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World Congress on Intelligent control and Automation (WCICA)

作者： Ruihua Li Guoxiang Meng Zhengjin Feng Yijie Li Weixiang Shi Mechatronics&Control Institute Shanghai Jiaotong University Shanghai China Department of Mechatronics Engineering Xi''an Jiaotong University Xi'an Shaanxi China

A sliding mode control (SMC) approach was used in a pneumatic force control servo-system with uncertainties and external disturbances in this paper. To reach exact force control in pneumatic force servo-system, the E/P pressure proportional valve was used as an electro-pneumatic converter in constructing an electro-pneumatic force control servo system. The dynamic model of the pneumatic force servo system was built firstly, and then a boundary layer approach was used to the design of controller, in which using a saturation function to substitute for the sign function based on Lyapunov theory. Finally, the performance of the controller was simulated and tested. The results show that the system performance has been much improved when compared with a conventional PID controller, and it has a good control precision and robustness

关键词： Force control Sliding mode control control systems Servomechanisms Electric variables control Uncertainty Valves Testing System performance Three-term control

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DESIGN AND HARDWARE-IN-THE-LOOP SIMULATION OF AN AUTOMATIC HEADLIGHT control SYSTEM

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IFAC Proceedings Volumes 2006年第16期39卷 746-751页

作者： S. Karaman T. Hacıbekir E. Kural E.S. Öztürk M. Demirci B. Aksun Güvenç Control and Mechatronics Research Center Department of Mechanical Engineering İstanbul Technical University Gümüşsuyu Taksim İstanbul TR-34437 Turkey

This paper presents the hardware in the loop simulation of an Adaptive Headlight System for motor vehicles. The headlamp orientation control system rotates the right and left low beam headlights independently. It also possesses an automatic headlamp levelling system, which, in addition to compensating for different loads, also cancels out the pitching effect during acceleration or braking to provide better night time visibility. The real time vehicle model used in this paper is the single track model with a half car suspension system. The hardware-in-the-loop simulation setup proposed for testing the adaptive headlight concept is based on a driving simulator. Real time simulations using this simulator are used to illustrate the approach.

关键词： Automotive control Adaptive headlight control Real-time systems Vehicle simulators

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An introduction to a matlab-based FDI-toolbox

An introduction to a matlab-based FDI-toolbox

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作者： Ding, S.X. Atlas, E. Schneider, S. Ma, Y. Jeinsch, T. Ding, E.L. Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany Dept. of Physical Engineering University of Applied Sciences Gelsenkirchen 45877 Gelsenkirchen Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH 38518 Gifhorn France

ISBN: (纸本)9783902661142

In this paper, an FDI-Toolbox developed in the Matlab© programming enviroment is introduced. It includes a number of functions for the design of observer-based and parity space FDI systems including both residual generation and evaluation. The application of the toolbox is illustrated by a number of examples. Copyright © 2006 IFAC.

关键词： Fault detection

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Internet-based Tele-rehabilitatioon System --Bilateral Tele-control with Variable Time Delay

Internet-based Tele-rehabilitatioon System --Bilateral Tele-...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Zhen Xiu Ato Kitagawa Hideyuki Tsukagoshi Canghai Liu Monda Ido Pingdong Wu Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo JAPAN Mechatronics Center Beijing Institute of Technology Beijing CHINA

This paper discussed an Internet-based telerehabilitation sharing system, which aims to achieve the situation where multiple stay home patients in different places can share rehabilitation instruction of one physical therapist at the same time. After the introduction, three main problems are described in this paper. Firstly the stability problem of the master-slave system with variable time delay which is the biggest problem of the tele-control system is focused on, the time delay and its effect to the system is described and the control architecture is proposed; then the operation method of the whole system with single-master and multi-slave is described; After that, the wound-tube actuator and tail-wrist which will be used as slave in the tele-rehabilitation system is introduced

关键词： Internet Delay effects Master-slave control systems Stability Hospitals Force feedback Intelligent robots control engineering Actuators

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Adjustable Bipedal Gait Generation using Genetic Algorithm Optimized Fourier Series Formulation

Adjustable Bipedal Gait Generation using Genetic Algorithm O...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： L. Yang C. M. Chew A. N. Poo T. Zielinska Control and Mechatronics Laboratory Department ofMechanical Engineering National University of Singapore Singapore Institute for Aircraft Engineering and Applied Mechanics Warsaw University of Technology Warsaw Poland

This paper presents a method for optimally generating stable bipedal walking gaits, based on a truncated Fourier series formulation with coefficients tuned by genetic algorithm. It also provides a way to adjust the stride-frequency, step-length or walking pattern in real-time. The proposed approach to gait synthesis is not limited by the robot kinematic structure and can be used to satisfy various motion assumptions. It is also easy to generate optimal gaits on terrains of different slopes or on stairs under different motion requirements. Dynamic simulation results show the validity and robustness of the approach. The gaits generated resulted in human-like motions optimized for stability, even walking speed and lower leg-strike velocity of the swing foot

关键词： Genetic algorithms Fourier series Legged locomotion Humans Robots Stability criteria Genetic engineering Electronic mail Learning Trajectory

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Robust Motion/Force control of Holonomic Constrainted Nonholonomic Mobile Manipulators using Hybrid Joints

Robust Motion/Force Control of Holonomic Constrainted Nonhol...

