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International Conference on Intelligent and Advanced systems, ICIAS

作者： R. N. K. Loh T. Pornthanomwong J. S. Pyko A. Lee M. N. Karsiti Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering Oakland University Rochester MI USA Electrical & Electronic Systems Architecture CIMS 484-08-06 Chrysler LLC Auburn Hills MI USA Electrical & Electronic Engineering Universiti Teknologi Petronas Bandar Seri Iskandar Tronoh Perak Malaysia

The modeling, parameters identification, and linear and nonlinear feedback control designs of an electronic throttle control (ETC) system is considered. A commercially available ETC system made by Bosch is selected for our investigation. The unknown parameters identified are used in designing linear and nonlinear controllers. Simulations and extensive experiments were conducted. A real-time linear controller was implemented with the xPC Target. The ETC model is then extended to a separately excited nonlinear DC motor model. The nonlinear controller is designed using the input-output feedback linearization technique; the extension proves to be of solid theoretical value. The results presented in this paper can be considered as an interesting and important case study encompassing system modeling, parameters identification, linear and nonlinear controller designs, and real-time control. The techniques and methodology developed are applicable to similar and/or other types of systems.

关键词： DC motors Torque Mathematical model Springs Friction Biological system modeling Real time systems

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Design of H_(infinity) Command and Control Loops for Unmanned Aerial Vehicles using Static Output-Feedback

Design of H_(infinity) Command and Control Loops for Unmanne...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1-459

作者： J. Gadewadikar F. Lewis K. Subbarao Ben M. Chen Systems Research Institute Department of Advanced Technologies Alcorn State University USA Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Mechanical and Aerospace Department University of Texas Arlington TX USA Department of Electrical & Computer Engineering National University of Singapore Singapore

The aim of this paper is to design a helicopter position control system with guaranteed performance that allows tracking control of Unmanned Aerial Vehicle positions -^sX, Y, Z, and yaw while preserving a structure that is generally accepted in the helicopter control community. The paper presents an approach for designing compensators for shaping the closed-loop inertial positions and yaw step response using H_(infinity) output-feedback design techniques. Simplified conditions are used which only require the solution of two coupled matrix design equations. H_(infinity) framework is utilized to pose the problem of stabilization as an outer position command loop and an inner control loop. Inner loop controls attitude rates along with roll and pitch and provides robustness and structure. This paper thereby presents a design for hover and station-keeping control of UAV helicopters. It is shown that the rotorcraft model can be first loop shaped to achieve desired characteristics about the hover operating condition. A numerically efficient solution algorithm to solve the H_(infinity) coupled design equations for both inner and outer loops is used. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example.

关键词： Helicopters Unmanned aerial vehicles Control systems Attitude control Riccati equations Vehicle dynamics Output feedback Linear matrix inequalities Shape control USA Councils

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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Recent advances in networked control systems

Recent advances in networked control systems

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2007 International Conference on Control, automation and systems (ICCAS 2007), vol.5

作者： Zengqi Sun Hongbo Li Yan Wang Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China School of Automation Science and Electrical Engineering Beijing Aeronautics and Astronautics University Beijing China

This paper presents a comprehensive overview of the current state of research in the area of Networked control systems (NCSs) first. Then two modeling and control methods are introduced for NCSs in details. The first one is a stochastic control method, which investigates the H{sub}∞ control problem for NCSs with random network-induced delay. The second one is a switch control method, which focuses on solving the stabilization problem for NCSs in discrete-time domain, where both network-induced delay and packet dropout are taken into account. Illustrative examples are given to demonstrate the effectiveness of the proposed approaches. Finally, this paper concludes with the discussion of possible future development of NCSs from a control perspective.

关键词： Networked control systems (NCSs) Network-induced delay Packet dropout Stability H{sub}∞

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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Introducing interval analysis in fuzzy cognitive map framework

Introducing interval analysis in fuzzy cognitive map framewo...

