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American Control Conference (ACC)

作者： B. Kristiansson B. Lennartson Department of Electrical and Computer Engineering Chalmers Lindholmen Goteborg Sweden Department of Signals and Systems Control and Automation Laboratory Chalmers University of Technology Goteborg Sweden

In this paper PI and PID controllers augmented by a Smith predictor structure are compared to ordinary PI and PID controllers, for plants with medium and great time delays. The comparison is based an a systematic evaluation method, where both robustness and performance aspects in different frequency regions are taken into account. The results show that a Smith predictor increases performance somewhat for a PID controller when the time delay is moderate. For great time delays, however, the improvement is insignificant. An important remark is that it is necessary to include the predictor structure in the design to get acceptable robustness properties. For a PI controller the benefits from a predictor are mostly small or negligible independent of time delay. Most important is, however that a derivative part obviously will bring significantly greater improvement than a Smith predictor to a system with a PI controller. This result is somewhat surprising, since Smith predictors are normally used together with PI and not with PID controllers. Furthermore, it is sometimes argued that it is no use to include derivative action for plants with significant time delay.

关键词： Robust control Three-term control Control systems Delay effects Automatic control Frequency Robustness Robust stability automation Pi control

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Internet-based remote sensing and manipulation in micro environment

Internet-based remote sensing and manipulation in micro envi...

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

作者： C.K.M. Fung W.J. Li I. Elhajj Ning Xi Center for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)0780367367

Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote microenvironments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidene fluoride (PVDF) sensors that can be used for force-reflective control of micromechanical devices over the Internet. Internet based teleoperation between Hong Kong and Michigan State was demonstrated using an event-based control scheme, which ensured stability and synchronization. Control was enhanced by multimedia feedback, which included, in addition to the traditional video, force feedback. The force fed back augmented the limited information supplied by visual feedback. We believe this project will eventually make a great impact to the globalization of MEMS foundries because it will allow global users to micro-assemble and micro-manipulate surface micromachined devices from their laboratories, and hence, reduce the time from design to production significantly.

关键词： Internet Remote sensing Force feedback Humans Micromechanical devices automation Automatic control Force control Actuators Biomedical engineering

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A Simulink-based robotic toolkit for simulation and control of the PUMA 560 robot manipulator

A Simulink-based robotic toolkit for simulation and control ...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： W.E. Dixon D. Moses I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA

A Simulink robotic toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/Simulink-based platform. Through the use of the real-time Linux target and the real-time Windows target, the SRTK can be executed on the Linux or Win32-based operating systems in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRTK to be a flexible tool that can easily be customized to fit the specific needs of the user, that is, based on the layered approach of the SRTK, the user can perform operations such as calibration, joint control, Cartesian control, Cartesian PD control, impedance control, some trajectory generation tasks, and real-time simulation of the Puma 560 through a user-friendly MATLAB-based graphical user interface without writing any code. The SRTK allows a researcher to use the Puma 560 without the burden of the external issues related to the control, interface, and software issues, while providing for the flexibility for easily modifying components for increased functionality.

关键词： Robots Real time systems Linux Manipulators MATLAB Operating systems Calibration PD control Impedance computer languages

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Fault detection for wheeled mobile robots with parametric uncertainty

Fault detection for wheeled mobile robots with parametric un...

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

作者： W.E. Dixon I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

ISBN: (纸本)0780367367

We develop a new method for wheeled mobile robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering technique to develop a prediction error based fault detection residual. The structure of the prediction error allows for fault detection despite parametric uncertainty in the WMR model.

关键词： Fault detection Mobile robots Kinematics Deformable models Predictive models Wheels Tires Torque Filtering Uncertainty

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A simulator to analyze creeping locomotion of a snake-like robot

A simulator to analyze creeping locomotion of a snake-like r...

