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Joint international symposium on robotics

作者： Jorn Malzahn Anh Son Phung Rene Franke Frank Hoffmann Torsten Bertram Institute of Control Theory and Sytems Engineering Technische Universitaet 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： absorption of shock three degrees of freedom image feature flexible link Motion detection feedback signal Degree of freedom Robot

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Genetic algorithm with simulated annealing for laser antimissile optimization

Genetic algorithm with simulated annealing for laser antimis...

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2nd International Conference on Information Science and engineering, ICISE2010

作者： Sun, Yong Zhang, Maorui Li, He Liu, Weiwei Lina, Zhang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Information and Electrical Engineering Shandong Jianzhu University Jinan China Harbin Modern Public Relations University China

ISBN: (纸本)9781424480968

A dynamical laser antimissile problem is solved based on genetic algorithm with simulated annealing considering the real time application. When faced with multiple attacking targets, it is clearly important for the laser antimissile system to determine the sequence of the attacking targets to be intercepted so that the maximum attacking targets are destroyed. Conceptually, this laser antimissile problem can be seen as a dynamical traveling salesman problem, which is much harder than a pure traveling salesman problem. There are many barriers for finding the global optimal solution, especially when the number of the targets is greater than six. The genetic algorithm has the capability of searching in wider space. While the simulated annealing algorithm can jump from the local optimal solution. Therefore, the combination of the genetic algorithm and the simulated annealing algorithm has their merits. Taking ten targets as an example, the simulation results show that the proposed algorithm has the better property and can be used in the real application. © 2010 IEEE.

关键词： Genetic algorithms

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

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IFAC Proceedings Volumes 2010年第11期43卷 57-62页

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

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.

关键词： Periodic systems stability region of attraction

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Safe guidance for autonomous rendezvous and docking with a non-cooperative target

Safe guidance for autonomous rendezvous and docking with a n...

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AIAA Guidance, Navigation, and control Conference

作者： Zhang, Dawei Song, Shenmin Pei, Run Harbin Institute of Technology Harbin Heilongjiang Province 150001 China Center for Control Theory and Guidance Technology School of Astronautics 2F Building 2 Yikuang Str. Nangang Dist. Harbin 150080 China Department of Control Science and Engineering School of Astronautics China

ISBN: (纸本)9781600869624

The problem of autonomous rendezvous and docking with a non-cooperative target spacecraft is studied in this paper. A new guidance control method, potential function guidance combined with fuzzy logic, is proposed. This method satisfies safe approaching constraints between the chaser and the non-cooperative target and the stability of the system is guaranteed by Lyapunov theory. In this method, the relative motion equations of state are described in a line-of-sight coordinate frame. Artificial potential function guidance is utilized for approaching the non-cooperative target and two cases of dynamic obstacle avoidance. The validity of the proposed method is demonstrated by intensive simulation studies, where the dynamic obstacle avoidance and safe approaching path are investigated in detail. Copyright © 2010 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Fuzzy logic

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Flatness-based trajectory planning for the shallow water equations

Flatness-based trajectory planning for the shallow water equ...

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2010 49th IEEE Conference on Decision and control

作者： Torsten Knuppel Frank Woittennek Joachim Rudolph Faculty of Electrical and Computer Engineering Institute of Control Theory Technische Universitat Dresden 01062 Dresden Germany Chair of Systems Theory and Control Engineering Saarland University 66123 Saarbrucken Germany

ISBN: (纸本)9781424477456

A flatness-based feed-forward control design approach for an open channel flow modelled by the shallow water equations is discussed. The control input consists of the adjustable height of opening of a delimiting sluice gate. In order to compute the trajectory of the control input, the physical boundaries containing the control input are neglected and the problem is reduced to an initial value problem w.r.t. the spatial coordinate. The solution to this problem can be obtained with the method of characteristics.

