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CACSD-Frame for Robust Low-Complexity Control Law Design

IFAC Proceedings Volumes 1997年第4期30卷 1-14页

作者： Georg Grübel DLR Institute of Robotics and System Dynamics Control Design Engineering Group Oberpfaffenhofen D-82234 Wessling Germany

Robust low-complexity control laws design is the ultimate goal which Computer-Aided Control system Design (CACSD) aims for. We recognize seven classes of services CACSD tools and environments have to support w.r.t. this view: physical system modelling with modelling uncertainty descriptions; mathematical system modelling with suited uncertainty models; system model analysis in state space, time- and frequency domain; control law synthesis; multiobjective (multicriteria and multimodel) synthesis-parameter tuning; nonlinear assessment via simulation; control code generation. We deal with state of the art aspects of such services and their integration within an interactively controlled automatic design feedback loop. This is illustrated by experience gained during the two-years GARTEUR a design challenge project on Robust Aircraft Flight Control, where 12 teams from 6 European countries demonstrated 11 different CACSD synthesis methods to design a landing-approach autopilot controller based on a Beluga-type aircraft model from Airbus Industries.

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Modeling and Simulation of Advanced Rail Vehicles

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IFAC Proceedings Volumes 1997年第8期30卷 473-478页

作者： A. Stribersky W. Rulka H. Netter A. Haigermoser Siemens SGP Verkehrstechnik GmbH Vienna and Graz Austria DLR Institute for Robotics and System Dynamics Wessling Germany

The growing importance of automatic control for the design of new bogies for rail vehicles is becoming increasingly visible. Since the development process of novel designs also needs new development tools, software to extend the multibody program SIMPACK has been written recently to serve for the simulation of advanced rail vehicles. In this paper the mathematical modeling for a railway vehicle with active car body tilting is described and simulation results, applying the developed software, are shown and compared with experimental results from a prototype vehicle.

关键词： railways vehicle dynamics active vehicle suspension simulation system analysis

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Design and Analysis of Robust Control systems in PARADISE

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IFAC Proceedings Volumes 1997年第16期30卷 67-72页

作者： Wolfgang Sienel Jürgen Ackermann Tilman Bünte DLR - Institute of Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany Fax: +49/8153 28-1847

Most of the methods which are commonly used in parametric oriented robust control design and analysis require extensive symbolic and numerical computations. The Matlab toolbox PARADISE (PArametric Robustness Analysis and Design Interactive Software Environment) offers various methods of parametric robust control for an efficient application in a computer framework. Amongst the currently implemented methods are the parameter space approach, design in an invariance plane, calculation of stability profiles, and computation of stability radii. The application of the toolbox PARADISE is demonstrated by computation of stability radii for a state feedback controlled loading bridge.

关键词： Robust Control Computer-aided control system design

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Active self-calibration of hand cameras and hand-eye relationships with motion planning

Active self-calibration of hand cameras and hand-eye relatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.-Q. Wei K. Arbter G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Oberpfaffenhofen Germany

In this paper we propose a method for self-calibration of robotic hand cameras by means of active motion of the robot. Through tracking a set of world points of unknown coordinates, the internal parameters of the cameras (including lens distortions), the mounting parameters as well as the coordinates of the world points are estimated. The approach is fully autonomous, in that no initial guesses of the unknown parameters are to be provided from the outside by humans for the solution of a set of nonlinear equations. Sufficient conditions for a unique solution are derived in terms of controlled motion sequences. To improve robustness of the calibration, we propose to identify the best lens-distortion model by using F-test. Furthermore, a method is proposed to minimize the effect of robot motion uncertainties by motion planning. Experimental results in both a simulated and a real environments are reported.

关键词： Cameras Robot vision systems Robot kinematics Lenses Nonlinear distortion Humans Nonlinear equations Sufficient conditions Motion control Robustness

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Real-time visual tracking of 3D objects with dynamic handling of occlusion

Real-time visual tracking of 3D objects with dynamic handlin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Wunsch G. Hirzinger German Aerospace Research Establishment-DLR Institute for Robotics and System Dynamics Wessling Germany

Position-based visual servoing requires estimating and tracking the three dimensional position and orientation of a 3D target object from camera images. This paper describes a novel approach to the problem that consists of two steps. First, a set of spatial pose constraints is derived from image features, by means of which 3D object pose is calculated with an efficient model-fitting algorithm. Kalman-filtering is then used to estimate object velocity and acceleration. Compared to previous approaches that use Kalman-filters to directly estimate the object state from image features, the proposed method has a variety of advantages: Computation time is only O(n) rather than O(n/sup 3/) where n is the number of image features considered, sensor fusion is simplified and temporal estimation is decoupled from the choice of image features. The last point is of particular importance if occlusions that may occur during tracking are to be predicted and dynamically handled. With the tracking method proposed, a robot could be precisely controlled with respect to static objects and robustly follow targets moving in 6 degrees of freedom, while occasions were continuously predicted and appropriate features automatically selected at video rate (25 Hz). High robustness is obtained by Hough transform-based feature extraction.