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IEEE International Conference on robotics and automation (ICRA)

作者： Shugen Ma W.J. Li Yuechao Wang Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China Department of Systems Engineeringineering Faculty of Engineering Ibaraki University Hitachi Ibaraki Japan Department of Automation/Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

ISBN: (纸本)0780365763

Snakes perform many kinds of movement that are adaptable to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot that emulates a snakes' function is important for generating a new type of locomotor and expanding the possible use of robots. We developed a simulator to simulate the creeping locomotion of a snake-like robot, in which the robot dynamics is modeled and its interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Through the developed simulator, we investigated the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side, and discussed the optimal creeping locomotion of the snake-like robot that is adaptable to a given environment.

关键词： Analytical models Robots robotics and automation Friction Computational modeling systems engineering and theory Content addressable storage Tracking Ice National electric code

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Towards the standardization of a MATLAB-based control systems laboratory.experience for undergraduate students

Towards the standardization of a MATLAB-based control system...

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American Control Conference (ACC)

作者： W.E. Dixon D.M. Dawson B.T. Costic M.S. de Queiroz Robotics and Process Systems Division Oak Ridge National Laboratory USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA Department of Mechanical Engineering Lousiana State University Baton Rouge LA USA

The paper seeks to begin a discussion with regard to developing standardized computer aided control system design (CACSD) tools that are typically utilized in an undergraduate controls laboratory. The advocated CACSD design tools are based on the popular, commercially available MATLAB environment, the Simulink toolbox, and the Real-Time Workshop toolbox. The primary advantages of the proposed approach are as follows: 1) the required computer hardware is low cost, 2) commercially available plants from different manufacturers can be supported under the same CACSD environment with no hardware modifications, 3) both the Windows and Linux operating systems can be supported via the MATLAB based Real-Time Windows Target and the Quality Real Time systems (QRTS) based Real-Time Linux Target, and 4) the Simulink block diagram approach can be utilized to prototype control strategies; thereby, eliminating the need for low level programming skills. It is believed that the above advantages related to standardization of the CACSD design tools will facilitate: 1) the sharing of laboratory.resources within each university (i.e., between departments) and 2) the development of Internet laboratory.experiences for students (i.e., between universities).

关键词： Standardization computer languages Control systems Laboratories Real time systems MATLAB computer aided manufacturing Hardware Linux Costs

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines systems engineering and theory computer science computer errors

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Repetitive learning control: a Lyapunov-based approach

Repetitive learning control: a Lyapunov-based approach

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IEEE Conference on Control Technology and Applications (CCTA)

作者： W.E. Dixon E. Zergeroglu D.M. Dawson B.T. Costic Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Lucent Technologies Bell Laboratory Innovations Optical Fiber Solutions Sturbridge MA USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for non-periodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.

关键词： Service robots Laboratories Industrial control Robotic assembly Robust control Technological innovation Optical fibers Optical computing Optical control Hybrid power systems

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Nonlinear coupling control laws for an overhead crane system

Nonlinear coupling control laws for an overhead crane system

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Y. Fang E. Zergeroglu W.E. Dixon D.M. Dawson Department of Electrical & Computer Engineering Clemson University Clemson SC USA Bell Laboratory Innovations Optical Fiber Solutions Lucent Technologies Inc. Sturbridge MA USA Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

We consider the regulation control problem for a two-degree-of-freedom (2-DOF), underactuated overhead crane system. Inspired by recently designed passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the gantry position and payload position. Specifically, utilizing LaSalle's invariance set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then design a two nonlinear controllers that increase the coupling between the gantry position and payload position.

关键词： Couplings Nonlinear control systems Control systems Cranes Payloads Nonlinear dynamical systems Adaptive control Laboratories Costs Control design

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Design and implementation of a logic controller using petri nets and ladder logic diagrams

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IFAC Proceedings Volumes 2000年第20期33卷 333-338页

作者： S.G. Tzafestas M.G. Pantelelis D.L. Kostis Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece

This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators. The proposed method leads directly to the generation of the associated Ladder Logic Diagrams (LLDs) and it has proved to be effective through the application to sequence control of a small-scale industrial system. In addition, it has reduced the period for developing, debugging and reengineering of the LLD, compared to die traditional method that directly prepares an LLD. Experimental results are included to show the effectiveness of the PN/LDD controller.

关键词： Discrete industrial systems Petri nets LLD PLC

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