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13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013

作者： Jilg, Martin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel 34121 Kassel Germany

Most approaches concerning distributed control for physically interconnected systems assume a flat controller structure, i.e. the subsystems exchange state information directly and in each timestep. In this paper, ideas from distributed control, network topology optimization and optimal control are combined in order to construct a distributed two-layer state feedback control structure. A decomposition algorithm is proposed which groups the subsystems into distinct clusters. Within each cluster, information is exchanged between the subsystems in every timestep. On the upper layer of the hierarchy, informaton is exchanged between the clusters with a lower frequency. The underlying communication topology is optimized to obtain a compromise between control performance and communication cost. This leads to reduced communication between the subsystems compared to existing hierarchical approaches. © IFAC.

关键词： Large scale systems

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control of Uncertain Nonlinear Systems using Ellipsoidal Reachability Calculus

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IFAC Proceedings Volumes 2013年第23期46卷 50-55页

作者： L. Asselborn D. Groß O. Stursberg Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel (Germany)

This paper proposes an approach to algorithmically synthesize control strategies for discrete-time nonlinear uncertain systems based on reachable set computations using the ellipsoidal calculus. For given ellipsoidal initial sets and bounded ellipsoidal disturbances, the proposed algorithm iterates over conservatively approximating and LMI-constrained optimization problems to compute stabilizing controllers. The method uses first-order Taylor approximation of the nonlinear dynamics and a conservative approximation of the Lagrange remainder. An example for illustration is included.

关键词： Ellipsoidal calculus nonlinear uncertain dynamics conservative linearization reach set approximation

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Magnetic Omnidirectional Wheels for Climbing Robots

Magnetic Omnidirectional Wheels for Climbing Robots

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Mahmoud Tavakoli Carlos Viegas Lino Marques J. Norberto Pires Anibal T. de Almeida Institute for Systems and Robotics Dep. of Electrical and Computer Eng. University of Coimbra Portugal. Dep. of Mechanical Eng. University of Coimbra

ISBN: (纸本)9781467363563

This paper describes design and development of omnidirectional magnetic climbing robots with high maneuverability for inspection of ferromagnetic 3D human made structures. The main focus of this article is design, analysis and implementation of magnetic omnidirectional wheels for climbing robots. We discuss the effect of the associated problems of such wheels, e.g. vibration, on climbing robots. This paper also describes the evolution of magnetic omnidirectional wheels throughout the design and development of several solutions, resulting in lighter and smaller wheels which have less vibration and adapt better to smaller radius structures. These wheels are installed on a chassis which adapts passively to flat and curved structures, enabling the robot to climb and navigate on such structures.

关键词： Climbing Robots navigate on such structures curved structures

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Hierarchical Distributed control for Interconnected Systems

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IFAC Proceedings Volumes 2013年第13期46卷 419-425页

作者： Martin Jilg Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel 34121 Kassel Germany

关键词： Hierarchical control interconnected systems quadratic performance indices

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Lyapunov function-based control of active power filters to reduce the adverse effects of harmonics on induction motors

Lyapunov function-based control of active power filters to r...

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2013 3rd International Conference on Electric Power and Energy Conversion Systems, EPECS 2013

作者： Aliskan, Ibrahim Gulez, Kayhan Tuna, Gurkan Kizilkaya, M. Özgür Dept. of Electrical and Electronics Eng. Bulent Ecevit University Zonguldak Turkey Dept. of Control and Automation Eng. Yildiz Technical University Istanbul Turkey Dept. of Computer Programming Trakya University Edirne Turkey Aeronautics and Space Technologies Institute Turkish Air Force Academy Istanbul Turkey

ISBN: (纸本)9781479906888

In this study, a pulse width modulator controller inverter type active power filter is used for reducing the adverse effects of harmonics. Induction motor control system used in this study comprises a proportional-integral controller, a direct torque control algorithm, and an inverter module. Nonlinear controller algorithm proposed in this study enables setting different parameters in the controller system. Our experimental results show that more planar electromagnetic torque can be obtained by using the proposed controller-based filter than a classical controlled-based filter. © 2013 IEEE.

关键词： Lyapunov functions

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Modelling the recovery of acute stroke survivors during adaptive rob ot-assisted training

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Gait & Posture 2014年 40卷 S28-S29页

作者： Tamagnone, I. Sterpi, I. Squeri, V. Basteris, A. Casadio, M. Sanguineti, V. Sessarego, P. Dept. Informatics Bioengineering Robotics and System Engineering University of Genoa Italy Service of Rehabilitation Eng. IRCCS Salvatore Maugeri Foundation Pavia Italy Dept. of Robotics Brain and Cognitive Sciences Italian Institute of Technology Genoa Italy School of Computer Science Hertfordshire UK Rehabilitation Institute IRCCS Salvatore Maugeri Foundation Genoa Italy

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Lyapunov function-based control of active power filters to reduce the adverse effects of harmonics on induction motors

Lyapunov function-based control of active power filters to r...

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International Conference on Electric Power and Energy Conversion Systems (EPECS)

作者： Ibrahim Aliskan Kayhan Gulez Gurkan Tuna M. Özgür Kizilkaya Dept. of Electrical and Electronics Eng. Bulent Ecevit University Zonguldak Turkey Dept. of Control and Automation Eng. Yildiz Technical University Istanbul Turkey Dept. of Computer Programming Trakya University Edirne Turkey Aeronautics and Space Technologies Institute Turkish Air Force Academy Istanbul Turkey

关键词： Programming Linear systems MATLAB

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control of uncertain hybrid nonlinear systems using particle filters

Control of uncertain hybrid nonlinear systems using particle...

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4th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'12

作者： Asselborn, Leonhard Jilg, Martin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel 34121 Kassel Germany

ISBN: (纸本)9783902823007

This paper proposes an optimization-based algorithm for the control of uncertain hybrid nonlinear systems. The considered system class combines the nondeterministic evolution of a discrete-time Markov process with the deterministic switching of continuous dynamics which itself contains uncertain elements. A weighted particle filter approach is used to approximate the uncertain evolution of the system by a set of deterministic runs. The desired control performance for a finite time horizon is encoded by a suitable cost function and a chance-constraint, which restricts the maximum probability for entering unsafe state sets. The optimization considers input and state constraints in addition. It is demonstrated that the resulting optimization problem can be solved by techniques of conventional mixed-integer nonlinear programming (MINLP). As an illustrative example, a path planning scenario of a ground vehicle with switching nonlinear dynamics is presented. © 2012 IFAC.

关键词： Bandpass filters

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control of Uncertain Hybrid Nonlinear Systems Using Particle Filters

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IFAC Proceedings Volumes 2012年第9期45卷 436-441页

作者： Leonhard Asselborn Martin Jilg Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel 34121 Kassel Germany

关键词： Hybrid automaton chance constraint particle filter jump Markov nonlinear system

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative eng.neering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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