关键词： Target tracking State estimation Visual servoing Cameras Acceleration Sensor fusion Robot sensing systems robotics and automation Automatic control Robust control

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Actuator rate limits in robust car steering control

Actuator rate limits in robust car steering control

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IEEE Conference on Decision and Control

作者： J. Ackermann T. Bunte German Aerospace Research Establishment Institute of Robotics and System Dynamics DLR Wessling Germany

Robust unilateral decoupling of car steering makes the yaw rate unobservable from the lateral acceleration at the front axle and thereby attenuates the effect of yaw disturbance torques on steering. The control system showed remarkable safety benefits in an experimental car. During the experiments, however, there occurred undesirable limit cycles caused by steering actuator rate limitations. In this paper limit cycles are analyzed by a describing function approach in combination with the representation of limit-cycle-free regions in a parameter plane of velocity and road-tire friction coefficient. The results are formulated in terms of required actuator bandwidth that achieves robustness in the entire operating range. It turns out that the use of a fading integrator reduces the required actuator bandwidth.

关键词： Actuators Robust control Robustness Limit-cycles Bandwidth Acceleration Axles Control systems Vehicle safety Friction

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Real-time pose estimation of 3D objects from camera images using neural networks

Real-time pose estimation of 3D objects from camera images u...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Wunsch S. Winkler G. Hirzinger Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

This paper deals with the problem of obtaining a rough estimate of three dimensional object position and orientation from a single two dimensional camera image. Such an estimate is required by most 3-D to 2-D registration and tracking methods that can efficiently refine an initial value by numerical optimization to precisely recover 3-D pose. However the analytic computation of an initial pose guess requires the solution of an extremely complex correspondence problem that is due to the large number of topologically distinct aspects that arise when a three dimensional opaque object is imaged by a camera. Hence general analytic methods fail to achieve real-time performance and most tracking and registration systems are initialized interactively or by ad hoc heuristics. To overcome these limitations we present a novel method for approximate object pose estimation that is based on a neural net and that can easily be implemented in real-time. A modification of Kohonen's self-organizing feature map is systematically trained with computer generated object views such that it responds to a preprocessed image with one or more sets of object orientation parameters. The key idea proposed here is to choose network topology in accordance with the representation of 3-D orientation. Experimental results from both simulated and real images demonstrate that a pose estimate within the accuracy requirements can be found in more than 81% of all cases. The current implementation operates at 10 Hz on real world images.

关键词： Cameras Neural networks Robot vision systems Failure analysis Yield estimation Aerodynamics Electronic mail Optimization methods Image analysis Real time systems

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Teleoperating space robots. Impact for the design of industrial robots

Teleoperating space robots. Impact for the design of industr...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Hirzinger B. Brunner R. Koeppe K. Landzettel J. Vogel DLR German AeroSpace Research Establishment Oberpfaffenhofen Institute of Robotics and System Dynamics Wessling Germany

The paper discusses the features of advanced telerobotic systems. ROTEX-the first remotely controlled spacerobot-serves as kind of a baseline. Future telerobotic systems need powerful man-machine interfaces which allow skill-transfer from human operator to robot and thus may be the foundations for new ways in industrial robot programming. VRML and JAVA open up wide potentials for telerobotic control via the Internet, including teleservicing and telepresence in medicine.

关键词： Service robots Orbital robotics Telerobotics Electrical equipment industry User interfaces Humans Medical robotics Robot programming Java Medical control systems

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Design of gain scheduling controllers in parameter space

Design of gain scheduling controllers in parameter space

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European Control Conference (ECC)

作者： Wolfgang Sienel Tilman Bunte DLR - German Aerospace Research Center Institute of Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany

Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling controllers which simultaneously stabilize a finite number of representatives of an uncertain plant. The approach is applied to an automotive control example.

关键词： Robustness Vehicles Damping Aerospace electronics Polynomials Dynamic scheduling Vehicle dynamics

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Parametric methods for pole assignment

Parametric methods for pole assignment

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European Control Conference (ECC)

作者： A. Varga DLR Oberpfaffenhofen German Aerospace Research Establishment Institute of Robotics and System Dynamics D-82234 Wessling Germany

The non-redundant parametrization of the pole assignment problem for a n-th order system with m inputs allows to express the solution of the problem in term of n(m - 1) free parameters. These parameters can be used to fulfill additional requirements on the closed-loop system as for instance minimum norm feedback gain matrix, well conditioned eigenvector set, maximum stability radius. One of reliable numerical methods for pole assignment is the so-called Schur method. An extension of this method is proposed which computes the solution of the pole assignment problem corresponding to a non-redundant parameter set. Several possibilities are further investigated to compute minimum norm feedback matrices. An improved approach to compute minimum Frobenius-norm feedback relying on a redundant parametrization is also discussed.

关键词： Eigenvalues and eigenfunctions Minimization Iron Matrix decomposition Newton method Optimized production technology Closed loop systems

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