检索结果-内蒙古大学图书馆

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 discrete-time positive periodic Lyapunov equations have important applications in the balancing and potentially also in the model reduction of discrete-time periodic systems. Efficient numerically reliable algorithms based on periodic Schur decomposition are proposed for the solution of these equations. The proposed algorithms are extensions of the method of Hammarling for the case of positive semidefinite solution. Special methods were developed to solve efficiently small order periodic Lyapunov and Sylvester equations.

关键词： Mathematical model Standards Iterative methods Matrix decomposition Eigenvalues and eigenfunctions Accuracy

来源：评论

学校读者我要写书评

暂无评论

Locally Guided Multiple Bi-RRT∗ for Fast Path Planning in Narrow Passages

Locally Guided Multiple Bi-RRT∗ for Fast Path Planning in N...

引用

IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Zhou Zhou Yechao Liu Hong Liu Tian Zou The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of system dynamics KUKA JV(Shunde) Foshan China

Rapidly-exploring Random Tree Star (RRT * ) and its variants can provide a collision-free and asymptotic optimal solution for many path planning problems. However, it is inefficient for many RRT * based variants to rapidly find one initial solution in a clustered environment with narrow passages, since consuming high memory as well as time, due to a large number of iterations in sampling critical nodes. To overcome this problem, the paper proposes the Locally Guided Multiple Bi-RRT * (LGM-BRRT * ) method, which can provide a fast solution by incorporating an improved bridge-test and a novel search strategy based on local guidance. It ensures an accelerated success rate and more efficient memory utilization compared with Bidirectional RRT * (BRRT * ), and it is easy for implementation as well. It was verified on different types of scenarios in terms of efficiency and success rate. The results demonstrated that LGM-BRRT * is beneficial for fast path planning in a clustered environment with narrow passages.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A generic interface technique for interactive use of file-driven software in a CACE environment

A generic interface technique for interactive use of file-dr...

引用

IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： R. Finsterwalder J. Bals University of Federal Armed Forces Munich Munich Germany Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

One of the computation prerequisites in concurrent engineering is to merge different commercial packages and in-house software into a common framework for computational experimenting. The paper reports on a possible solution thereof. In particular, the coupling with file driven software is discussed and a generic interface technique to this kind of software is presented. The control engineering environment software ANDECS serves to outline the way in which tool integration of file driven software is supported by modern CACE systems. However, this interface technique is not bound to the ANDECS system only. Thus it can be directly applied to link software to other modular CACE systems like MATLAB and Xmath.

关键词： Packaging Databases Software tools MATLAB Graphical user interfaces Computer interfaces User interfaces Robots Concurrent computing Military computing

来源：评论

学校读者我要写书评

暂无评论

Sliding mode model semantics and simulation for hybrid systems 1

引用

5th International Hybrid systems Workshop, 1997

作者： Mosterman, Pieter J. Zhao, Feng Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen WesslingD-82230 Germany Department of Computer and Information Science The Ohio State University ColumbusOH43210 United States Department of Computer Science Vanderbilt University NashvilleTN37235 United States

ISBN: (数字)9783540491637

ISBN: (纸本)354065643X

We describe model semantics and develop a simulation algo-rithm for characterizing a class of dynamic physical systems operating in the so-called sliding regimes. Complex continuous system behavior com-bines effects that occur at multiple temporal and spatial scales. Behavior generation is simpliéd by creating system models that employ times-cale and parameter abstraction techniques. The resultant hybrid systems exhibit discrete and continuous behaviors, which manifest as piecewise continuous behaviors interspersed with discontinuous changes between the continuous operating modes. Mode transitions are induced by internal state changes and external control signals. Sometimes hybrid systems exhibit chattering behaviors at the discontinuous transition boundaries. This presents computational challenges to conventional numerical simulation methods. We develop an efficient, adaptive algorithm for simulating this class of systems, based on a careful analysis of the model semantics at the discontinuous boundaries. Simulation results show that the algorithm is more efficient and accurate for sliding mode systems than conventional integration methods. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Hybrid systems

来源：评论

学校读者我要写书评

暂无评论

Autonomous Parking using a Highly Maneuverable Robotic Vehicle

引用

IFAC Proceedings Volumes 2014年第3期47卷 2640-2645页

作者： Alexander Schaub Juan Carlos Ramirez de la Cruz Darius Burschka Institute of System Dynamics and Control Robotics Mechatronics Center - DLR 82234 Wessling Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR 82234 Wessling Germany Department of Computer Science Technische Universität München 85748 Garching bei München Germany

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Sliding mode control for an obstacle avoidance strategy based on an harmonic potential field

Sliding mode control for an obstacle avoidance strategy base...

