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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Won Jay Song Won Hee Kim Sun Jin Kim Byung Ha Ahn Bo Gwan Kim Munkee Choi Systems Control and Management Laboratories Department of Mechatronics Gwangju Institute of Science and Technology South Korea VLSI and CAD Laboratories Department of Electronics Engineering Chungnam National University South Korea Business on Networks Laboratories School of Management Information and Communications University South Korea

ISBN: (纸本)0780375890

This paper has proposed the distributed power control (PC) algorithms that employ two evolutionary computation (EC) techniques in order to solve linear systems of equations for power update in CDMA cellular radio systems. The proposed algorithms are developed by applying evolutionary computation algorithms with the phenotypic and genotypic views to the CDMA power control problem. The major gain from the applied evolutionary computation algorithms is more rapid optimization on linear systems of equations compared with the simple genetic algorithm (GA). Employing the distributed constrained power control (DCPC) as a basic reference algorithm, we have designed and implemented computational experiments on the DS-CDMA system. The results indicate that the proposed algorithms significantly enhance the optimization and calculation speed of power control. The proposed algorithms are also compared with the bang-bang type algorithm used in the IS-95 and the W-CDMA systems. The results show that the proposed the EC-DCPC phenotypic and GAPC genotypic algorithms also have a high potential advantage for increasing the CDMA cellular radio network capacity and decreasing the mobile terminal power consumption.

关键词： Evolutionary computation Power control Resource management Multiaccess communication Land mobile radio cellular systems Linear systems Equations Genetic algorithms Algorithm design and analysis Distributed computing

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High Speed Indoor Navigation of Mobile Robots Using Hybrid Dynamic control Approach

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IFAC Proceedings Volumes 2001年第4期34卷 257-262页

作者： Mee-Seub Lim Sang-Rok Oh Joonhong Lim Dept. of Mechatronics Kyonggi Institute of Technology Intelligent System Control Research Center Korea Institute of Science and Technology Department of Electronic Engineering Hanyang University

In this paper, we propose a new approach to the high-speed navigation of the indoor environments for wheeled mobile robots using hybrid dynamic control approach. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the di crete states are defined by the user-defined constraints and the abstracted motions specify the reference motion commands of mobile robots. The experimental results show that hybrid system approach is an effective method for the autonomous navigation and highspeed maneuvering.

关键词： Mobile Robot High-Speed Indoor Navigation Hybrid Dynamic control

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Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

Robust two degree of freedom vehicle steering control satisf...

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European control Conference (ECC)

作者： Bilin Aksun Güvenç Levent Güvenç Dirk Odenthal Tilman Bünte Department of Mechanical Engineering Ístanbul Technical University Istanbul Turkey Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center (DLR) - Oberpfaffenhofen Wessling Germany

Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability and a mixed sensitivity frequency domain bound. Simple, and therefore, easily implementable controller transfer functions with two design parameters are chosen for the two steering controller degrees of freedom. Using the parameter space method, the design specifications are mapped into the plane of controller parameters. The effectiveness of the final design is demonstrated using simulations.

关键词： Vehicles Robustness Sensitivity Vehicle dynamics Roads Uncertainty Stability analysis

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Experimental demonstration of input preconditioning for residual vibration suppression using low-pass FIR digital filters

Experimental demonstration of input preconditioning for resi...

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American control Conference (ACC)

作者： D. Economou C. Lee C. Mavroidis I. Antoniadis Mechanical Design and Control Systems Division Department of Mechanical Engineering National and Technical University of Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering State University of New Jersey Rutgers Piscataway NJ USA

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) window-based method (using Chebyshev window); and c) constrained least squares method, are shown to demonstrate excellent vibration suppression when they are properly designed while they introduce minimum possible delay. In order to ensure maximally robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. The proposed method does not require modeling of the flexible system, can be used in a variety of systems exhibiting vibrations, is independent of the guidance function, is simple to implement in practical applications and robust to variations of the system dynamic parameters. The method is experimentally verified using a flexible aluminum beam attached at the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. During this motion, vibrations of the beam are excited due to inertial forces. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.

