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IEEE Conference on Decision and control

作者： Kenji Kashima Antonis Papachristodoulou Frank Allgöwer Graduate School of Information Science and Engineering Tokyo Institute of Technology Tokyo Japan Department of Engineering Science University of Oxford Oxford UK Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781612848006;9781612848013

In this paper, we investigate ultimate boundedness of large-scale arrays consisting of piecewise affine (PWA) sub-systems linearly interconnected through channels with delays. Under an assumption on subsystem dynamics, it is shown that ultimate boundedness can be reduced to the stability of a linear delay differential system. This enables us to use linear multi-agent system theory. As a result, we obtain sufficient conditions for ultimate boundedness taking the robustness of the interconnection topology into account. The usefulness of the results is examined through its application to the FitzHugh-Nagumo model.

关键词： Delay Europe Silicon Biology

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Stability analysis and design for discrete fuzzy systems with time-delay under imperfect premise matching

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Journal of Information and Computational Science 2011年第13期8卷 2613-2622页

作者： Zhang, Zejian Huang, Xianlin Ban, Xiaojun Gao, X.Z. Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China Department of Automation and Systems Technology School of Electrical Engineering Aalto University Otaniementie 17 00076 Aalto Finland

This paper is concerned with the issue of stability analysis and controller design for the discrete T-S fuzzy control system with time-delay under imperfect premise matching, in which the discrete T-S fuzzy time-delay model and fuzzy controller do not share the same membership functions. Some novel stability conditions including the information of membership functions of the discrete fuzzy time-delay model and controller are proposed. The new stability conditions are less conservativeness, and enhance the design flexibility by arbitrarily selecting membership functions for the fuzzy controller as well. Two numerical examples are presented to illustrate the less conservativeness and the effectiveness of the proposed results. 1548-7741/Copyright © 2011 Binary Information Press.

关键词： Fuzzy control

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Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability

Feedback design for the Acrobot walking-like trajectory trac...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Milan Anderle Sergej Čelikovský Institute of Information Theory and Automation Academy of Sciences of Czech Republic Prague Czech Republic Faculty of Electrical Engineering Department of Control Engineering Czech Technical University in Prague Prague Czech Republic

This paper aims to the further improve of the previously developed design for the Acrobot walking based on the partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 4×4 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot “walking”.

关键词： Legged locomotion Trajectory Stability analysis Eigenvalues and eigenfunctions Equations Jacobian matrices Time varying systems

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Vibration control of a Multi-Flexible-Link Robot Arm under Gravity

Vibration Control of a Multi-Flexible-Link Robot Arm under G...

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IEEE International Conference on Robotics and Biomimetics

作者： J. Malzahn A. S. Phung F. Hoffmann T. Bertram Institute of Control Theory and Systems Engineering Technische Universitat Dortmund

ISBN: (纸本)9781457721366

This paper proposes a novel independent joint control concept on a 3 DOF flexible link robot subject to deflections caused by gravity. The scheme dampens induced link oscillations in the presence of configuration dependant plant frequency and damping variations by integrating link strain feedback and impulse based input shaping. The approach is robust and the control does not depend on a dynamic model at runtime. The damping efficiency is evaluated experimentally in terms of strain measurement as well as end-effector position across the entire workspace.

关键词： Multi-flexible-link robots Vibration control Independent joint control

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Data Based Kinematic Model of a Multi-Flexible-Link Robot Arm for Varying Payloads

Data Based Kinematic Model of a Multi-Flexible-Link Robot Ar...

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IEEE International Conference on Robotics and Biomimetics

作者： A. S. Phung J. Malzahn F. Hoffmann T. Bertram Institute of Control Theory and Systems Engineering Technische Universitat Dortmund

ISBN: (纸本)9781457721366

Reducing weight and inertias of conventional robot arms with an elastic structure allows safer interactive cooperation between humans and robots. While the end effector pose of a rigid robot is determined by the forward kinematic chain, the pose of elastic arms results from a superposition of the rigid kinematics and the pose dependent deflection caused by gravity. This property complicates the computation of forward and inverse kinematics in particular in case of dynamic loads. This paper presents a machine learning approach to extract various nonlinear regression models of the forward and inverse kinematics of a three degrees of freedom (DOF) flexible-link robot arm with dynamic loads from experimental data. The forward model predicts the target pose, given the joint angles and the strain signals while the inverse kinematic model predicts the joint angles required to assume a target pose. The transformation of the original features onto suitable nonlinear features substantially improves the generalisation ability of the both forward and inverse kinematic model. The closed loop inverse kinematic controller archieves a pose accuracy of 3 mm and the results show that the learned model can solve the inverse kinematics problem of flexible robot arms with sufficient accuracy even with unknown payloads.

