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IEEE Region 10 International Conference TENCON

作者： Leena Vachhani Anupa Sabnis Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

In many mobile robotic tasks, it is important to know the local axis of the robot at any pose with respect to a reference or global direction. In this paper, a vision-based algorithm is described for this purpose. A new approach to form the omnidirectional view of an environment is developed using a single camera. The images captured at a definite interval of angles are stitched by a simple method of removing the overlapping area between two successive images. To find the local axis of a mobile robot, a robust technique is developed to determine the orientation of the robot at any pose with respect to the reference direction in an unknown environment. A reference omnidirectional image is correlated with that at the current position. The paper formulates two algorithms : one for finding the fixed amount of overlapping area and another for finding the angle of local axis with respect to the reference using correlation. The paper also proposes two ways using which this visual compass can be used.

关键词： Cameras Correlation Compass Visualization Robot vision systems Mobile robots

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Single image based depth estimation for robotic applications

Single image based depth estimation for robotic applications

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IEEE Recent Advances in Intelligent Computational systems (RAICS)

作者： Anupa Sabnis Leena Vachhani Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai India

Goal of the robot vision is to exploit power of visual sensing to observe and perceive the environment and react it. Visual feedback is used to manipulate the robot among objects by estimating their depths. This paper presents a depth estimation technique based on the defocus blur associated with a camera setting. A sharp image of an object is obtained from a defocused image of the same object by applying sharpening filter. The defocused and sharp images of the object are used to calculate the spread parameter which is related to the object depth. The method calculates the constant camera parameters. The main advantage of this method is use of a single image by the robot to estimate depth. The method is independent of illumination condition and can be applied to the images with different edge orientations. Experiments on real scene images have demonstrated the feasibility of the proposed method for depth estimation. The results indicate that the depth estimation average errors are within two percent of true values. The proposed method is compared with the existing methods.

关键词： Cameras Lenses Estimation Sensors Image edge detection Robot kinematics

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Super-twisting-like algorithm in discrete time nonlinear systems

Super-twisting-like algorithm in discrete time nonlinear sys...

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： I. Salgado S. Kamal I. Chairez B. Bandyopadhyay L. Fridman Department of Bioprocesses Professional Interdisciplinary Unit of Biotechnology IPN Mexico City Mexico Interdisciplinary Programme in Systems and Control Engg Indian Institute of Technology Bombay India Engineering Faculty National Autonomous University of Mexico Mexico City Mexico

A new discrete time super-twisting-like second order sliding mode algorithm (DSTA) is proposed. The stability proof of the suggested scheme is analyzed in terms of the discrete Lyapunov approach and Linear Matrix Inequalities (LMI) theory. Using these two tools it is proved that, system state trajectory is ultimately bounded in finite time. The state estimation problem for a class of second order discrete time system has been proposed to show the positive settings obtained from the algorithm introduced here. Also, the ultimate boundedness of the estimation error is demonstrated despite the presence of bounded perturbations. Simulation results illustrates the efficacy of this new discrete-time algorithm.

关键词： Sliding mode control Observers Nonlinear dynamical systems Equations Trajectory Mathematical model

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Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach 10

Stabilizing a flexible beam on a cart: A distributed port Ha...

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2009 10th European control Conference, ECC 2009

作者： Banavar, Ravi N. Dey, Biswadip Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology - Bombay Mumbai400076 India

ISBN: (纸本)9783952417393

Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on a moving cart. The flexibility of the beam is restricted only to the direction along the traverse of the cart. The control objective is to attenuate the effect of disturbances on the vertically upright profile of the beam. The control action available is the motion of the cart. By regulating this motion, we seek to regulate the shape of the beam. The problem presents a combination of a system described by a partial differential equation (PDE) and a cart modeled as an ordinary differential equation (ODE) as well as controller which we restrict to an ODE. We set our problem in the port controlled Hamiltonian framework. The interconnection of the flexible beam to the cart is viewed as a power conserving interconnection of an infinite dimensional system to a finite dimensional system. The energy Casimir method is employed to obtain the controller. In this method, we look for some constants of motion which are invariant of the choice of controller Hamiltonian. These Casimirs relate the controller states to the states of the system. We finally prove stability of the equilibrium configuration of the closed loop system. © 2009 EUCA.

关键词： controllers

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Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach

Stabilizing a flexible beam on a cart: A distributed port Ha...

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European control Conference (ECC)

作者： Ravi N. Banavar Biswadip Dey Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai

关键词： Decision support systems Europe Flyback transformers

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Robust control and path planning algorithms for small satellite formation flying missions

Robust control and path planning algorithms for small satell...