引用

IEEE Conference on Decision and Control

作者： J. Guldner V.I. Utkin DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany Institute of Control Sciences RAS Moscow Russia

This paper introduces a new integrated path control strategy (combined path planning and motion control) for autonomous systems of arbitrary dimension. A harmonic artificial potential field is used to specify admissible trajectories leading around obstacles. Using a sliding mode controller, motion is generated along the gradient lines of the potential field, avoiding collisions with the obstacles. The extremely low computational complexity of the proposed method makes it very suitable for online applications. The strategy is applied to mobile robots moving amidst known obstacles. Only the obstacle closest to the robot is considered at each time instance. The switching of the two respective gradient fields along the equi-distance line between two obstacles leads to the interesting phenomenon of an additional "spatial" sliding surface, which is examined in detail. The algorithm guarantees approaching the goal point continuously, following a reasonably short path. Numerical examples are presented to demonstrate the utility of this new strategy.< >

关键词： Sliding mode control Motion control Control systems Path planning Mechanical systems Aerospace control Aerodynamics Computational complexity Mobile robots Cost function

来源：评论

学校读者我要写书评

暂无评论

LQG/LTR robust flight control design with enforced controller bandwidth restriction

LQG/LTR robust flight control design with enforced controlle...

引用

Guidance, Navigation, and Control Conference and Exhibit, 1998

作者： Kienitz, Karl Heinz Grübel, Georg Instituto Tecnológico de Aeronáutica Department of Systems and Control Alexander-von-Humboldt Foundation CNPq S. José dos Campos Brazil Deutsches Zentrum für Luft- und Raumfahrt Oberpfaffenhofen Institute of Robotics and System Dynamics Germany

This contribution discusses a novel approach to design of robust controllers explicitly taking into account bandwidth restrictions of onboard computer implementation. This is achieved by online modal controller reduction during the synthesis-tuning phase in a multiobjective-optimization design environment. This is different to common approaches where implementability issues of high-order controllers resulting from analytic synthesis procedures are deferred to a separate post-design step. The approach is applied to lateral flight control in the HIRM (High Incidence Research Model) Design Challenge problem defined by GARTEUR (Group for Aeronautical Research and Technology in Europe). For analytical controller synthesis the dual LQG/LTR (Linear Quadratic Gaussian/Loop Transfer Recovery) method is used. © 1998, American institute of Aeronautics and Astronautics, Inc.

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

Fast algorithms for solving H/sub /spl infin//-norm minimization problems

Fast algorithms for solving H/sub /spl infin//-norm minimiza...

引用

IEEE Conference on Decision and Control

作者： A. Varga P. Parrilo Institute of Robotics and System Dynamics German Aerospace Center Wessling Germany Control and Dynamical Systems California Institute of Technology Pasadena CA USA

We propose an efficient computational approach to minimize the H/sub /spl infin//-norm of a transfer-function matrix depending affinely on a set of free parameters. The minimization problem, formulated as a semi-infinite convex programming problem, is solved via a relaxation approach over a finite set of frequency values. In this way, a significant speed up is achieved by avoiding the solution of high order LMIs resulting by equivalently formulating the minimization problem as a high dimensional semidefinite programming problem. Numerical results illustrate the superiority of proposed approach over LMIs based techniques in solving zero order H/sub /spl infin//-norm approximation problems.

关键词： Minimization methods Approximation error Frequency Reduced order systems Approximation algorithms Control systems Postal services USA Councils Approximation methods Upper bound

来源：评论

学校读者我要写书评

暂无评论

An ANDECS-MATLAB Multicriteria Design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ Control Structure

引用

IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective Design Magnetic Suspension Transportation

来源：评论

学校读者我要写书评

暂无评论

Output Shaping for Robust Decoupling

引用

IFAC Proceedings Volumes 1996年第1期29卷 3282-3287页

作者： Jorge Mari Jürgen Ackermann Optimization and Systems Theory Department of Mathematics Royal Institute of Technology S-100 44 Sweden Institute of Robotics and System Dynamics German Aerospace Research Establishment Oberpfaffenhofen D-82230 Wessling Germany

Decoupling usually refers to partitioning the dynamics of a system in a convenient way related to a predefined set of system inputs and outputs. In this paper, instead of assuming a priori given outputs, those outputs which might give rise to nontrivial unobservable subspaces persistent under parameter variations are sought. This relaxation in the outputs gives room for the additional robustness requirement leading to robustly decoupled structures. The main contribution here is in writing explicitly the equations to be satisfied in the single output case and discussing in detail sufficient conditions for cases with up to two uncertain parameters There is no generic solution to the problem stated, but it becomes obvious from the car and aircraft application examples that solvable cases lead to practically relevant results.

关键词： Decoupling problems robust control parametric variations vehicle dynamics aircraft control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：