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International Workshop on Variable Structure systems, VSS

作者： Robert Tafner Markus Reichhartinger Martin Horn Control and Mechatronic Systems Group Institute of Smart System Technologies Alpen-Adria-Universität Klagenfurt Austria Institute of Automation and Control Graz University of Technology Austria

This paper considers the identification of unknown parameters related to a vehicle tire model using second-order sliding mode techniques. In a tailored two-stage procedure unknown input state observers recover the characteristic tire parameters. One of them is based on a modified super-twisting algorithm that extends the class of feasible uncertainties. In contrast to other methods for identification of tire parameters, typically requiring extensive sensor equipment, the proposed mechanisms only rely on standard measurement sensors. Furthermore, the algorithms are employable in-vehicle for online identification of model parameters. The overall concept is evaluated by the use of a complex vehicle dynamics simulation software environment.

关键词： Tires Vehicles Observers Uncertainty Force Vehicle dynamics

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Identification and Quantification of Hazards Caused by Uncontained Engine Rotor Failure

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Procedia Engineering 2014年 84卷 93-99页

作者： Li Mailiang Sun Zhiqiang Gong Erling System AnalysisInstitute Air Force Armament Research Academy Beijing 100076 China Department of Automatic Control College of Mechatronic Engineering and Automation National University of Defense Technology Changsha 410073 China

One approach based on AC20-128A is presented in order to assess the risk caused by uncontained engine rotor failure (UERF). In this approach, the risk assessment procedure includes hazard identification and hazard quantification. In the step of hazard identification, the catastrophic functional hazards, derived from the functional hazard analysis (FHA) results for the airplane, are used as the top events to construct the fault trees. The minimal cut sets (MSCs) of the fault trees are the hazards to be identified exactly. In the step of hazard quantification, the probability of one hazard triggered by some uncontained debris is evaluated. After the probabilities of all the identified hazards are quantified, the risk assessment of the airplane is completed. And the assessment result is compared with the design specifications to show compliance with the safety design. A small example is introduced to illustrate the rationality and accuracy of the aforementioned method.

关键词： airplane engine uncontained engine rotor failure airplane safety

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Optimized potential radius reference generator algorithm for autonomous vehicle controller development 2

Optimized potential radius reference generator algorithm for...

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2nd International Conference on Recent Advances in Automotive Engineering and Mobility Research, ReCAR 2013

作者： Zakaria, Muhammad Aizzat Zamzuri, Hairi Mamat, Rosbi Mazlan, Saiful Amri UTM-PROTON Active Safety Laboratory Universiti Teknologi Malaysia Jalan Semarak Kuala Lumpur Malaysia Control and Mechatronic Department Universiti Teknologi Malaysia SkudaiJohor Malaysia Vehicle System Engineering Research Laboratory Malaysia Japan International Institute of Technologi Universiti Teknologi Malaysia Jalan Semarak Kuala Lumpur Malaysia

ISBN: (纸本)9783038352617

Trajectory tracking for autonomous vehicle is one of the field that researchers pay attention. The ultimate goal for trajectory tracking is to track the pre-defined path and follow the reference path with zero steady state error. The common modules for trajectory tracking field are reference generator, controller and plant. While most of the researchers are focusing on the controller development, less work has focused on the optimized reference generator. Optimized reference generator ensures the reference input to the controller is the optimized desired points in order to develop a good controller. Therefore, this work presents the reference generator algorithm that select the best point from the road coordinate profile before being send to the controller. The method is using the vehicle potential field and the modification from Dijkstra’s algorithm to generate the path. This algorithm is useful for trajectory tracking controller development. The algorithm is verified using simulation and experiment. © (2014) Trans Tech Publications, Switzerland.

关键词： controllers

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Chaos characteristics analysis of transient signals for phase-locked synthesizer based FHC system

Chaos characteristics analysis of transient signals for phas...

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International Symposium on Communications and Information Technologies (ISCIT)

作者： Li Ping Wang Guohong Xiaopeng Yan Gong Peng Wenbo Shi Song Chunyun Beijing Institute of Technology National Key Lab. of Mechatronic Engineering and Control Beijing China Northeastern University School of Computer and Communication Engineering Qinhuangdao China National Lab. of Information Control Technology for Communication System Jiaxing Zhejiang China

ISBN: (纸本)9781479944156

Frequency synthesizer plays an important role in frequency hopping communication system. In this paper, we derivate the conditions for a system to become the chaotic based on the phase model of phase-locked synthesizer. We found that the system parameter changing during the frequency switching is able to make the system to be chaotic. Based on the Cao's method [5], we find that the fractal dimension of the transient signals should be equal to or less than 4, which also provides the maximal positive Lyapunov exponent. In addition, the unique double-ring attractor of them is also reproduced through the phase reconstruction, which also implies that the frequency switching will result in a chaotic for Frequency-Hopping Communication system.

