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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Su, Eileen Lee Ming Ganesh, Gowrishankar Yeong, Che Fai Burdet, Etienne Department of Bioengineering Imperial College London South Kensington Campus London SW7 2AZ United Kingdom Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Biological ICT Group National Institute of Communication and Information Technology Japan Department of Motor Control and Rehabilitation ATR International Computational Neuroscience Laboratories Kyoto Japan

ISBN: (纸本)9781424479917

This study examines effects of learning 3D micromanipulation in an unstable dynamic environment. A test group trained in an unstable divergent force field while a control group trained the movement in the null force field. The subjects in the test group increased the success rate, in contrast to the control group which had similar rate after training. The error and its standard deviation decreased in the test group but not in the control group. In summary, training in unstable dynamics enable subjects to become more accurate, in contrast to training using only visual feedback. © 2010 IEEE.

关键词： Visual communication

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Efficiency of Steering Torque Recommendation in Limits of Driving Dynamics: An Empirical Study

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IFAC Proceedings Volumes 2010年第7期43卷 650-655页

作者： E. Mehrjerdian A. Gaedke R. Greul T. Bertram ZF Lenksysteme GmbH D-73529 Schwaebisch Gmuend Germany (Tel: +49/7171/31-4735 Institute of Control Theory and Systems Engineering Faculty of Electrical Engineering and Information Technology Technische Universität Dortmund D-44221 Dortmund Germany (Tel: +49/231/755-2670

The potential of controlled torque assistance in safety-related driving situations is investigated in more detail in this paper. For this purpose, a study of test persons was carried out in a real test vehicle in which an oversteer situation was reproducibly induced by activating a kick plate. Driver perception, driver response and vehicle reaction as a result of the activation were evaluated in different types of test with passive and active assistance function in each case. Driver perception was evaluated on the basis of subjective assessments by the test persons. Driver and vehicle response on the other hand were evaluated by analysing vehicle and steering signals. Results in the form of objective criteria are derived which enable the functionality to be evaluated in relation to the level of the assisting torque applied. As well as the holistic consideration of all driver reactions, the benefit of the function to individual drivers is also analysed. A detailed questionnaire was used to classify different driver types from the number of all test drivers, and used as a basis for analysing driver behaviour. Comparison of these responses with journeys carried out by a professional test driver enable conclusions to be drawn relating to the degree of significantly improved driver response to the recommendation.

关键词： driver assistance systems vehicle dynamics steering torque recommendation vehicle oversteering human factors in driver assistance empiric study in real vehicle

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Sensitivity function of LTI fractional order dynamic systems with respect to the orders

Sensitivity function of LTI fractional order dynamic systems...

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American control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method Intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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Time-delay effect on continuous approximation of sliding mode control

Time-delay effect on continuous approximation of sliding mod...

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International Workshop on Variable Structure Systems, VSS

作者： Xiangjun Li Xinghuo Yu Qinglong Han Changhong Wang School of Electrical and Computer Engineering RMIT University Melbourne VIC Australia Faculty of Arts Business Information and Education Central Queensland University Rockhampton QLD Australia School of Control Science and Engineering Harbin Institute of Technology Harbin China

In this paper, time-delay effect on continuous approximation of sliding mode control (SMC) systems is studied in depth. The switching band that bound the zigzagging behaviors due to control switching around the switching manifold is constructed. Robust control theory is employed to develop a sufficient condition for the asymptotical stability of the system. Simulation is conducted to verify the theoretical results.

关键词： Sliding mode control control systems Communication system control Australia Robust control Sufficient conditions Robust stability Asymptotic stability Actuators Variable structure systems

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Application of sliding mode techniques to the delay identification of nonlinear systems

Application of sliding mode techniques to the delay identifi...

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International Workshop on Variable Structure Systems, VSS

作者： Martin Buss Sandra Hirche Laura Levaggi Institute of Automatic Control Engineering (LSR) Faculty of Electrical Engineering and Information Technology Technische Universität München Germany Faculty of Science and Technology Free University of Bolzano-Bozen Bozen Bolzano Italy LSR Technische Universität München Germany

The issue of delay identification for autonomous nonlinear systems is addressed in this work. Using sliding modes control methods it is first proven that the estimation goal can be fulfilled by finding the global norm minimizer of an infinite dimensional mapping. This result is then exploited to design, under different assumptions on the system's knowledge, both a finite-time and an asymptotically convergent identifier.