关键词： control input shallow water equations Physical boundaries LOCK GATE Open channel flow trajectory planning method of characteristics design approach Initial value problems trajectory FEEDFORWARD control

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Floor segmentation of omnidirectional images for mobile robot visual navigation

Floor segmentation of omnidirectional images for mobile robo...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Luis Felipe Posada Krishna Kumar Narayanan Frank Hoffmann Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

This paper describes a novel approach for purely vision based mobile robot navigation. The visual obstacle avoidance and corridor following behavior rely on the segmentation of the traversable floor region in the omnidirectional robocentric view. The image processing employs a supervised approach in which the segmentation optimal with respect to the appearance of the local environment is determined by cross validation over 3D scans captured by a photonic mixer device (PMD) camera. The range data in the front view provides the seeds and validation data to supervise the appearance based segmentation in the omniview. Segmentation relies on histogram backprojection which maintains separate appearance models for floor, obstacles and background. A naive Bayes classifier predicts the occupancy of the robots local environment by fusing the evidence provided by different segmentations and models. The classification error is analyzed on ground truth data generated by a PMD camera and manually segmented scenes. The scheme is highly robust with respect to ambiguous and misleading visual appearances of obstacles and floor, thus enabling the robot to navigate safely in unstructured environments of diverse appearance, texture and illumination. The proposed vision algorithm and the navigation behavior demonstrate a robust performance in extensive robotic experiments across several hours of autonomous operation.

关键词： Histograms Image segmentation Image color analysis Pixel Visualization Navigation Three dimensional displays

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Friction model with elasto-plasticity for advanced control applications

Friction model with elasto-plasticity for advanced control a...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Michael Ruderman Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

A novel nonlinear friction model with elasto-plasticity is proposed. Being in accordance with state-of-the-art friction properties the model provides a compact set of concentrated parameters and offers a complexity reduction when describing the hysteretic and the transient response of dynamic friction. Considering the first-order dynamic system with friction, both the pre-sliding and the gross sliding regimes are analyzed and identified from experiments. Intended for control applications the proposed model is used in feed-forwarding in order to improve the tracking performance of a standard linear control, above all at frequently velocity reversals.

关键词： Friction Force Hysteresis Modeling Current measurement Trajectory Dynamics

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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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American control Conference

作者： Markus J. Kogel Rainer Blind Frank Allgower Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart 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.

关键词： Communication Networks Optimal control Networked control Systems TCP/UDP Unreliable Parameters Optimal control Packet Networked control systems networks(communications) controllers

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ESA in discrete time-delay systems via memory output feedback

ESA in discrete time-delay systems via memory output feedbac...

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Chinese control Conference (CCC)

作者： Fuming Li Jianchun Peng Guang-Ren Duan Shenzhen University College of Mechatronics and Control Engineering 518060 China Harbin Institute of Technology Center for Control Theory and Guidance 150001 China

This paper considers eigenstructure assignment (ESA) in discrete time-delay systems via memory output feedback. Parametric expression for the left and right closed-loop eigenvectors associated with the closed-loop eigenvalues and two simple and complete parametric solutions for the feedback gain matrix are obtained on the basis of the parametric solution of the generalized high-order Sylvester matrix equation. This method provides more freedom, possesses good reliability, and does not impose any restriction on the closed-loop eigenvalues. A numerical example demonstrates that this approach is simple and effective for design of discrete time-delay systems.

关键词： Nickel Output feedback Equations Eigenvalues and eigenfunctions Electronic mail Mercury (metals) TV

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Parametric approaches for ESA in discrete time-delay systems via memory state feedback

Parametric approaches for ESA in discrete time-delay systems...

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Chinese control Conference (CCC)

This paper proposes a memory state feedback controller for discrete time-delay systems based on the state feedback eigenstructure assignment (ESA) result for high-order linear systems. It is shown that the problem is closely related with a type of so-called high-order Sylvester matrix equations. Through establishing two complete parametric solutions to this type of matrix equations, two complete parametric methods for the proposed eigenstructure assignment problem are presented. Both methods give simple complete parametric expression for the feedback gains and the closed loop eigenvector matrices. The first one mainly depends one a series of singular value decompositions, and is thus numerically simple and reliable; the second one utilizes the right factorization of the systems, and allows the closed-loop eigenvalues to be set undetermined and sought via certain optimization procedures. An example shows the effect of the proposed approaches.

关键词： Artificial neural networks Nickel Equations Electronic mail State feedback Matrix decomposition Optimization

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