关键词： Finite impulse response filter Robustness Digital filters Delay control systems Mechanical engineering Vibration control Manipulator dynamics Convolution Aerodynamics

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots control systems Trajectory Costs Stability Mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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Design and implementation of HILS system for ABS ECU of commercial vehicles

Design and implementation of HILS system for ABS ECU of comm...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： J.M. Cho D.H. Hwang K.C. Lee J.W. Jeon D.Y. Park Y.J. Kim J.S. Joh Mechatronics Research Group Korea Electrotechnology Research Institute South Korea Department of Control & Instrumentation Engineering Changwon NatE28099l University Gyeongsangnam South Korea

ISBN: (纸本)0780370902

The hardware in-the-loop simulation (HILS) system has historically been used in the development and testing of complex and costly systems such as military tactical missiles, aircraft flight control system, satellite control systems, and automotive systems. Especially in the automotive industry, HILS is an effective tool for design, performance evaluation and test of vehicle subsystems such as antilock brake system (ABS), active suspension system, and steering system. This paper describes a HILS model for an ABS/ASR application. Also the design and implementation of HILS system for development of the ABS ECU (electronic control unit) for commercial vehicles are presented. Fourteen degrees of freedom vehicle dynamics model is simulated in alpha-chip processor board. The proposed HILS system is tested by a basic ABS control algorithm. The HILS system simulation results show that the proposed HILS system maybe used to realistically test performance, stability, and reliability of the vehicle.

关键词： System testing Vehicles Military aircraft Aerospace control Automotive engineering control systems Hardware Aerospace simulation Missiles Military satellites

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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Experiments on robust vibration suppression in mechatronic systems using IIR digital filters

Experiments on robust vibration suppression in mechatronic s...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： D. Economou C. Mavroidis I. Antoniadis Meohanical Design and Control Systems Division Departmeat of Mechanical Engineering National and Technical University of Athens Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using infinite impulse response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed.

关键词： Robustness mechatronics Digital filters IIR filters Vibrations Finite impulse response filter control systems Cranes Convolution Mechanical engineering

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Sliding mode control for time-delay system using a virtual state

Sliding mode control for time-delay system using a virtual s...

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American control Conference (ACC)

作者： Young Sam Song Sung-Ha Kwon Seung Kyu Park Do-Chang Oh Eun Tae Jeung Department of Control and Instrumentation Engineering Changwon NatE28099l University Kyongnam South Korea School of Mechatronics Engineering Changwon NatE28099l University South Korea Electronic Information Technology and Computer Science Konyang University South Korea

ISBN: (纸本)0780364953

This paper presents a sliding mode control (SMC) design method for single input linear systems with uncertainties and time delay in the state. We define a sliding surface for the augmented system with a virtual state which is defined from the nominal system. We make a virtual state from LQR (linear quadratic regulator) gain and the states of the nominal system. We construct a controller that combines SMC with LQR controller. The proposed sliding mode controller guarantees the stability of the overall closed-loop system.

关键词： Sliding mode control control systems Uncertainty Delay effects Optimal control Delay systems Robust control Design methodology State feedback Instruments

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Initial state compensation of repetitive controller

Initial state compensation of repetitive controller

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Proceedings of the 3th World Congress on Intelligent control and Automation

作者： Xu, Guangjie Bian, Runqiang Li, Yusen Wang, Zhimin She, Jin-Hua Nakano, Michio Department Automation Tianjin Institute of Technology Tianjin 3000191 China Mechatronics Department Tokyo Engineering University 1404-1 Katajura Hachioji Tokyo 192 Japan Dept. of Control System Engineering Tokyo Institute of Technology 2-12-1 Oh-Okayama Meguro-Ku Tokyo 152 Japan

A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexi... 详细信息

关键词： Digital control systems

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