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2002 American control COnference

作者： Vela, Patricio A. Morgansen, Kristi A. Burdick, Joel W. Control and Dynamical Systems Mechanical Engineering California Inst. of Technology Mail Code 107-81 Pasadena CA 91125 United States

ISBN: (纸本)0780372980

This paper considers the stabilization of underactuated mechanical systems via high-amplitude, high-frequency actuation. Using higher order averaging techniques, we extend previous work to the case where symmetric products of order higher than one are necessary for controllability. We first introduce a second order averaged mechanical system model that incorporates higher order terms. Using this result, we obtain trajectory tracking in the average by feeding back an error signal that is constant over whole periods of the oscillatory actuation. A simulation demonstrates the method.

关键词： Mechanisms

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Underwater locomotion from oscillatory shape deformations

Underwater locomotion from oscillatory shape deformations

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41st IEEE Conference on Decision and control

作者： Vela, Patricio A. Morgansen, Kristi A. Burdick, Joel W. Control and Dynamical Systems California Institute of Technology Mail Code 107-81 Pasadena CA 91125 United States Mechanical Engineering California Institute of Technology Mail Code 107-81 Pasadena CA 91125 United States

This paper considers underwater propulsion that is generated by variations in body shape. We summarize and extend some of the emerging approaches for the uniform modeling and control of such underactuated systems. Two... 详细信息

关键词： Robotics

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Trajectory stabilization for a planar carangiform robot fish

Trajectory stabilization for a planar carangiform robot fish

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K.A. Morgansen P.A. Vela J.W. Burdick Control and Dynamical Systems California Institute of Technology Pasadena CA USA Mechanical Engineering California Institute of Technology Pasadena CA USA

Considers the task of trajectory stabilization for a fish-like robot by means of feedback. We use oscillatory control inputs and apply correction signals at the endpoints of each periodic input signal. Such a strategy can be proven to cause the system to converge to a desired trajectory. We present a specific model of a planar carangiform fish, and verify the stabilization results with simulations and with experiment on a planar robotic fish system that is propelled using carangiform-like movements.

关键词： Robots Marine animals Propulsion Feedback Stability control systems mechanical systems Underwater vehicles Optimal control mechanical engineering

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Evaluation method of man-machine system based on muscular characteristic

Evaluation method of man-machine system based on muscular ch...

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11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002

作者： Koyama, Takeshi Tanaka, Takayuki Tanaka, Kazuo Feng, Maria Q. University of Electro-Communications Graduate School of Electro-Communications Dept. of Mechanical and Control Engineering 1-5-1 Chofugaoka Chofu Tokyo 182-8585 Japan University of Electro-Communications Dept. of Mechanical Engineering and Intelligent Systems CA 92697-2175 United States University of California Irvine Dept. of Civil Engineering CA 92697-2175 United States

ISBN: (纸本)0780375459

In order to provide quality nursing care for bed-bound and disabled people without causing physical and mental stress to both patients and nurses, we have been developing a prototype of a human-assisting robotic system, referred to as HARO (Human-Assisting RObot), which is worn by an operator to amplify his or her power. This paper focuses on the suggestion of new evaluating method about assisting ability of a man-machine system based on muscular character, body mechanics and operator's link model. © 2002 IEEE.

关键词： Man machine systems

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Evaluation method of man-machine system based on muscular characteristic

Evaluation method of man-machine system based on muscular ch...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T. Koyama T. Tanaka K. Tanaka M.Q. Feng Graduate School of Electro-Communications Department of Mechanical and Control Engineering University of Electro-Communications Chofu Tokyo Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Japan Department of Civil Engineering University of California CA USA

关键词： Man machine systems Force sensors Biological system modeling Capacitive sensors Medical services Human factors Power system modeling Aging Intelligent robots Arm

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Erratum: “The Hamiltonian structure of a two-dimensional rigid circular cylinder interacting dynamically with N point vortices” [Phys. Fluids 14, 1214 (2002)]

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Physics of Fluids 2002年第11期14卷 4099-4099页

作者： Banavara N. Shashikanth Jerrold E. Marsden Joel W. Burdick Scott D. Kelly Department of Mechanical Engineering MSC 3450 PO Box 30001 New Mexico State University Las Cruces New Mexico 88003 Control and Dynamical Systems 107-81 California Institute of Technology Pasadena California 91125 Department of Mechanical Engineering 104-44 California Institute of Technology Pasadena California 91125 Department of Mechanical and Industrial Engineering University of Illinois at Urbana-Champaign Urbana Illinois 61801