关键词： Chaotic communication Switches Fractals Estimation Variable speed drives

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Dynamic curvature path tracking control for autonomous vehicle: Experimental results

Dynamic curvature path tracking control for autonomous vehic...

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International Conference on Connected Vehicles and Expo (ICCVE)

作者： Muhammad Aizzat Zakaria Hairi Zamzuri Rosbi Mamat Saiful Amri Mazlan Mohd Azizi Abd Rahman Abdul Hadi Abd Rahman Universiti Teknologi Malaysia Skudai Johor MY Vehicle System Engineering Research Laboratory Universiti Teknologi Malaysia Malaysia Department of Control and Mechatronic Engineering Universiti Teknologi Malaysia Malaysia Vehicle System Engineering Research Laboratory Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Malaysia

This paper discusses a new path tracking controller strategy for autonomous vehicle. Preliminary works done by researchers shows that most of the controller performs well in a straight path and normal curve. However, the problem arises in tight curve or discontinuous path. Therefore, this work aims to reduce the gap on the tight corner problem. The controller is designed based on the dynamic curvature estimation to predict the path condition and modify the wheel speed and steering wheel angle accordingly. In this technique, the curvature estimation algorithm is presented as a required input to the controller. The curvature estimation allows the vehicle to react based on the curvature profile and threshold region detection. The comparison is made based on three different path types. The experimental results on the autonomous prototype platform are discussed to show the effectiveness of the controller.

关键词： Vehicles Mobile robots Roads Estimation Sensors Vehicle dynamics Trajectory

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Closed loop thermal control of a lithographic optical component

Closed loop thermal control of a lithographic optical compon...

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28th Annual Meeting of the American Society for Precision Engineering, ASPE 2013

作者： Saathof, Rudolf Haber, Aleksandar Spronck, Jo W. Verhaegen, Michel Munnig Schmidt, Robert H. Precision and Microsystems Engineering Mechatronic System Design United States Delft Center of Systems and Control Delft University of Technology Delft Netherlands

ISBN: (纸本)9781887706636

In EUV lithography the high throughput and high absorption can cause thermal deformation of the mirrors, which induces image distortion. In a previous paper [1] we have presented an actuation mechanism that is suitable to compensate and correct for these thermal aberrations. In this paper we present a closed-loop control strategy to apply it on this actuation mechanism and its application on an experimental set-up.

关键词： Extreme ultraviolet lithography

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A Dual-Motor Joint Model for Humanoid Robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Model based vertical dynamics estimation with Modelica and FMI

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IFAC Proceedings Volumes 2013年第21期46卷 341-346页

作者： Michael Fleps-Dezasse Jonathan Brembeck Institute for System Dynamics and Control Robotic and Mechatronic Center German Aerospace Center (DLR) Weßling D-82234 Germany

This paper analyses the performance of Modelica implemented state estimation algorithms for semi-active suspension control for the DLR ROboMObil (ROMO). In this approach the prediction model for the vertical dynamics state estimation and the tire contact force estimation is designed as a quarter vehicle model, which directly incorporates all relevant nonlinear parts. Based on this prediction model a square root unscented Kalman-filter (SR-UKF) is implemented, using the DLR Modelica Kalman-filter library and the Functional Mockup Interface (FMI). In a consecutive step this prediction model is extended by introducing an input port for road obstacle information, e. g. extracted from image data from ROMO 360 degree stereo surround view. The observer design and implementation on real-time hardware are performed in Modelica using the automated tool chain from the Modelica simulator to the Rapid control Prototyping (RCP) hardware. Experimental results from a four post test-rig and simulations illustrate, that the estimation accuracy can be improved by the SR-UKF compared to an extended Kalman filter (EKF) based implementation.

关键词： Kalman-filter semi-active suspension state estimation Modelica FMI

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Output tracking for dual-inertia system with dead time based on stable system center approach

Output tracking for dual-inertia system with dead time based...

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IEEE Conference on control Technology and Applications (CCTA)

作者： V. P. Makkapati M. Reichhartinger M. Horn Control and Mechatronic Systems group Institute of Smart System Technologies Alpen-Adria-Universität Klagenfurt Klagenfurt Austria

ISBN: (纸本)9781479915583

Output tracking for a SISO plant with dead time is considered in this paper. Using Padé approximation for the dead time, the plant can be written in the form of a nonminimum phase system. The output tracking problem for this approximated non-minimum phase system is reformulated as a state tracking problem. Later a sliding mode controller is designed for state tracking; the non-measurable states are estimated using a sliding mode observer. Results for a dual inertia system with dead time are shown both in simulation and experiment.

关键词： Approximation methods Observers Torque Angular velocity Delays Velocity measurement Vectors

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