further exploited to deepen the understanding of human drivers. © 2023, CC BY-NC-ND.

关键词： Frequency domain analysis

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