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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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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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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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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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UAV cooperative control

UAV cooperative control

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American control Conference (ACC)

作者： P.R. Chandler M. Pachter S. Rasmussen Flight Control Division Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Veridian Inc. OH USA

This paper addresses the development of cooperative rendezvous and cooperative target classification agents in a hierarchical distributed control system for unmanned aerospace vehicles. For cooperative rendezvous, a Voronoi based polygonal path is generated to minimize exposure to radar. The rendezvous agent minimizes team exposure from Individual coordination functions while satisfying stringent timing constraints. For cooperative target classification, templates are developed, optimal trajectories are followed, and adjacent vehicles are assigned to view at complementary aspect angles. Views axe statistically combined to maximize the probability of correct target classification over various aspect angles.

关键词： Unmanned aerial vehicles Trajectory Aerospace control Radar Timing Turning Force control Laboratories Distributed control Aerospace engineering

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Fuzzy logic control of a robot manipulator based on visual servoing

Fuzzy logic control of a robot manipulator based on visual s...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： C.S. Kim W.H. Seo S.H. Han O. Khatib Department of Mechanical Design Graduate School of Kyungnam University Masan South Korea Division of Mechanical Engineering and Automation Kyungnam University Masan South Korea Computer Science and Robotics Laboratory Department University of Stanford Stanford CA USA

ISBN: (纸本)0780370902

In this paper, a solution to a manipulation control problem (target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target (a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The fuzzy rules are built in a supervised way, after studying the behavior of the system. Experimental results obtained using an industrial manipulator (AM1 with 6 DOF model in Samsung Electronics Co., Ltd., Korea) are presented.

关键词： Fuzzy logic Robot control Manipulators Visual servoing control systems Machine vision Fuzzy systems Electrical equipment industry Electronics industry Industrial electronics

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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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Dynamic network flow optimization models for air vehicle resource allocation

Dynamic network flow optimization models for air vehicle res...

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American control Conference (ACC)

作者： K.E. Nygard P.R. Chandler M. Pachter Department of Computer Science and Operations Research North Dakota State University Fargo ND USA Flight Control Division Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA

A weapon system consisting of a swarm of air vehicles whose mission is to search for, classify, attack, and perform battle damage assessment, is considered. It is assumed that the target field information is communicated to all the elements of the swarm as it becomes available. A network flow optimization problem is posed whose readily obtained solution yields the optimum resource allocation among the air vehicles in the swarm. Hence, the periodic reapplication of the centralized optimization algorithm yields the benefit of cooperative feedback control.

关键词： Vehicle dynamics Vehicles Resource management Weapons Vehicle detection computer science Operations research Neodymium Aerospace control Force control

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

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