Banavara N. Shashikanth, Jerrold E. Marsden, Joel W. Burdick, Scott D. Kelly; Erratum: “The Hamiltonian structure of a two-dimensional rigid circular cylinder i

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Nonlinear control methods for planar carangiform robot fish locomotion

Nonlinear control methods for planar carangiform robot fish ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K.A. Morgansen V. Duidam R.J. Mason J.W. Burdick R.M. Murray Control and Dynamical Systems California Institute of Technology Pasadena CA USA Mechanical Engineering Pasadena CA Mechanical Engineering California Institute of Technology Pasadena CA USA Control and Dynamical Systems California Institute of Technology Pasadena CA National Science Foundation through an Engineering Research Center

ISBN: (纸本)0780365763

Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by experiment.

关键词： Robots Marine animals Propulsion Algorithm design and analysis Motion control control design Trajectory Fluid flow Turning Fluid flow control

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Functional feedback in an extremum seeking loop

Functional feedback in an extremum seeking loop

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IEEE Conference on Decision and control

作者： R.N. Banavar D.F. Chichka J.L. Speyer Mechanical and AeroSpace Engineering UCLA USA Control and Dynamical Systems Department California Institute of Technology Pasadena CA USA

ISBN: (纸本)0780370619

We analyze the effect of functional feedback in an extremum seeking loop. Our study is motivated by a formation flight problem where the trailing aircraft experiences an outward rolling moment as the vortex effects of the leading aircraft come into play. Viewed as the extremized functional, this rolling moment feeds itself back to the lateral dynamics of the aircraft. In the initial half of the paper we impose restrictions on the curvature of the extremized functional and examine the effect under the assumption of a dynamic time-scale separation between the tracking loops of the linear dynamical system and the extremum seeking loop; in the latter half we remove both these assumptions and instead impose assumed functional forms on the extremized functional.

关键词： Feedback loop Aircraft Aerospace engineering Tracking loops Feeds control systems Aerodynamics Measurement Application specific integrated circuits Engines

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Physical dissipation and the method of controlled Lagrangians 6

Physical dissipation and the method of controlled Lagrangian...

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6th European control Conference, ECC 2001

作者： Woolsey, C.A. Bloch, A.M. Leonard, N.E. Marsden, J.E. Aerospace and Ocean Engineering Virginia Tech BlacksburgVA24061 United States Dept. of Mathematics University of Michigan Ann ArborMI48109 United States Mechanical and Aerospace Engineering Princeton University PrincetonNJ08544 United States Control and Dynamical Systems California Institute of Technology 107-81 PasadenaCA91125 United States

ISBN: (纸本)9783952417362

We describe the effect of physical dissipation on stability of equilibria which have been stabilized, in the absence of damping, using the method of controlled Lagrangians. This method applies to a class of underactuated mechanical systems including 'balance' systems such as the pendulum on a cart. Since the method involves modifying a system's kinetic energy metric through feedback, the effect of dissipation is obscured. In particular, it is not generally true that damping makes a feedback-stabilized equilibrium asymptotically stable. Damping in the unactuated directions does tend to enhance stability, however damping in the controlled directions must be 'reversed' through feedback. In this paper, we suggest a choice of feedback dissipation to locally exponentially stabilize a class of controlled Lagrangian systems. © 2001 EUCA.

关键词： Damping

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Physical dissipation and the method of controlled Lagrangians

Physical dissipation and the method of controlled Lagrangian...

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European control Conference (ECC)

作者： C. A. Woolsey A. M. Bloch N. E. Leonard J. E. Marsden Aerospace & Ocean Engineering Virginia Tech Blacksburg VA USA Dept. of Mathematics University of Michigan Ann Arbor MI USA Mechanical & Aerospace Engineering Princeton University Princeton NJ USA Control & Dynamical Systems California Institute of Technology CA USA

We describe the effect of physical dissipation on stability of equilibria which have been stabilized, in the absence of damping, using the method of controlled Lagrangians. This method applies to a class of underactuated mechanical systems including "balance" systems such as the pendulum on a cart. Since the method involves modifying a system's kinetic energy metric through feedback, the effect of dissipation is obscured. In particular, it is not generally true that damping makes a feedback-stabilized equilibrium asymptotically stable. Damping in the unactuated directions does tend to enhance stability, however damping in the controlled directions must be "reversed" through feedback. In this paper, we suggest a choice of feedback dissipation to locally exponentially stabilize a class of controlled Lagrangian systems.

关键词： Damping Mathematical model Equations Stability analysis Aerospace electronics Measurement Kinetic energy

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