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60th International Astronautical Congress 2009, IAC 2009

作者： Saaj, Chakravarthini M. Bandyopadhyay, Saptarshi Bandyopadhyay, Bijnan Space Robotics Surrey Space Center University of Surrey Guildford Surrey GU2 7XH United Kingdom Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781615679089

Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and control. In this paper, novel robust control algorithm using Sliding Mode control is presented for a three-dimensional, high Earth orbit satellite formation scenario. The paper presents the comparison of results of three types of Sliding Mode controllers (SMC): the first one is a tan-hyperbolic SMC, the second one is a constant plus proportional rate SMC and the third one is a power rate SMC. Hybrid propulsion system minimises the use of on-board power for close formations. Artificial Potential Field method is used for collision-free path planning of the satellites in the formation. Simulation results show that for the formation flying scenario considered in this study, the constant plus proportional rate SMC and the power rate SMC gives better performance over the tan-hyperbolic SMC. Simulation results prove that for the tetrahedron formation considered in this study, the total control effort is less when the constant plus proportional rate controller and the power rate controller are used compared to the tan-hyperbolic sliding mode controller. Very little formation center movement is observed for the three SMCs.

关键词： Robust control

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Sliding Mode control Design via Reduced Order Model Approach

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International Journal of Automation and computing 2007年第4期4卷 329-334页

作者： B.Bandyopadhyay Alemayehu G/Egziabher Abera S.Janardhanan Victor Sreeram Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology BombayMumbai 400076India Department of Electrical Engineering Indian Institute of Technology DelhiNew Delhi 110016India School of Electrical Electronicand Computer EngineeringThe University of Western AustraliaWestern Australia 6009Australia

This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for thc higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.

关键词： Sliding mode control order reduction reduced order model higher order system optimal control.

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Design and implementation of a user friendly JAVA based GUI software for manoeuvring mobile robot

Design and implementation of a user friendly JAVA based GUI ...

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作者： Manjunath, T.C. Interdisciplinary Programme in Systems and Control Engineering ACRE Building Indian Institute of Technology Bombay Powai Mumbai-400076 Maharashtra India

ISBN: (纸本)9784990288013

The main objective of this work is to develop a user friendly GUI developed in JAVA language for manoeuvring a mobile robot named 'OCTAGON' with algorithms for obstacle avoidance in its path of motion. A user-friendly module is designed and successfully implemented for the operation of the entire system to do some specific operations. OCTAGON employs a sophisticated application - controlling interface created in JAVA, as it is a fantastic programming language for any application software development. The software module application facilitates the user interaction with OCTAGON and has many in built features such as the security and authentication. When the java code is executed, the default GUI screen appears as shown in the Fig. 2 and all the motors status is displayed. For activating a particular motion, we can navigate to its page by selected the left hand menu. The software is designed for maximum robot control & working efficiency. It is so designed such that the user can have complete control over each movable part of the robot. Also, the user can easily maneuver the robot & make it traverse a path towards the object to be picked. He or she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & eventually picks it up. Throughout this process the software interface guides the user through the usage of various parts of the robot & provides him with responses from the robot. Given the time on hand, the ease of programming and power of JAVA, it was an ideal choice for use in designing our application interface to the octagon. The software is designed for maximum robot control & working efficiency. It is so designed that the user can have complete control over each movable part of the robot. Also the user can easily maneuver the robot & make it traverse in a path towards the object to be picked. He/she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & even

关键词： Geometry

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Multirate output feedback based digital redesign of sliding mode control algorithms

Multirate output feedback based digital redesign of sliding ...

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2006 International Workshop on Variable Structure systems, VSS'06

作者： Janardhanan, S. Bandyopadhyay, B. Abera, Alemayehu G.E. Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai - 400 076 India

ISBN: (纸本)1424402085

Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding mode control algorithms are based on reaching laws that are only approximations of continuous-time reaching laws and thus may not give a performance close to continuous-time sliding mode control. This paper presents a method of multirate output feedback based discrete-time control design which guarantees the closest possible performance for a pre-designed continuous-time sliding mode control algorithm. © 2006 IEEE.

关键词： Sliding mode control

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Multirate Output Feedback based Digital Redesign of Sliding Mode control Algorithms

Multirate Output Feedback based Digital Redesign of Sliding ...

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International Workshop on Variable Structure systems, VSS

作者： S. Janardhanan B. Bandyopadhyay A.G. Abera Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

关键词： Output feedback Sliding mode control control systems Sampling methods Robust control Digital control Signal design control design State-space methods Uncertain systems

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