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检索条件"机构=Laboratory for Advanced Robotics and Intelligent Control Systems"

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Optimization of Coordinate Transformation Matrix for Discrete-Time H∞ Static-Output-Feedback control Problems

Optimization of Coordinate Transformation Matrix for Discret...

引用

第三十三届中国控制会议

作者： Zhi-Yong Feng Li Xu Ye Li Huijin Fan Xue-Xun Guo Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Hubei Collaborative Innovation Center for Automotive Components Technology Department of Electronics and Information Systems Akita Prefectural UniversityYuri-HonjoAkita 015-0055Japan Department of Control Science and Engineering University of Shanghai for Science and Technology Key Laboratory of Image Processing and Intelligent Control School of AutomationHuazhong University of Science and Technology

ISBN: (纸本)9781479947249

The problem of how to select a coordinate transformation matrix to improve the LMI conditions for H∞ staticoutput-feedback(SOF) control of discrete-time systems is a challenging open *** paper applies a newly proposed strategy to solve this *** iterative algorithm is developed to produce controllers with locally optimal closed-loop H∞*** algorithm is also applied to other H∞ SOF control problems,such as decentralized H∞ SOF control and simultaneous H∞ SOF ***,numerical examples are provided to demonstrate the effectiveness and advantages of the proposed method.

关键词： H∞ control,Static output feedback,Decentralized control,Simultaneous control,Linear matrix inequality(LMI)

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The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

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2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

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Design and control of a Four-flipper Tracked Exploration & Inspection Robot

Design and Control of a Four-flipper Tracked Exploration & I...

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Mediterranean Conference on control & Automation

作者： Z. Kovacic M. Cukon K. Brkic G. Vasiljevic A. Mutka D. Miklic F. Vuglec I. Rajkovic Laboratory for Robotics and Intelligent Control Systems University of Zagreb

ISBN: (纸本)9781479909964

We describe the design and control of a prototype of an exploration and inspection robot built as a four flipper/track mobile robot. It is equipped with on-board sensors including standard and thermovision cameras, gas and temperature detectors, etc. The robot maintains wireless video and audio communication with the operator. Its principal aim is to explore buildings, locate people caught in the accidents and detect potential sources of danger in abnormal conditions caused by flood, fire, earthquake or other natural and nonnatural disasters. The robot construction complies to the ATEX norms in order to minimize the risk of interventions of professional units (e.g. fire fighting, civil guard, police, military). Having four independently controlled tracks/flippers, the robot allows easy maneuvering and overtaking of obstacles (including steps). Although dominantly designed as a remote-controlled robot device, advanced control features such as roll-angle compensation and corridor/steps/door centering algorithms help the operator to navigate robot in a much easier and safer way.

关键词： Robot inspection robots Standing Orders Voice communication Exploration Overtaking Accidents temperature detector

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Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail

Stabilizing a Quadruped Robot Locomotion Using a Two Degree ...

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Mediterranean Conference on control & Automation

作者： Alan Mutka Matko Orsag Zdenko Kovacic Laboratory for Robotics and Intelligent Control Systems Universirty of Zagreb

ISBN: (纸本)9781479909964

This paper investigates how to improve locomotion stability of a dynamical system composed of four spring-mass subsystems by using a tail-like inertial appendage. The paper presents a Denavit-Hartenberg parameterization based kinematic model combined with a Newton-Euler based dynamic model of a two degree of freedom tail. Impedance based leg control simplifies the leg motion so that it can be modeled as a damped spring-mass system. The tail presented in the paper is used as a counterweight, capable of shifting its center of mass so as to balance the body of the robot. To that end, a recursive algorithm that moves the tail in order to balance the robot is proposed. A realistic robot model is built in the Open Dynamic Engine environment and is used to conduct a series of tests proving the effectiveness of the proposed algorithm.

关键词： Legged locomotion Robot kinematics Mathematical model Joints Kinematics Springs

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Path planning for localization of an RF source by multiple UAVs on the Crammer-Rao Lower Bound

Path planning for localization of an RF source by multiple U...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Mohammad Saberi Tavakkoli Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper presents a path planning approach of several UAVs for Radio Frequency (RF) source localization in None Line Of Sight (NLOS) propagation condition using the Received Signal Strength Indication (RSSI). The paths are planned such that the lower bound of standard deviation of localization error, which is equivalent to the Cramer-Rao Lower Bound (CRLB) of the estimation, minimized at any time. Due to the complexity of Jacobin calculation to perform global CRLB optimization, the local values of CRLBs in the current waypoint and next probable waypoints are used in the steepest decent approach to determine the best path. Furthermore, the complexity is reduced by discretizing the space for UAVs to make the computation feasible. The effect of NLOS propagation on the RSSI measurements is simulated by a log-normal distribution and the last estimation of radio source location is used to calculate the local CRLBs. The proposed approach has been simulated and compared with the basic bio-inspired approach of going toward the sensed direction of the source. The result shows better performance than the basic approach.

