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Markerless visual vibration damping of a 3-DOF flexible link robot arm

Markerless visual vibration damping of a 3-DOF flexible link...

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Joint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010

作者： Malzahn, Jörn Phung, Anh Son Franke, Rene Hoffmann, Frank Bertram, Torsten Institute of Control Theory and Sytems Engineering Technische Universität Dortmund Germany

ISBN: (纸本)9781617387197

This contribution proposes a model free energy based oscillation damping approach applied to a three degree of freedom (3-DOF) robot arm. The arm experiences gravitational forces and exhibits large deflections. A camera mounted in eye-in-hand configuration provides the endpoint oscillation feedback signal computed from the motion of image features extracted from natural texture in the environment. Sparse features are tracked between two consecutive views. Their mean displacement and the reconstructed camera orientation rate of change constitutes the oscillation feedback signal. The feasibility and limits of image based oscillation and motion detection are discussed in detail. The proposed end-effector vibration damping techniques are analyzed in simulations and further validated in realistic experiments.

关键词： Damping

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Solution of a multi-agent transport problem by hybrid optimization

Solution of a multi-agent transport problem by hybrid optimi...

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作者： Mangesius, Herbert Sobotka, Marion Stursberg, Olaf Institute of Automatic Control Engineering Technische Universität München Germany Control and System Theory Universität Kassel Germany

ISBN: (纸本)9783902661791

As reported in earlier work, methods for hybrid optimal control can be used for optimal path planning of multi-agent systems. This paper considers a multi-vehicle transport scenario in which a hybrid model is used to represent the continuous dynamics of the vehicle motion and the dynamics arising from the docking-events between vehicles and a transported object. The decisions on the vehicles' heading and speed as well as on the docking sequence are strongly coupled and require a tailored numeric solution. The paper proposes a hierarchical solution strategy with three layers: on the upper layer a discrete event sequencing problem is solved, the middle layer determines docking positions and times, and the lower layer provides optimal vehicle paths. By a combination of graph search and embedded continuous optimal control, the efficiency of obtaining (sub-)optimal solutions is improved. The algorithm is illustrated by a scenario in which three vehicles transport one object.

关键词： Multi agent systems

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Preference modeling and model management for interactive multi-objective evolutionary optimization

Preference modeling and model management for interactive mul...

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13th International Conference on Information Processing and Management of Uncertainty, IPMU 2010

作者： Krettek, Johannes Braun, Jan Hoffmann, Frank Bertram, Torsten Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221 Dortmund Germany

ISBN: (纸本)3642140483

Multiobjective optimization and decision making are strongly inter-related. This paper presents an interactive approach for the integration of expert preferences into multi-objective evolutionary optimization. The experts underlying preference is modeled only based on comparative queries that are designed to distinguish among the non-dominant solutions with minimal burden on the decision maker. The preference based approach constitutes a compromise between global approximation of a Pareto front and aggregation of objectives into a scalar utility function. The model captures relevant aspects of multi-objective decision making, such as preference handling, ambiguity and incommensurability. The efficiency of the approach in terms of number of expert decisions and convergence to the optimal solution are analyzed on the basis of an artificial decision behavior with respect to optimization benchmarks. © 2010 Springer-Verlag Berlin Heidelberg.

关键词： Multiobjective optimization

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Event-based reduced-attention predictive control for nonlinear uncertain systems

Event-based reduced-attention predictive control for nonline...

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IEEE International Symposium on Computer-Aided control System Design

作者： Varutti, P. Faulwasser, T. Kern, B. Kögel, M. Findeisen, R. Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von- Guericke University Magdeburg Germany

ISBN: (纸本)9781424453542

Event-based control is an alternative to traditional control where new measurements are sampled only if critical events occur. This not only allows to reduce the control effort but it satisfies nowadays application requirements, such for example reduction of information exchange, computational power, or energy consumption. The work in this field is, however, still sparse and only a few results are available. Properly choosing an event-detection logic can considerably improve the overall system's performance. We propose a control algorithm which makes use of a model-based triggering strategy to reduce the control effort (reduced-attention control), while guaranteeing robustness against bounded additive perturbations for nonlinear continuous time systems. In particular, we derive conditions which guarantee that asymptotic stability of the nominal system implies practical stability of the real one in a neighborhood of the origin. A continuous stirred tank reactor is used as a benchmark problem to show the effectiveness of the presented algorithm. © 2010 IEEE.

关键词： Asymptotic stability

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The research of the intelligent fault diagnosis optimized by ACA for marine diesel engine

The research of the intelligent fault diagnosis optimized by...

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作者： Li, Peng Liu, Lei Gong, Haixia Postdoctoral for Control Theory and Control Engineering Harbin Institute of Technology Harbin 150001 China Department of Computer Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Automation Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9783642051722

The marine diesel engine has the important function to guarantee the marine security and reliability. It is a strong coupling relationship's system with multi-fault attributes. In this paper an advanced method of intelligent fault diagnosis based on fuzzy neural network (FNN) optimized and trained by ant colony algorithm (ACA) is proposed. The model, structure and parameters learning of intelligent fault diagnosis based on FNN were described concretely. The weight and the threshold value of this FNN are optimized and trained by the ant colony optimization algorithm. By simulation that has been carried out to evaluate the performance of proposed method and to compare with conventional FNN fault diagnosis method for this marine diesel engine's combustion system, the results show good quick convergence performance. The knowledge expression and the precision of fault diagnosis also can be improved effectively. Therefore, this method has the good application prospects in other similar system. © 2010 Springer-Verlag Berlin Heidelberg.

