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American Control Conference (ACC)

作者： P. Misra P. Van Dooren A. Varga Electrical Engineering Wright State University Dayton OH USA Coordinated Science Labs University of Illinois Urbana-Champaign IL USA DLR-Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

In this paper, we present a state space characterization of the transmission zeros of singular linear multivariable systems that is analogous to that of standard systems. We study the structural invariants of a generalized state space model described by the matrix 5-tuple (E, A, B, C, D), where E may be a singular matrix but det(A-/spl lambda/E)/spl ne/0. The characterization of these zeros is based on the system matrix of the corresponding 5-tuple and is an extension of equivalent results for state space models described by the 4-tuples (A, B, C, D).

关键词： State-space methods Polynomials Matrix decomposition MIMO Transfer functions Design methodology H infinity control Control system synthesis

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design Design engineering Robot kinematics

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Dvelopments in the Field of Control Libraries and their Impact on Control Eduction

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IFAC Proceedings Volumes 1994年第9期27卷 269-272页

作者： Ad Van Den Boom Aloys Geurts Georg Grübel Andras Varga Dept. of Electrical Engineering Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands Dept. of Mathematics and Computing Science Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics D-82230 Wessling Germany

The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC... 详细信息

关键词： Control libraries computer aided system design numerical control software education educational aids

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SENSOR-BASED SPACE robotics - ROTEX AND ITS TELEROBOTIC FEATURES

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1993年第5期9卷 649-663页

作者： HIRZINGER, G BRUNNER, B DIETRICH, J HEINDL, J Institute for Robotics and System Dynamics German Aerospace Research Establishment Wessling Germany

In early 1993 the space robot technology experiment ROTEX has flown with space-shuttle COLUMBIA (spacelab mission D2 on flight STS-55 from April 26 to May 6). A multisensory robot on board the space-craft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These include on-line teleoperation and telesensor-programming, a task-level oriented programming technique involving ''learning by showing'' concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts using a 6-DOF nonforce-reflecting control ball and visual feedback to the human operator are explained. Stereographic simulation on ground was used to predict not only the robot's free motion but even the sensor based path refinement on board;prototype tasks performed by this space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange ORU), and grasping free-floating objects.

关键词： Robot sensing systems Orbital robotics Telerobotics Space technology Feedback Robotic assembly Space vehicles Robot programming Virtual environment Grippers

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ROBUST LOW-ORDER CONTROL DESIGN OF A GENERIC FLEXIBLE TEST STRUCTURE

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IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS 1993年第3期140卷 167-175页

作者： GOH, CH Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment Wessling Germany

The design of robust low-order controllers based on a high-order model of a generic flexible test structure with collocated sensors/actuators is considered. A new synthesis technique which combines the projective and the positive-real control concepts is developed and used for control design. The proposed method alleviates the known difficulty of the projective approach where the residual (nonretained) closed-loop modes can become unstable, and guarantees the strictly positive realness of the controller. Two approaches for selecting the free design parameters of the design technique are provided. Based on the new technique, two global controllers and one decentralised controller are designed with their performance evaluated and compared.

关键词： CONTROL THEORY CLOSED-LOOP CONTROL FLEXIBLE SPACE STRUCTURES PROJECTIVE CONTROL POSITIVE REAL CONTROL

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Computational techniques based on the block-diagonal form for solving large systems modeling problems 1

Computational techniques based on the block-diagonal form fo...

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1st IEEE Regional Conference on Aerospace Control systems, AEROCS 1993

作者： Varga, A. Institute for Robotics and System Dynamics Oberpfaffenhofen Wessling82230 Germany

The reduction of the state-matrix of a linear time-invariant state-space model to a block-diagonal form by using a state coordinate transformation is equivalent with an additive decomposition of the corresponding transfer-function matrix. Computationally involved and large storage demanding algorithms for solving several systems modeling problems can be conveniently reformulated such that they perform exclusively on the low order subsystems corresponding to the individual terms of suitable additive decompositions. Important reductions of both the computational effort and required memory usually by using the reformulated algorithms and thus, their applicability can be extended to handle higher order systems. The paper presents several algorithms suitable to perform efficiently on additively decomposed systems. The effectiveness of these algorithms for solving large order systems modeling problems relies on a reliable numerical algorithm to compute the block-diagonal form of a matrix. © 1993 IEEE.

关键词： Linear transformations

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Towards a New Generation of Multisensory Light-weight Robots with Learning Capabilities

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IFAC Proceedings Volumes 1993年第2期26卷 665-672页

作者： G. Hirzinger A. Baader R. Koeppe M. Schedl German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

Key items in the development of a new smart robot generation are explained by hand of DLR's recent activities in robotics research. These items are the design of multisensory gripper systems, ultra-light-weight links and joint drive systems with integrated joint torque control, learning and self-improvement of the dynamical behaviour, modelling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a (stereo)graphics environment. For each of these issues either simulated or real design results are given.

关键词： Light-weight robots multisensory robots neural nets learning robot control tele-sensor-programming

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SIMPACK - AN ANALYSIS AND DESIGN TOOL FOR MECHANICAL systemS

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VEHICLE system dynamics 1993年第SUP1期22卷 122-126页

作者： RULKA, W EICHBERGER, A DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics D-82230 Wessling Germany

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Robust Nonlinear Decoupling and Yaw Stabilization of Four-Wheel Steering Cars

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IFAC Proceedings Volumes 1993年第2期26卷 7-10页

作者： J. Ackermann German Aerospace Research Establishment (DLR) InStitute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for robust decoupling of lateral and yaw motion is derived. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized yaw subsystem gets velocity independent eigenvalues.

关键词： Automobiles four-wheel steering robust control decoupling nonlinear systems

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Computational Techniques Based on the Block-Diagonal Form for Solving Large systems Modeling Problems

Computational Techniques Based on the Block-Diagonal Form fo...

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IEEE Regional Conference on Aerospace Control systems

作者： A. Varga German AeroSpace Research Establishment DLR Institute for Robotics and System Dynamics Wessling Germany

关键词： Modeling Matrix decomposition Algorithm design and analysis Robot kinematics Aerodynamics Control systems Books Continuous time systems Reduced order systems

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