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International Conference on Power Electronics Systems and Applications (ICPESA)

作者： Bo Zhang Yanhui Yun Jianjun Luo Norbert C. Cheung J. F. Pan College of Mechatronics and Control Engineering Shenzhen University Shenzhen National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical University Xi'an Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong

ISBN: (纸本)9781509000647

This paper investigates the cluster flight algorithm via the cyclic pursuit strategy in order to execute the coordination periodic motion of the distributed satellites. The proposed coordinated control law combining the cyclic pursuit strategy and diffeomorphism mapping is applied to match the trajectory of the cyclic pursuit and the natural periodic relative motion at low earth orbit environment considering the earth oblateness perturbation. The ultimate goal of the proposed method is to implement a cluster flight of multiple modules in the distributed satellite. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed cluster flight algorithms.

关键词： Satellites Yttrium Aerodynamics Orbits

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Modelling and Simulation of Piezoelectric Actuator for Vibration control

Modelling and Simulation of Piezoelectric Actuator for Vibra...

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Asian control Conference

作者： Bashir Bala Muhammad Habibur Rahman Mohd Ridzuan bin Ahmad Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781479978632

The piezoelectric actuator is a voltage spring system that behaves in similar characteristic to mechanical mass spring system. It converts electrical signal to physical displacement. The displacements profile of the piezoelectric actuator shifts due to hysteresis and creep during actuation. Numerous equations were used to describe model of actuator in the past. In this work, we presented the behaviour of the piezoelectric actuator in terms of mechanical displacement from applied electric potential. The transfer function mathematical model was generated representing the actuator characteristics. The model was developed by system identification from experimental results. A high resolution microscope together with the image processing technique was used to obtain the system characteristics. Simulation using Matlab simulink was use to validate the experiment. Experimental results specify that displacement of 0.5 μm in length was generated from 25 V and 1.0 μm displacement was obtained from 50 V of input voltage. The model has damping ratio of 0.412. This model can be used to develop the controller for controlling vibration profile. It can also be used for desired micro actuation.

关键词： Frequency Hysteresis Mass spring system Modelling Piezoelectric actuator Sensor Simulation System identification Voltage spring system

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Input-to-state stability analysis of impulsive stochastic neural networks based on average impulsive interval

Input-to-state stability analysis of impulsive stochastic ne...

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第三十四届中国控制会议

作者： Fengqi Yao Jinde Cao Li Qiu Pei Cheng Department of Mathematics Southeast University School of Electrical and Information Engineering Anhui University of Technology Department of Mathematics Faculty of ScienceKing Abdulaziz University College of Mechatronics and Control Engineering ShenZhen University School of Mathematical Science Anhui University

ISBN: (纸本)9781467374439

This paper addresses the input-to-state stability(ISS) properties, including pth moment ISS(p-ISS) and stochastic ISS(SISS) for a class of impulsive stochastic neural networks with external inputs. Employing Lyapunov functions and stochastic analysis techniques, sufficient conditions in forms of linear matrix inequalities for the p-ISS and SISS are established based on the average impulsive interval concept. Moreover, a criterion on the pth moment globally asymptotic stability and globally asymptotic stability in probability is derived as a corollary. Finally, an example is provided to illustrate the effectiveness of the obtained results.

关键词： Impulsive stochastic systems neural networks input-to-state stability average impulsive interval

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Real-time implementation of advanced control algorithm for circular plate vibration cancellation 7

Real-time implementation of advanced control algorithm for c...

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7th Forum Acusticum, FA 2014

作者： Sierzęga, Mariusz Leniowska, Lucyna Department of Mechatronics and Control Engineering University of Rzeszów Rzeszów Poland

ISBN: (纸本)9788361402282

An active feedback of vibration control system is proposed for suppressing the small amplitude vibration of circular plate. Vibrations of the plate are measured by the application of MFC sensors. The control input is applied to the plate by a MFC disk, attached to the plate in its middle. For the considered system the linear discrete model is obtained by parametric identification method which has been constructed. Experimental data have been acquired with sampling time 0.0001 sec (10 kHz) on the PowerDAQ-real-time control and measurement system. Then, the obtained numerical values and structure was used to develop the 2nd order digital controller for vibration cancellation. Before implementation of the chosen control law design on real plant the simulations in Matlab were performed. An experimental implementation has been done on the platform which includes multichannel simultaneous sampled ADC and DAC converters and general purpose DIO combined with industrial PC adapted to work with XPC Target software. The experimental tests show significant suppressing of vibration amplitude, comparable with simulations results, for different input signals.

关键词： Plates (structural components)

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Active vibration control using piezoelectric actuator: Implementation of ant colony optimization technique in virtual experimentation

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International Journal of Simulation: Systems, Science and Technology 2014年第3期15卷 57-62页

作者： Nor, Khairul A. M. Muthalif, Asan G. A. Wahid, Azni N. Smart Structures Systems and Control Research Laboratory Department of Mechatronics Engineering International Islamic University Malaysia Jalan Gombak Kuala Lumpur Malaysia

This paper demonstrates the implementation of virtual experiment using COMSOL Mutiphysics – MATLAB integration for optimization in active vibration control system. The benchmark model is a simply supported thin plate excited and attenuated by two piezoelectric patches. Instead of using equation-based modeling to represent the system, optimization of the sensor-actuator location and controller gains are conducted directly on the finite element model in COMSOL Multiphysics via Livelink for MATLAB function. The optimization is based on the average energy reduction across a frequency range between 11 Hz to 50 Hz, which covers the first three modes. It is found that the maximum attenuation achieved is 68.31% using optimal values of sensoractuator location and controller gains. © 2014, UK Simulation Society. All rights reserved.