关键词： Diesel engines

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Stability analysis of periodically time-varying systems using periodic Lyapunov functions

Stability analysis of periodically time-varying systems usin...

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IFAC International Workshop on Periodic control Systems, PSYCO 2010

作者： Böhm, Christoph Lazar, Mircea Allgöwer, Frank Institute of Systems Theory and Automatic Control University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology Netherlands

ISBN: (纸本)9783902661869

This paper proposes a novel approach to stability analysis of discrete-time nonlinear periodically time-varying systems. The contributions are as follows. Firstly, a relaxation of standard Lyapunov conditions is derived. This leads to a less conservative Lyapunov function that is required to decrease at every period rather than at each time instant. Secondly, for linear periodic systems with constraints, we show that compared to standard Lyapunov theory, the novel stability concept yields a larger estimate of the region of attraction. An example illustrates the effectiveness of the developed theory. © 2010 IFAC.

关键词： Time varying systems

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Algorithm on analyzing RLC electrical network independent all-inductor loop

Algorithm on analyzing RLC electrical network independent al...

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2010 2nd International Conference on Industrial Mechatronics and Automation, ICIMA 2010

作者： Yang, Xuefan Yu, Wuyi Gao, Guozhang School of Science Wuhan institute of Technology Wuhan Hubei 430074 China School of Energy and Power Engineering Research Room of Control Theory and Control Engineering Wuhan University of Technology Wuhan Hubei 430063 China

ISBN: (纸本)9781424476541

In paper (81) author has proved that the characteristic roots of A are zeros or unequal non-constants. It is well-known that the independent all-capacitor cut-set and the all-inductor loop would lead the electrical network to have zero eigenvalues. But, how to find out the number of the "independent" all-capacitor cut-sets and the all-inductor loops in a network , obviously if the network is complex, is a hard work. It cannot be done artificially. If we use computer to do it, we need a good algorithm. The paper would give an algorithm on how to find them. and it will help us to research these special structures affect the controllability and observability of electrical network. Both are the reasons why we study this algorithm. In this paper, author expatiates on it and uses an example to show the process in detail. © 2010 IEEE.

关键词： Rational functions

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Optimal control over unreliable networks with uncertain loss rates

Optimal control over unreliable networks with uncertain loss...

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作者： Kögel, Markus J. Blind, Rainer Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany Design and Optimization in Chemical and Biochemical Process Engineering International Max Planck Research School for Analysis Magdeburg Germany

ISBN: (纸本)9781424474264

In this work, we consider an optimal control problem for Networked control Systems (NCS), where the loop is closed via an unreliable network. In order to inform the controller about the fates of the control packets, the actuator sends acknowledgements to the controller. In this work, different types of acknowledgements are considered. Since all packets are send over a network, we consequently assume, that all packets can get lost, i.e. the measurement packets, the control packets as well as the acknowledgement packets. The loss of these packets is modeled by independent and identically distributed (iid) Bernoulli processes. Finally, we assume that the parameters of these loss processes are not known exactly. Using this setup, we derive bounds for the uncertainty in the loss rates. Moreover, we present an algorithm to design a sub-optimal controller which can tolerate a given amount of network uncertainties. © 2010 AACC.

关键词： Networked control systems

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Robust model predictive control with disturbance invariant sets

Robust model predictive control with disturbance invariant s...

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作者： Yu, Shuyou Böhm, Christoph Chen, Hong Allgöwer, Frank Institute of Systems Theory and Automatic Control University of Stuttgart Germany Department of Control Science and Engineering State Key Laboratory of Automobile Dynamic Simulation Jilin University China

ISBN: (纸本)9781424474264

This paper proposes a robust model predictive control scheme for nonlinear systems with state and input constraints and unknown but bounded disturbances. A standard nominal model predictive control problem with tightened constraints is solved online, and its solution defines the nominal trajectory. An ancillary control law is determined off-line which keeps the trajectories of the error system in a disturbance invariant set. Thus, the evolution of original nonlinear system lies in the disturbance invariant set centered along the nominal trajectory. Furthermore, it is shown that both feasibility and stability of the closed-loop system are guaranteed if the standard nominal optimization problem is initially feasible. © 2010 AACC.

关键词： Nonlinear systems

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Enhanced frameworks for safety verification of autonomous rendezvous systems

Enhanced frameworks for safety verification of autonomous re...

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18th IFAC Symposium on Automatic control in Aerospace, ACA 2010

作者： Maier, Christoph Papachristodoulou, Antonis Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Engineering Science University of Oxford Oxford United Kingdom

ISBN: (纸本)9783902661968

We consider the safety of a V-bar hopping manoeuvre which forms part of the final stage in autonomous space rendezvous. This manoeuvre is controlled by thrusters: we assume these inputs are perfect impulses and model the system in a hybrid automaton framework. We consider the operation of the system under bounded parametric uncertainties, e.g. thruster misalignment, and use the concept of Barrier function certificates to assess system safety. This methodology provides an efficient tool for the systematic investigation of the safety property and does not rely on Monte-Carlo simulations. In particular, the existence of a Barrier function certificate guarantees that all trajectories of the system starting from a given initial set do not enter a predefined unsafe region under any possible combination of parameter deviations. Such a Barrier function certificate can be constructed efficiently using the Sum of Squares (SOS) decomposition and semi-definite programming (SDP).

关键词： Lyapunov methods

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