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4th Helenic Conference on AI, SETN 2006

作者： Papageorgiou, Elpiniki Stylios, Chrysostomos Groumpos, Peter Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 Greece Department of Communications Informatics and Management TEI of Epirus Artas Epirus Greece

ISBN: (纸本)354034117X

Fuzzy Cognitive Maps (FCMs) is a graphical model for causal knowledge representation. FCMs consist of nodes-concepts and weighted edges that connect the concepts and represent the cause and effect relationships among them. FCMs are used in complex problems involving causal relationships, which often include feedback, and where qualitative rather than quantitative measures of influences are available. They have used for decision support to determine a final state given a qualitative initial knowledge for nodes and weighted edges, A first study on introducing Interval analysis in the FCM framework has been attempted and it is presented in this work. Here a new structure for FCM is proposed with interval weights and a new method for processing interval data input for FCMs is proposed. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Fuzzy sets

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Design and control of a four steered wheeled mobile robot

Design and control of a four steered wheeled mobile robot

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Lauria, Michel Nadeau, Isabelle Lepage, Pierre Morin, Yan Giguère, Patrick Gagnon, Fréderic Létourneau, Dominic Michaud, François Department of Electrical Engineering and Computer Engineering Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrooke Sherbrooke QC J1K 2R1 Canada

ISBN: (纸本)1424401364

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hypermotorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot. © 2006 IEEE.

关键词： Wheels

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Emerging approaches to integrating distributed, heterogeneous, and complex systems

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IEEE Transactions on systems, Man, and Cybernetics Part A:systems and Humans 2006年第1期36卷 2-4页

作者： Qiu, Robin G. Zhou, MengChu Pennsylvania State University Division of Engineering Great Valley Campus Malvern PA 19355 United States New Jersey Institute of Technology Department of Electrical and Computer Engineering Newark NJ 07102 United States Chinese Academy of Sciences Institute of Automation Laboratory of Complex Systems and Intelligence Science Beijing 100080 China

No abstract available

关键词： Supply chains Control systems Humans Real time systems Distributed computing Design methodology Manufacturing Hardware Face computer networks

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Exponential convergence flow control model for congestion control

Exponential convergence flow control model for congestion co...

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2006 IEEE International Conference on Networking, Sensing and Control, ICNSC'06

作者： Weirong, Liu Jianqiang, Yi Dongbin, Zhao Wen, John T. IEEE Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Electrical Computer and Sysrems Engineering Rensselaer Polytechnic Institute Troy NY United States

ISBN: (纸本)1424400651

Recently, many new flow control mechanisms derived from classic Kelly model are proposed to solve network congestion problem. They perform well in stability, fairness or robustness. However, Most of them convergence rates are linear since in classic Kelly model, link price is only positive. In addition, some need to introduce extra packet header to get price information. In this paper, we present a novel flow control model based on Kelly model in which link price can be negative to improve the convergence rate. Further, The proposed model uses two bits of ECN field in IP header to feed back price instead of introducing new packet header data. By this approach, we can implement flow control scheme achieving exponential convergence in traditional TCP/IP datagram format. NS2 simulation results show that our model can keep the advantages of other flow mechanisms, such as fairness and asymptotic stability with more rapid convergence rate. ©2006 IEEE.

关键词： Congestion control (communication)

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From Signaling to Word-Combination, a Layered Approach

From Signaling to Word-Combination, a Layered Approach

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International Joint Conference on Neural Networks (IJCNN)

作者： A.-A. Toulkeridis V. Petridis Department of Electrical and Computer Engineering Faculty of Engineering Aristotle University of Thessaloniki Greece Automation and Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Engineering Aristotle University of Thessaloniki Greece

We present a methodology by which multiword communication could one day be realized in a population of evolving Artificial Life agents. The method which combines genetic algorithms and artificial neural networks has the prospect of a gradual increase of communication complexity (multi-word communication) through a series of evolutionary phases that take place in tandem. This is a layered treatment of gradual increasing complexity thus making the framework suitable for computational investigations. We present an example in which agents evolve a shared lexicon that pertains to two concepts (direction and quantity) and address the issue of the ordering of the lexical forms of those concepts.

关键词： Humans Steel Genetic engineering Communication systems robotics and automation Genetic algorithms Artificial neural networks Complexity theory Application software Proposals

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