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arXiv 2022年

作者： Bobtsov, Alexey Mancilla-David, Fernando Aranovskiy, Stanislav Ortega, Romeo Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia University of Colorado Denver DenverCO80204 United States IETR–CentaleSupélec Cesson-Sévigné35576 France Departamento Académico de Sistemas Digitales ITAM Mexico

This paper deals with the problem of on-line identification of the parameters of a realistic dynamical model of a photovoltaic array connected to a power system through a power converter. It has been shown in the literature that, when interacting with switching devices, this model is able to better account for the PV array operation, as compared to the classical five parameter static model of the array. While there are many results of identification of the parameters of the latter model, to the best of our knowledge, no one has provided a solution for the aforementioned more complex dynamic model since it concerns the parameter estimation of a nonlinear, underexcited system with unmeasurable state variables. Achieving such objective is the main contribution of the paper. We propose a new parameterisation of the dynamic model, which, combined with the powerful identification technique of dynamic regressor extension and mixing, ensures a fast and accurate online estimation of the unknown parameters. Realistic numerical examples via computer simulations are presented to assess the performance of the proposed approach—even being able to track the parameter variations when the system changes operating point. © 2022, CC BY.

关键词： Dynamic models

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Constructive barrier feedback for collision avoidance in leader-follower formation control

arXiv

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arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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Hardware-in-the-Loop Simulation of Vehicle-Manipulator systems for Physical Interaction Tasks

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Syste...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

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A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration

arXiv

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arXiv 2021年

作者： Batinovic, Ana Ivanovic, Antun Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

—In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state-of-the-art in terms of computational efficiency and total exploration time. The video of our approach can be found at https://***/playlist?list=PLC0C6uwoEQ8ZDhny1V dmFXLeTQOSBibQl. © 2021, CC BY-SA.

关键词： Antennas

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Sim2Air - Synthetic Aerial Dataset for UAV Monitoring

arXiv

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arXiv 2021年

作者： Barisic, Antonella Petric, Frano Bogdan, Stjepan The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with photo-realism in all parameters such as shape, pose, lighting, scale, viewpoint, etc. except for atypical textures is created in a 3D modelling software Blender. Our approach specifically targets two conditions in aerial images where texture of objects is difficult to detect, namely challenging illumination and objects occupying only a small portion of the image. Experimental evaluation of YOLO and Faster R-CNN detectors trained on synthetic data with randomized textures confirmed our approach by increasing the mAP value (17 and 3.7 percentage points for YOLO;20 and 1.1 percentage points for Faster R-CNN) on two test datasets of real images, both containing UAV-to-UAV images with motion blur. Testing on different domains, we conclude that the more the generalisation ability is put to the test, the more apparent are the advantages of the shape-based representation. © 2021, CC BY-NC-SA.

关键词： robotics

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Balancing energy consumption in limited power grid with active front-end and three phase dual active bridge system

Balancing energy consumption in limited power grid with acti...

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Compatibility in Power Electronics (CPE)

作者： Konstantin Vorobev Ryszard Strzelecki Nikolai Poliakov School of Computer Technologies and Control Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland

ISBN: (数字)9781728142180

ISBN: (纸本)9781728142197

Paper deals with simulation analysis of bidirectional power converters system for charging station of electric vehicle in condition of limited power source in city infrastructure. In case of incapability to provide additional power supply through the grid by virtue of historical, architectural and economic reasons it is possible to solve this issue by implementation of mobile battery-powered supply source. The proposed bidirectional power converters system for consist of three-phase dual active bridge two-directional converter and active front end. Bidirectional power converters system operation modes considered in the paper include transmission of energy from both the battery station, and grid and the joint power supply with battery and grid.

关键词： Batteries Power supplies Switches Urban areas Power grids Bridges

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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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