关键词： Flexible-link robot arm Neural network Kinematic problem

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Semi-global stabilization of linear time-delay systems with input energy constraint

Semi-global stabilization of linear time-delay systems with ...

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作者： Zhou, Bin Lin, Zongli Lam, James Center for Control Theory and Guidance Technology Harbin Institute of Technology P.O. Box 416 Harbin 150001 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743-4743 Charlottesville VA 22904-4743 United States Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9783902661937

This paper is concerned with semi-global stabilization of linear systems with actuator delay and energy constraints. Under the condition of null controllability by vanishing energy, the parametric Lyapunov equation based L2 low gain feedback is adopted to solve the problem. If the delay in the system is exactly known, a delay-dependent controller is designed and if the delay in the system is either time-varying or not exactly known, a delay-independent controller is established. The proposed approach is used in the linearized model of the relative motion in the orbit plane of a spacecraft with respect to another in a circular orbit around the Earth to validate its effectiveness. © 2011 IFAC.

关键词： Linear systems

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Locally Constrained Decision Making via Two-Stage Distributed Simplex

Locally Constrained Decision Making via Two-Stage Distribute...

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IEEE Conference on Decision and control

作者： Mathias Burger Giuseppe Notarstefano Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering University of Lecce Via per Monteroni 73100 Lecce Italy

ISBN: (纸本)9781612848006

In this paper we propose a distributed algorithm for solving linear programs with combinations of local and global constraints in a multi-agent setup. A fully distributed and asynchronous algorithm is proposed. The computation of the local decision makers involves the solution of two distinct (local) optimization problems, namely a local copy of a global linear program and a smaller problem used to generate "problem columns". We show that, when running the proposed algorithm, all decision makers agree on a common optimal solution, even if the original problem has several optimal solutions, or detect unboundedness and infeasibility if necessary.

关键词： decision makers optimal solution linear programming distributed algorithms original problem decision making Simplex Distribute local optimization

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On State-Constrained control of a CSTR *

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IFAC Proceedings Volumes 2011年第1期44卷 6079-6084页

作者： Florian Bayer Mathias Bürger Martin Guay Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Chemical Engineering Queen's University Kingston Ontario Canada K7L 3N6

Abstract In this note, we study the problem of multiple hard output constraints imposed on a continuous stirred tank reactor (CSTR) subject to external disturbances. Constraints on the concentration and on the temperature are considered. We show, analytically and with simulations, that there are critical combinations of constraints, where robust constraint satisfaction cannot be guaranteed. As a consequence violation of at least one constraint has to be allowed.

关键词： State-Constraints Process control Robust control

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Tremor analysis by decomposition of acceleration into gravity and inertial acceleration using inertial measurement unit

Tremor analysis by decomposition of acceleration into gravit...

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作者： Šprdlík, Otakar Hurák, Zdeněk Hoskovcová, Martina Ulmanová, Olga Růžička, Evžen Institute of Information Theory and Automation of the ASCR Pod Vodarenskou vezi 4 CZ-182 08 Prague 8 Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Dept. of Control Eng Technická 2 16627 Praha 6 Czech Republic Dept. of Neurology Centre of Clinical Neuroscience Charles University in Prague Czech Republic

Decomposition of acceleration was investigated as an alternative to commonly used direct spectral analysis of measured acceleration or angular velocity for tremor quantification. An orientation estimation algorithm was devised to decompose the measured acceleration into the gravitational artifact and the inertial acceleration caused by sensor movement in an inertial reference frame. Resulting signals, beside the measured acceleration and angular velocity, were used to assess tremor amplitude and frequency by spectral peak detection. The algorithm was tested on experimental data from a clinical study including patients with essential tremor. The testing comprised of the classification of measurements to come from a patient or a healthy control and of the regression of the visual assessment of tremor amplitude. Small improvements in performance measures were achieved by using the decomposed acceleration. The regression accuracy was comparable to the accuracy achieved in other works. The influence of sensor calibration and connections of results to an analytic approach were analyzed briefly. © 2010 Elsevier Ltd. All rights reserved.

关键词： Acceleration

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Increasing Efficiency of Optimization-based Path Planning for Robotic Manipulators

Increasing Efficiency of Optimization-based Path Planning fo...

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IEEE Conference on Decision and control

作者： Hao Ding Gunther Reissig Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany Chair of Control Eng. (LRT-15) Dept. Aerospace Eng. University of the Federal Armed Forces Munich D-85577 Neubiberg (Munich) Germany

ISBN: (纸本)9781612848006

Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. The obstacles can be time-varying in their positions, but the positions should be known or estimated over the prediction horizon for planning the path. This non-convex optimization problem can be approximated by Mixed Integer Programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.

关键词： Path planning Robot Manipulator million instructions per second Manipulators computational time Mixed integer binary decision kinematics

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