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World Congress on Intelligent control and Automation (WCICA)

作者： Jun Luo Zhijun Li Aiguo Ming Shuzhi Sam Ge School of Mechatronics Engineering & Automation Shanghai University Shanghai China Department of Mechanical & Control Engineering University of Electro-Communications Tokyo Japan Department of Electrical & Computer Engineering National University of Singapore Singapore

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are proposed based on a simplified dynamic model, the defined reference signals and the mixed tracking errors. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Constraint force control is developed, which does not utilize force feedback control but is based on the passivity of hybrid joint. Experiment results validate not only the states of the system asymptotically converge to the desired trajectory but also the constraint force asymptotically converges to the desired force

关键词： Robust control Force control Manipulator dynamics Uncertainty control systems Trajectory Neural networks Motion control Adaptive control Uncertain systems

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SEMI ACTIVE SUSPENSION control SYSTEM DEVELOPMENT FOR A LIGHT COMMERCIAL VEHICLE

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IFAC Proceedings Volumes 2006年第16期39卷 391-396页

作者： Bilin Aksun Güvenc Emre Kural Bülent Keşli Kemal Gülbudak Serdar Güngor Ahmet Kanbolat Automotive Control and Mechatronics Research Center Department of Mechanical Engineering İstanbul Technical University Gümüşsuyu İstanbul Turkey Ford Otosan Gölcük Kocaeli Turkey

A semi active suspension system for a light commercial vehicle, based on four shock absorbers with continuously adjustable damping characteristics is treated in this paper. Quarter car, half car and full car simulation models are developed. These models are used to develop and test the low level and high level suspension controllers. Several different low level control algorithms like: skyhook, groundhook and hybrid control were considered. The higher level supervisory controller coordinates the operation of the four low level suspension controllers during acceleration/braking, entering curves or evasive maneuvers. The experimental vehicle that is used to test the developed controllers is also presented along with experimental results.

关键词： Automotive control Vehicle suspension Semi-active suspension Hardware Implementation

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An experimental approach to verification of control algorithms for hybrid continuous-discrete systems

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WSEAS Transactions on Systems 2006年第11期5卷 2645-2650页

作者： Hlava, Jaroslav Šulc, Bohumil Department of Control Engineering Technical University of Liberec Faculty of Mechatronics Hálkova 6 416 17 Liberec Czech Republic Institute of Instrumentation and Control Engineering Czech Technical University in Prague Faculty of Mechanical Engineering Technická 4 166 07 Praha 6 Czech Republic

Many industrial plants exhibit nontrivial interactions of continuous-valued and discrete-valued controls and states. These interactions can be studied using the formalism of hybrid systems. Hybrid systems are now a hot research topic in system and control theory. However, despite considerable application potential of hybrid systems theory, the control of hybrid systems is still mostly a purely theoretical topic limited to simulation experiments at best. This paper proposes a more practical alternative. In the first part, it describes a laboratory scale plant that is designed in such a way that it exhibits most of the hybrid phenomena typical of process control applications. Further, it focuses on potential control problems that arise from the interactions of continuous and discrete valued dynamics and controls. These problems are elucidated using detailed proposals of control experiments that can be performed with this plant.

关键词： control systems

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Tool supporting the co-design of control systems and their real-time implementation: Current status and future directions

Tool supporting the co-design of control systems and their r...

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IEEE International Conference on Computer-Aided Design

作者： Martin Torngren Dan Henriksson Karl-Erik Arzen Anton Cervin Zdenek Hanzalek Division of Mechatronics Department of Machine Design Kungliga Tekniska Högskolan Stockholm Sweden Department of Automatic Control Lund Institute of Technology Sweden Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

control systems design has traditionally been treated separately from the design of its software and hardware implementation. The increasing use of embedded control in for example distributed, safety critical and mass-produced systems has caused an increasing need for the simultaneous consideration of the control system and its implementation platform during development. To this end, there is a need for both theoretical contributions and supporting tools that assist designers in understanding and analyzing the intricate relationships between the qualities, such as control performance, robustness and cost, and design parameters related to control system and platform design. This paper explores issues in co-design. A number of representative tools are compared with the purposes of illustrating different approaches concerning the levels of abstraction, analysis vs. synthesis features, constraints addressed and usability features. A perspective to the co-design tools is also provided, where opportunities and challenges for future design environments are discussed.

关键词： control systems Real time systems Software design Hardware Safety Performance analysis Robust control Costs control system synthesis Usability

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AN INTRODUCTION TO A MATLAB-BASED FDI-TOOLBOX

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IFAC Proceedings Volumes 2006年第13期39卷 651-656页

作者： S.X. Ding E. Atlas S. Schneider Y. Ma T. Jeinsch E.L. Ding Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany Dept. of Physical Engineering University of Applied Sciences Gelsenkirchen 45877 Gelsenkirchen Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH 38518 Gifhorn

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