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 came...
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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.
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 ...
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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.
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 exp...
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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 re...
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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 ...
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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 deriv...
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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 ne...
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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, t...
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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 tighte...
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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 ...
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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).
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