关键词： Jacobian matrices Noise

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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

The hybrid localization using Angle of Arrival (AOA) and Received Strength Signal Indicator (RSSI) of an RF source, such as a cell phone in a search and rescue mission, with unknown power and None Line Of Sight (NLOS) condition have been proven to be advantageous compared to using each method separately. The hybrid approach has been proposed to benefit from both RSSI and AOA measurements. In this paper, the initial hybrid method, which was implemented using particle filters due to the multi-modal/non-Gaussian nature of localization in NLOS condition, has been replaced by a multi-step Gaussian filtering approach which provides nearly similar accuracy with better performance. The proposed method has been implemented using extended Kalman filter and Unscented Kalman filter. The simulation results show that the multi-step Gaussian filtering is comparable to particle filter in all cases with better performance. For further evaluation, the effects of uncertainty in the propagation parameters have been studied to show the robustness of each filter to these uncertainties.

关键词： Shadow mapping Atmospheric measurements Particle measurements Scattering Measurement uncertainty Particle filters Equations

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Characteristics identification of continuum robots for exact modeling

Characteristics identification of continuum robots for exact...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Dehghani S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Continuum robots do not have any joint in contrast to traditional articulated robots. Instead, these robots can bend, twist and stretch their backbone, to shape desired configurations and end-effector position. Therefore, exact modeling of these robots is a challenging problem, particularly in spatial deformations. This paper suggests identification of some mechanical characteristics of the backbone of continuum robots, to achieve accurate results. The importance of identification of characteristics, such as undeformed shape and modulus of elasticity, will be discussed. Then, some methods to identify these characteristics are presented. Theory of Cosserat Rod will be introduced and used for modeling continuum robotic arms in this paper. Finally, the proposed approach is used for a given robot, and the model obtained based on the identified parameters will be validated by experimental results.

关键词： Robots Temperature measurement Elasticity

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A new approach for orientation determination

A new approach for orientation determination

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In some modeling and control problems, especially in robotics, determination of orientation of a rotating body or frame requires slow and time taking numerical calculations. In some cases, such as for continuum robots, these time-taking calculations are an impediment to real-time control. The common approaches for orientation determination, such as Euler angles or Euler parameters, are beneficial when generalized coordinates are needed. Otherwise, these approaches require some time-taking equations for calculation of the rotation matrix (direction cosine matrix). Another method is to calculate the rotation matrix directly, based on the angular velocity. Although this method is very fast, it is numerically unstable, because of accumulation of some numerical errors. In this paper, an approach is introduced that cancels these errors with the least numerical efforts, and provides high accuracies. The application and importance of this approach is studied and discussed in the case of modeling and control of continuum robotic arms, as an instance. The proposed methods are used to model a spring, as a case study. The obtained results are validated by analytic data, and are compared to the results obtained by other methods.

关键词： Vectors

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Modeling of continuum robots with twisted tendon actuation systems

Modeling of continuum robots with twisted tendon actuation s...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In contrast to traditional articulated robots, continuum robots do not have any joints. The backbone of these robots can be bent, twisted and stretched by environmental and actuation forces. A group of continuum robotic arms use tendon-driven actuation systems. In this group, the shape of robot backbone can be controlled by pulling the tendons. Generally, exact modeling of the forces and moments produced by tendon-driven systems has no closed form solution. However, for a simplified case where the backbone shape is a planar curve with a constant curvature, some closed-form solutions have been introduced. Such solutions are valuable, especially in control applications where Jacobian matrices must be calculated. For exact modeling of elastic rods in spatial deformations, constant curvature models are not accurate. In such cases, the theory of Cosserat rod can be used for backbone modeling. Continuum robots usually consist of an elastic rod as the backbone and an actuation system. The effects of the actuation systems must be included to the model of Cosserat rod. The effects of the actuation systems are more complicated, when the tendon passages are not parallel to the backbone. In this paper, a model for continuum robotic arms is presented, which considers both, the elastic backbone and the effects of the actuation system. Furthermore, the tendons can twist around the backbone, in an arbitrary passage. The presented model is more compact than other solutions, and will be validated in a case study, by comparison with numerical results obtained from existing models.

关键词： Robots Vectors

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