关键词： Multiphysics

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Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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RETRACTED ARTICLE: Input Displacement Neuro-fuzzy control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

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Journal of Intelligent & Robotic Systems 2015年第2期82卷 177-187页

作者： Petković, Dalibor Shamshirband, Shahaboddin Anuar, Nor Badrul Sabri, Aznul Qalid Md Abdul Rahman, Zulkanain Bin Pavlović, Nenad D. Faculty of Mechanical Engineering Deparment for Mechatronics and Control University of Niš Niš Serbia Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of History Faculty of Arts and Social Sciences Building University of Malaya Kuala Lumpur Malaysia

The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments. It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult make decision strategies using conventional techniques. Here, an adaptive neuro fuzzy inference system (ANFIS) for controlling input displacement and object recognition of a new adaptive compliant gripper is presented. The grasping function of the proposed adaptive multi-fingered gripper relies on the physical contact of the finger with an object. This design of the each finger has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize particular shapes of the grasping objects. Fuzzy based controllers develop a control signal according to grasping object shape which yields on the firing of the rule base. The selection of the proper rule base depending on the situation can be achieved by using an ANFIS strategy, which becomes an integrated method of approach for the control purposes. In the designed ANFIS scheme, neural network techniques are used to select a proper rule base, which is achieved using the back propagation algorithm. The simulation results presented in this paper show the effectiveness of the developed method.

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Consensus coordination in the network of autonomous intersection management 11

Consensus coordination in the network of autonomous intersec...

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11th International Conference on Informatics in control, Automation and Robotics, ICINCO 2014

作者： Wuthishuwong, Chairit Traechtler, Ansgar Heinz Nixdorf Institute Control Engineering and Mechatronics Department University Paderborn Fuestenallee Paderborn Germany

ISBN: (纸本)9789897580406

The Autonomous Intersection Management (AIM) will be a future method for the Intelligent Transportation System. It combines wireless communication and the autonomous vehicle in order to create the new concept for managing road traffic more safely and efficienly. The distributed control principle is applied to the intersection network to control the traffic in the macroscopic level. The Vehicle to Infrastructure (V2I) and Infrastructure to Infrastructure (I2I) communication are used to exchange the traffic information between a single autonomous vehicle to the network of autonomous intersections The discrete time consensus algorithm is implemented to coordinate the gross traffic density of an intersection and its neighborhoods in the network. The boundary condition for the uncongested flow is created by using the Greenshield's traffic model. The proposed method represents the ability to maintain the traffic flow rate of each intersection and operates with the uncongested flow condition. The simulation results of the network of a multiple autonomous intersection are provided.

关键词： Intelligent systems

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H_∞ control for a Smart Micro-Positioning System with an Analytical Model for the Output of the Inverse Compensation

H_∞ Control for a Smart Micro-Positioning System with an An...

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American control Conference

作者： Micky Rakotondrabe Omar Aljanaideh Mohammad Al Janaideh Department of Automatic Control and Micro-Mechatronic Systems department (AS2M) FEMTO-ST Institute CNRS - University of Franche-Comt at Besanon (UFC) - ENSMM - UTBM Besanon France Department of Mechanical Engineering The University of Jordan Amman 11942 Jordan Department of Mechatronics Engineering The University of Jordan Amman 11942 Jordan

ISBN: (纸本)9781479917730

An experimental study was carried out on a piezoelectric actuator in order to explore the benefits of a mathematical formula [1], that describes the output of the inverse compensation when an inverse Prandtl-Ishlinskii hysteresis model is applied as a feedforward compensator. The inverse Prandtl-Ishlinskii was first formulated and applied for compensation of hysteresis nonlinearities of a piezoelectric actuator. The theoretical formula was afterwards employed to construct an H_∞ feedback control. The controller was calculated and applied to the piezoelectric actuator with the inverse feedforward model. The experimental results verify the effectiveness of the controller and the benefits that the theoretical formula of the inverse compensation can contribute.

关键词： Hysteresis Piezoelectric actuators Feedforward neural networks Adaptive control Standards

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Virtual friction model for control of cane robot

Virtual friction model for control of cane robot

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Shotaro Nakagawa Shunki Itadera Yasuhisa Hasegawa Kosuke Sekiyama Toshio Fukuda Pei Di Jian Huang Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Beijing Institute of Technology Nagoya University Meijo University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Qiang Huang is with the Department of Mechatronics Beijing Institute of Technology Beijing China

A cane-type robot called intelligent cane has been developed to support the elderly during walking. By supporting a part of a user's body weight, the cane robot aims to reduce a load applied to a user's affected leg. Therefore, while the user's affected leg is a support leg, it is preferable that the cane robot stops to sufficiently support the user. In our previous work, the cane robot is controlled based on horizontal component of force applied to the cane robot and moment around a vertical axis. In this paper, virtual friction force, which is proportional to vertical component of force, is proposed to improve a walking assistance capability of the cane robot. In addition, virtual frictional coefficients are arranged based on the user's state inferred by a laser range finder. By employing the proposed method, the cane robot moves easily in the both legs support phase, stops in the healthy leg support phase, and supports the user reliably in the affected leg support phase.

关键词： Legged locomotion Force Robot sensing systems Friction Senior citizens Mobile communication

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