检索结果-内蒙古大学图书馆

Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system *

IFAC Proceedings Volumes 2011年第1期44卷 9425-9433页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

Abstract This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Electro-hydraulic Servo Axes Duplex-valve-system Active Fault-Tolerant control Reconfiguration Bumpless-Transfer

来源：评论

学校读者我要写书评

暂无评论

A performance-oriented, non-iterative, local design method for mismatch-based anti-windup compensators

A performance-oriented, non-iterative, local design method f...

引用

IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Andreas Ortseifen Jürgen Adamy Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

This paper proposes a local and - in contrast to existing synthesis approaches - non-iterative and performance-oriented design method for linear, full-order, mismatch-based anti-windup compensators which is applicable to control systems with unstable plants. Non-iterative means that the anti-windup compensator is found by solving a convex optimization problem. Hence, initial guesses or trial-and-error loops can be avoided leading to a significant simplification of the design process. Performance-oriented means that the L 2 gain of a system characterizing the degradation from the unconstrained linear performance is minimized. Two examples are considered to demonstrate the new design method.

关键词： Design methodology Stability analysis Optimization Symmetric matrices Convex functions Bismuth Upper bound

来源：评论

学校读者我要写书评

暂无评论

LPV modeling and experimental identification of a new self-sensing finger joint

引用

IFAC Proceedings Volumes 2011年第1期44卷 999-1004页

作者： B. Huard M. Grossard S. Moreau T. Poinot CEA LIST Interactive Robotics Laboratory Fontenay aux Roses F-92265 France University of Poitiers Automatic control and Industrial Informatics Laboratory (LAII) 86022 Poitiers France

Abstract This paper deals with the development of a new finger articulation prototype used as a joint for anthropomorphic robotic hand. We focus on modeling strategies applied to the finger prototype and its experimental identification. Self-sensing characteristic is achieved by an optimal design of highly back-driveable and efficient electromechanical actuators based on a DC motor, which requires an accurate modeling due to the absence of external sensors. The non-linear model of a finger joint can be reformulated as a Linear Parameter-Varying (LPV) model. On the contrary of classic method used for modeling, a quasi-LPV model is derived from Linear Time Invariant (LTI) interpolation, using a simulated annealing algorithm. Then, our proposed quasi-LPV model is validated from the Inverse Dynamic Model (IDM), and shows a good efficiency in predicting the non-linear behavior of the end effector.

关键词： Least-square method LPV identification Mechatronic finger prototype Non-linear system Robotic hand Simulated annealing algorithm

来源：评论

学校读者我要写书评

暂无评论

Inverse kinematics identification of a spherical robot based on BP neural networks

Inverse kinematics identification of a spherical robot based...

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yao Cai Qiang Zhan Xi Xi Ahmed Rahmani Robotics Institute Beijing Aeronautics and Astronautics University Beijing China Laboratory of Automatic Control Engineering Ecole Centrale de Lille Lille France

This paper proposed a method of neural networks to deal with the identification of the inverse kinematics of a spherical robot BHQ-1. The proposed method solves the problems of model error introduced by the generalized inverse method. It can compensate the external perturbation in the actual environment by applying an on-line learning technique, which improves the precision of the inverse kinematics model. Neural networks can approximate arbitrary order nonlinear systems and the robustness of neural networks has been proved, which shows that the deduced inverse system can be applied to actual control of spherical robot. At last, some test data has been used to validate the performance of the off-line trained model and the simulation results show that the inverse model is accurate and stable.

关键词： Robot kinematics Kinematics Artificial neural networks Mathematical model Inverse problems Training

来源：评论

学校读者我要写书评

暂无评论

An on-board pan-tilt controller for ground target tracking systems

An on-board pan-tilt controller for ground target tracking s...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： Zhekui Xin Yongchun Fang Bin Xian Beijing AeroSpace Automatic Control Institute China Institute of Robotics and Information Automatic System Nankai University Tianjin China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.

关键词： Target tracking Cameras Helicopters Jacobian matrices Visualization Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

Quadrotor black-box system identification

引用

World Academy of Science, Engineering and Technology 2011年 78卷 350-353页

作者： Stanculeanu, Ionel Borangiu, Theodor University 'Politehnica' Department of Automatic Control and Computers Bucharest 060042 Romania University 'Politehnica' Dept. of Automatics and Applied Informatics Head of the Robotics and AI Laboratory Bucharest 060042 Romania

This paper presents a new approach in the identification of the quadrotor dynamic model using a black-box system for identification. Also the paper considers the problems which appear during the identification in the closed-loop and offers a technical solution for overcoming the correlation between the input noise present in the output.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

引用

作者： Nguyen, H.N. Gutman, P.-O. Olaru, S. Hovd, M. Colledani, F. Automatic Control Department Gif sur Yvette France CEA-LIST Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Israel Department of Engineering Cybernetics Norwegian University of Science and Technology Norway CEA LIST Interactive Robotics Laboratory 18 route du Panorama F-92265 Fontenay-au-Roses France

ISBN: (纸本)9781457700804

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results. © 2011 AACC American automatic control Council.

关键词： Discrete time control systems

来源：评论

学校读者我要写书评

暂无评论

Model-Based Heart Rate control during Robot-Assisted Gait Training

Model-Based Heart Rate Control during Robot-Assisted Gait Tr...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Alexander Koenig Robert Riener Marc Bolliger Ximena Omlin Antonello Caruso Manfred Morari Luca Somaini Sensory-Motor Systems Lab ETH ZurichInstitute of Robotics and Autonomous SystemsDepartment of Mech Automatic Control Laboratory ETH ZurichSwitzerland Hocoma Inc. VolketswilSwitzerland

In recent years, gait robots have become increasingly common for gait rehabilitation in non-ambulatory stroke patients. Cardiovascular treadmill training, which has been shown to provide great benefit to stroke survivors, cannot be performed with non-ambulatory patients. We therefore integrated cardiovascular training in robot-assisted gait therapy to combine the benefits of both training modi. We developed a model of human heart rate as a function of exercise parameters during robot-assisted gait training and applied it for automatic control purposes. This structural model of the physiological processes describes the change in heart rate caused by treadmill speed and the power exchanged between robot and subject. We performed physiological parameter estimation for each tested individual and designed a model-based feedback controller to guide heart rate to a desired time profile. Five healthy subjects and eight stroke patients were recorded for model parameter identification, which was successfully used for heart rate control of three healthy *** showed that a model-based control approach can take into account patient-specific limitations of treadmill speed as well as individual power expenditure.

关键词： Heart rate Legged locomotion Training Robot kinematics Computational modeling Humans

来源：评论

学校读者我要写书评

暂无评论

Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

引用

2011 American control Conference (ACC)

作者： H.N. Nguyen P.-O. Gutman S. Olaru M. Hovd F. Colledani Automatic Control Department SUPELEC Systems Sciences (E3S) Gif sur Yvette France Faculty of Civil and Environmental Engineering Technion Israel Institute of Technology Israel Norwegian University of Science and Technology Norway LIST Interactive Robotics Laboratory CEA Fontenay-aux-Roses France

关键词： Interpolation Trajectory Robustness Linear programming Lyapunov methods Closed loop systems

来源：评论

学校读者我要写书评

暂无评论

Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

Active fault tolerant control of an electro-hydraulic servo ...

引用

5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010

作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661760

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach. © 2010 IFAC.

关键词： Fault detection

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：