关键词： Nonlinear systems Delay estimation Delay effects Communication system control Delay systems information technology Sliding mode control control systems Linear systems Variable structure systems

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Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer

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IFAC Proceedings Volumes 2010年第14期43卷 1011-1016页

作者： Milan Anderle Sergej Čelikovský Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic Tel: 00420-26605-2018

This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. Both of them are based on the Acrobot's model partial exact feedback linearization of order 3. The developed algorithm is then applied to the position feedback tracking of the walking-like trajectory of the Acrobot during a swing phase of a single step. Besides the theoretical analysis, the approach is demonstrated via numerical simulations.

关键词： Reduced observer underactuated mechanical systems walking robots

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SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD VIA POWER AND RETURN MAP ANALYSES

SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING...

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The Third International Conference on Dynamics, Vibration and control

作者： Sergej Celikovsky Volodymyr Lynnyk Institute of Information Theory and Automation Academy of Sciences of the Czech RepublicP.O.Box 18182 08 Prague 8Czech Republic Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic

＜正＞During the last two decades,many chaotic communication schemes based on chaotic dynamics has been *** well-known features of the chaotic systems like strong dependence on the initial data,topological transitivity,wide spread spectrum of its signal,etc..directly suggest the idea to use suitable chaos generators to build a new generation of secure encryption *** use of the continuous time chaotic systems for encryption of digital data and both its practical aspects and security analysis have been studied much less *** to prevalently used chaotic *** of the possible exceptions is the so-called chaos shift keying（CSK）method,which uses time segments of chaotic signals corresponding to two different chaotic systems to encrypt a single ***,the CSK was introduced（under different name）for analogue implementation of the Lorenz system and its synchronized ***,the length of the time segment was not such an *** using computer digital implementation,such a method is becoming almost ridiculous due to huge amount of data to encrypt a single *** excessive length of the pieces of signals corresponding to"0"and"1"also enables various statistically based attacks,*** correlation analysis. *** classical CSK method leads to weak and slow *** first attempt to overcome the above drawbacks,was the so-called anti-synchronization chaos shift keying（ACSK）method proposed in,"Anti-synchronization"basically means *** then detecting the correct bit via synchronizing one of two unsynchronized slaves,the wrong bit is determined via de-synchronizing one of the perfectly synchronized *** was proposed the improvement of the receiver of the original ACSK scheme based on the error derivative *** *** to anti-synchronization detection of the wrong bit based on the second error derivative evaluation,the above characteristic has been further reduced up

关键词： Nonlinear system chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication return map power analysis

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SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD VIA POWER AND RETURN MAP ANALYSES

SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING...

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The Third International Conference on Dynamics,Vibration and control(第三届国际动力学、运动与控制学术会议)

作者： Sergej (C)elikovsk(y) Volodymyr Lynnyk Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech RepublicP.O.Box 18182 08 Prague 8Czech Republic

During the last two decades, many chaotic communication schemes based on chaotic dynamics has been *** well-known features of the chaotic systems like strong dependence on the initial *** transitivity, wide spread spectrum of its signal, etc., directly suggest the idea to use suitable chaos generators to build a new generation of secure encryption ***, the use of the continuous time chaotic systems for encryption of digital data and both its practical aspects and security analysis have been studied much less cf.[1,12,13] due to prevalently used chaotic masking[3,14].

关键词： Nonlinear system chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication return map power analysis

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An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation

An extended PI model for hysteresis and creep compensation i...

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IEEE International Conference on robotics and Biomimetics

作者： Zhiyu Wang Lianqing Liu Zhidong Wang Zaili Dong Shuai Yuan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan Chinese Academy of Sciences Beijing Beijing CN

ISBN: (纸本)9781424493197

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities.

关键词： Creep Hysteresis Fitting Data models Adaptation model Robot sensing systems

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Decentralized controllers design for performance: Equivalent Subsystems Method 10

Decentralized controllers design for performance: Equivalent...

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2009 10th European control Conference, ECC 2009

作者： Kozakova, Alena Vesely, Vojtech Osusky, Jakub Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Slovakia

ISBN: (纸本)9783952417393

A Nyquist-based frequency domain decentralized controller (DC) design technique for stability and guaranteed performance is proposed applicable for continuous-time systems described transfer function matrices. To guarantee stability and a required performance, interactions are included in individual designs using one selected characteristic locus of the matrix of interactions, further used to reshape frequency responses of decoupled subsystems and produce so-called equivalent subsystems [3]. Local controllers of equivalent subsystems independently tuned for stability and specified feasible performance constitute the resulting decentralized controller that guarantees specified performance of the full system. The developed frequency domain design procedure entitled Equivalent Subsystems Method is graphical, interactive and insightful. Theoretical conclusions are supported by simple examples illustrating step-by-step the DC design procedure. © 2009 EUCA.

关键词： Continuous time systems

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