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arXiv 2021年

作者： Wu, Xiangyu Zeng, Jun Tagliabue, Andrea Mueller, Mark W. The Department of Mechanical Engineering Uc Berkeley United States The Hybrid Robotics Group The Department of Mechanical Engineering Uc Berkeley United States The Aerospace Controls Laboratory The Department of Aeronautics and Astronautics Mit United States

Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since flight speed and sideslip are often free variables in multicopter path planning, they can be changed without changing the mission. The proposed method is based on a novel multivariable extremum seeking controller with adaptive step size, which is inspired by recent work from the machine learning community on stochastic optimization. Our method (a) does not require a power consumption model of the vehicle, (b) is computationally efficient and runs on low-cost embedded computers in real-time, and (c) converges faster than the standard extremum seeking controller with constant step size. We prove the stability of this approach and validate it through outdoor experiments. The method is shown to converge with different payloads and in the presence of wind. Compared to flying at the maximum achievable speed in the experiments with a uniformly selected random sideslip angle, flying at the optimal range speed and sideslip on average increases the flight range by 14.3% without payload and 19.4% with a box payload. In addition, compared to hovering, flying at the optimal endurance speed and sideslip increases the flight time by 7.5% without payload and 14.4% with a box payload. A video can be found at https://***/aLds8LVfogk. Copyright © 2021, The Authors. All rights reserved.

关键词： Speed

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Cooperative collision avoidance control of robotic fish propelled by a servo/ipmc driven hybrid tail

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ASME 2019 Dynamic Systems and Control Conference, DSCC 2019

作者： Yi, Xiongfeng Chen, Zheng Chakravarthy, Animesh Bio-inspired Robotics and Controls Lab Department of Mechanical and Engineering University of Houston HoustonTX77204 United States Department of Mechanical and Aerospace Engineering University of Texas at Arlington ArlingtonTX76019 United States

ISBN: (纸本)9780791859162

This paper develops and demonstrates cooperative collision avoidance control on two robotic fish propelled by a servo motor and an ionic polymer-metal composite (IPMC)-driven fish tail. First, experiments conducted on a servo motor/IPMC-driven fish demonstrate an impulsive turning behavior in the fish's trajectory under the application of a specific frequency, amplitude of the servo motor, and a constant voltage on the IPMC joint. These experiments validate the 'back relaxation' of the IPMC joint by observing the angular velocity and the centripetal acceleration of the fish. This impulsive turning speed due to the 'back relaxation' of IPMC joint is subsequently modeled by a transfer function and this transfer function is then integrated into the development of the collision avoidance laws for the fish. The collision avoidance control law utilizes the impulsive turning capability of the robotic fish. An experimental validation of the collision avoidance law is performed. © 2019 ASME.

关键词： Transfer functions

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Using Kalman innovations for transmission control of location updates in a wireless network

Using Kalman innovations for transmission control of locatio...

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MILCOM, Military Communications Conference

作者： L. Barnette Gregory M. Shea John E. Dixon Warren System Engineering Division Engineering Directorate Air Armament Center Eglin AFB FL Wireless Information Networking Group Department of Electrical & Computer Engineering University of Florida Gainesville FL Nonlinear Controls and Robotics Mechanical and Aerospace Engineering Department University of Florida Gainesville FL

Distributed systems, such as cooperative unmanned aerial vehicles (UAVs) or unmanned ground vehicles (UGVs), typically depend on wireless communication networks to implement system control. The reliance on wireless communications within a networked control system (NCS) subjects their performance not only to system dynamic characteristics and feedback laws, but also the performance characteristics of the communications links. Fluctuations in communication system performance are reflected by corresponding changes in the control system performance. For instance, network protocols incorporate strategies that manage or limit the message traffic within the network to maintain stable operation of the network. However, these protocols are typically designed using the layered architecture approach, in which the network protocols are designed independently of the applications. In this paper, we present some initial steps toward designing cross-layer protocols to support networked control applications in wireless networks. We consider one portion of networked control in which the feedback of sensing information from a set of distributed agents is made to a control center over the network. We consider a multiple-access scenario in which the location updates must share the network resources with external traffic sources. When the network traffic is heavy, sending every location update over the network can result in increased congestion and decreased performance for both the control and regular network traffic. We propose schemes that use the innovations of a Kalman filter-based tracking system to limit which location updates are scheduled for transmission and thus improve the system performance.

关键词： Protocols Kalman filters Technological innovation Markov processes Wireless networks Trajectory Noise

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Sensing and control in bandwidth-limited systems: A Kalman filter approach

Sensing and control in bandwidth-limited systems: A Kalman f...

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2008 IEEE Military Communications Conference, MILCOM 2008 - Assuring Mission Success

作者： Barnette, Gregory L. Shea, John M. Dixon, Warren E. System Engineering Division Engineering Directorate Air Armament Center EglinAFB FL United States Wireless Information Networking Group Department of Electrical and Computer Engineering University of Florida Gainesville FL United States Nonlinear Controls and Robotics Mechanical and Aerospace Engineering Department University of Florida Gainesville FL United States

ISBN: (纸本)9781424426775

Cooperative systems, like those found in networks of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), are typically distributed over large geographical areas. This geographic dispersion forces reliance on wireless communications to implement the control systems for these networks. As the number of nodes within the system grows, the bandwidth required to continuously update all nodes exceeds available bandwidth. This forces the system engineers to implement a prioritization scheme to determine which nodes will be updated during each frame. In this paper, we consider the design of protocols to prioritize the communications of sensing and control data. We consider a control system that uses a Kalman filter to supply optimal estimates of the positions for a group of maneuvering targets in the presence of measurement noise and lost data. The filter innovations provide estimates of the magnitude of statistical deviations from the state estimates, as well as deviations from planned profiles. Thus, we propose protocols that use the filter innovations to prioritize the sensing and control traffic. We compare the performance of this approach to a round-robin protocol and to the performance of a Kalman filter with no bandwidth constraints. We show that using the filter innovations offers a significant performance improvement over the round-robin protocol. ©2008 IEEE.

关键词： Kalman filters

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Sensing and control in bandwidth-limited systems: A Kalman filter approach

Sensing and control in bandwidth-limited systems: A Kalman f...

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MILCOM, Military Communications Conference

作者： Gregory L. Barnette John M. Shea Warren E. Dixon System Engineering Division Engineering Directorate Air Force Armament Center FL USA Wireless Information Networking Group Department of Electrical & Computer Engineering University of Florida Gainesville FL USA Nonlinear Controls and Robotics Mechanical and Aerospace Engineering Department University of Florida Gainesville FL USA

关键词： Control systems Communication system control Protocols Bandwidth Filters Technological innovation State estimation Cooperative systems Unmanned aerial vehicles Land vehicles

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TRACKING CONTROL IN THE PRESENCE OF nonlinear DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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