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检索条件"机构=Laboratory of Intelligent Control and Robotics"

共 882 条记录，以下是311-320 订阅

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Towards Autonomous Navigation of a Mobile Robot in a Steep Slope Vineyard

Towards Autonomous Navigation of a Mobile Robot in a Steep S...

引用

Proceedings of the International Convention MIPRO

作者： I. Hrabar J. Goričanec Z. Kovačić University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) Zagreb Croatia

This paper explores potential applications of an autonomous all-terrain mobile manipulator (AMM) in the agricultural vineyard environment. A robotic arm mounted on a mobile base performs a spraying task while moving past vines and a bud rubbing task while stopping next to vines. We discuss the challenges of AMM navigation when performing tasks in steep vineyard terrain. The presented navigation approach is based on the use of a heterogeneous robotic system consisting of an unmanned aerial vehicle (UAV) and AMM. The navigation information provided by the UAV gives the waypoints for the AMM. We also present preliminary results from navigation simulation, based on digital elevation model (DEM). The model uses real-world data, acquired by UAV photogrammetric measurement campaign. We conclude by highlighting some open problems and related future research directions.

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Analysis of opinion consensus and fluctuation over networks

Analysis of opinion consensus and fluctuation over networks

引用

第37届中国控制会议

作者： Guiyuan Fu Mingming Ji Jingti Han Institute of Fintech Shanghai University of Finance and Economics Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

The dynamics of opinion formation with two types of individuals over social networks is analyzed in this *** each interaction, individuals pick up one of his neighbors with a probability depending on the neighbor’s closeness and popularity and update their opinion based on the convex combination of the opinion of the interactive individuals. It is found that when the stubborn individuals have the same initial opinion, the whole population will definitely converge to a consensus,otherwise, opinion fluctuation can be be observed if regular individuals can reach at least two stubborn individuals with different opinion. Moreover, in the small world network larger average degree and rewiring probability can accelerate convergence speed to a large extent especially when they are relative small. The results may have some insight on the opinion dynamics in the real world.

关键词： Opinion Consensus Fluctuation Social Networks Stubborn Individual

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

引用

IEEE International Conference on Automation Science and Engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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control of induction motors for high dynamic performance and maximal power efficiency via feedback linearization with input-output decoupling

Control of induction motors for high dynamic performance and...

引用

Annual Conference of Industrial Electronics Society

作者： Dong-Il Kim In-Joong Ha Myoung-Sam Ko Jae-Wha Park Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Eng. Seoul National University South Korea

The authors attempt to achieve both high dynamic performance and maximal power efficiency for induction motors by means of linear decoupling of rotor speed (or motor torque) and rotor flux. The induction motor with the proposed controller possesses the input-output dynamic characteristics of a linear system such that the rotor speed (or motor torque) and the rotor flux are decoupled. The rotor speed (or motor torque) responses are not affected by abrupt changes in the rotor flux, and vice versa. The rotor flux need not be measured but is estimated by the well-known flux simulator. The effect of large variation in the rotor resistance on the control performances is minimized by using a parameter adaptation method. The authors present simulation and experimental results as well as mathematical performance analyses.< >

关键词： Induction motors Feedback Rotors DC motors Linear systems Equations control systems Torque Electrical resistance measurement Performance analysis

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Identification of Systems with Logarithmic Quantizer

Identification of Systems with Logarithmic Quantizer

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第37届中国控制会议

作者： Mingming Ji Guiyuan Fu Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Institute of Fintech Shanghai University of Finance and Economics

The identification problem of systems with logarithmic quantized data is analyzed in this paper. A discrete-time system with an unknown parameter vector and Gaussian noise is considered. The output of the system is quantized by a logarithmic quantizer. The estimator of the unknown parameter vector is obtained using the quantile-based estimation. The convergence almost everywhere of the estimator and the upper bound of the estimation error are also analyzed, respectively.

关键词： System identification logarithmic quantizer estimator estimation error

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Distributed Optimization with Finite-Time Convergence via Discontinuous Dynamics

Distributed Optimization with Finite-Time Convergence via Di...

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第37届中国控制会议

作者： Xiaowei Pan Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University IEEE Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, an algorithm with discontinuous characteristics is proposed to solve distributed optimization problems of sum type. The finite-time convergence of the algorithm is proved and the settling time bound is ... 详细信息

关键词： Discontinuous Optimization Nonsmooth Finite-time

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Manufacturing Systems control Design 1

引用

丛书名： Advances in Industrial control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： control and Systems Theory Industrial and Production Engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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A novel visual servoing approach involving disturbance observer

A novel visual servoing approach involving disturbance obser...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea

To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. The paper proposes a visual servoing method based on a disturbance observer which compensates the effect of the off-diagonal component of the image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to the PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulators successfully.

关键词： Visual servoing Jacobian matrices Robot sensing systems Manipulators Service robots Image sensors intelligent control intelligent robots Cameras controllability

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Fuzzy logic navigation in multi agent systems

Fuzzy logic navigation in multi agent systems

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IEEE International Symposium on intelligent control (ISIC)

作者： S. Bogdan I. Rigo D. Miklic LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of EE&C University of Zagreb Croatia

ISBN: (纸本)9781424422241

In this paper we present a methodology for decision making in multi agent system comprised of agents driven by repulsive force and attracting force. Navigation functions are expressed as a set of fuzzy rules obtained by fuzzy Lyapunov stability criteria, thus ensuring stability of the overall system. The goal of the proposed methodology is to create desired formations by moving agents from their initial positions to formation targets, while in the same time avoiding collisions. The destination targets are dynamically permutated as long as the required formation is achieved.

关键词： intelligent control control systems USA Councils

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A novel visual servoing with stereo cameras using QR decomposition and disturbance observer

A novel visual servoing with stereo cameras using QR decompo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator.

关键词： Visual servoing Cameras Jacobian matrices Matrix decomposition controllability Manipulators intelligent control intelligent robots Robot vision systems Robot sensing systems

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