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IEEE Conference on Decision and Control

作者： F. Lizarralde J.T. Wen L. Hsu Department of ElectronicEngineering Engineering School Federal University of Rio de Janeiro Rio de Janeiro Brazil Center of Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and SystemsEngineering Rensselaer Polytechnic Institute Troy NY USA Department of Electrical Engineering Federal University of Rio de Janeiro (COPPE-EE) Rio de Janeiro Brazil

We consider the feedback stabilization of nonlinear systems. The design methodology is based on a class of iterative methods, which has previously been proposed for the path planning and feedback stabilization of nonholonomic systems. We show that this scheme guarantees the closed loop asymptotic stability for a class of nonlinear systems.

关键词： Feedback Nonlinear systems Optimal control Iterative methods Nonlinear control systems Control systems Current control Linear systems Design methodology Path planning

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Rapid Retargetting of a Flexible Pointing System with Structure Mounted Sensors and Actuators

Rapid Retargetting of a Flexible Pointing System with Struct...

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American Control Conference (ACC)

作者： Farshad Khorrami Sandeep Jain M. Mattice N. Coleman Control/Robotics Research Laboratory School of Electrical Engineering El Computer Science Polytechnic University Brooklyn NY USA Development and Engineering Center Automation and Robotics Team U.S. Army Armament Research Picatinny Arsenal NJ USA

In this paper, active control of flexible structures through utilization of structure mounted sensors and actuators is considered. Specifically, dynamic feedback design utilizing signals from the accelerometer mounted on the structure is discussed. Furthermore, utilization of piezoceramics for sensing and actuation to provide a higher level of control for vibration damping is investigated. The flexible pointing system considered here is the test-bed at the Army Research Development engineering center (ARDEC), which is a scaled-down representation of real-life targetting systems. This setup is also a nice benchmark problem for system identification and different control design philosophies. The approaches advocated here are based on Youla's parametrization of stabilizing controllers, Wiener-Hopf design and decentralized frequency shaping. Modelling aspects for the setup, taking all the structural intricacies into account, are discussed. The preliminary results indicate a significant improvement in performance through utilization of these control schemes.

关键词： Sensor systems Actuators Flexible structures Feedback Signal design Accelerometers Piezoelectric materials Vibration control Damping System testing

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Design of Performance Constrained Stable Discrete-time Control System via Optimization Approach

Design of Performance Constrained Stable Discrete-time Contr...

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American Control Conference (ACC)

作者： Jun Liu M.A. Zohdy N.K. Loh School of Electrical and Electronic Engineering Nanyang Technological University Singapore Center for Robotics and Advanced Automation Oakland University Rochester MI USA

The design of a performance constrained stable system is discussed in this paper. The analysis of performance constrained stabilization (PCS) problem is presented with the results obtained through Lyapunov direct method. The performance measurement of the process is incorporated with the stability of the system in order to guide the design of the systems under the perturbations and disturbance.

关键词： Control systems Constraint optimization Design optimization Eigenvalues and eigenfunctions Equations Open loop systems Output feedback Robustness IEEE members robotics and automation

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Inducing patterns of behavior in distributed system processes

Inducing patterns of behavior in distributed system processe...

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IEEE International Conference on robotics and automation (ICRA)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The authors utilize a class of Petri nets, called colored Petri nets (C/P-nets), to induce patterns of behavior in synchronization structures. These patterns of behavior locally specify the interactions between the distributed system's processes. The induction of patterns of behavior in synchronization structures results in the specification of coordination structures. A coordination structure is a specification of the interaction behavior of a distributed system's processes in a particular context. C/P-nets are used for the differentiation of the system's context-sensitive variables and the representation of their instantiations. The three possible interactions between any two concurrent processes of the distributed system are specified.< >

关键词： Intelligent robots Control systems Petri nets robotics and automation Automatic control Kinematics Calculus Information technology Multiagent systems Robot control

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AMP-CAD: an assembly motion planning system

AMP-CAD: an assembly motion planning system

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IEEE International Conference on robotics and automation (ICRA)

作者： S.N. Gottschlich A.C. Kak New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA Robot Vision Lab School of Electrical Engineering Purdue University West Lafayette IN USA

The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >

关键词： Assembly systems Uncertainty Robotic assembly Motion planning Aggregates Solid modeling Force control Torque control robotics and automation Fitting

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TRANSFORMING TIME-VARYING MULTIVARIABLE SYSTEMS INTO BLOCK COMPANION CANONICAL-FORMS

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COMPUTERS & MATHEMATICS WITH APPLICATIONS 1991年第2-3期21卷 57-67页

作者： CHAI, WJ GU, KQ LOH, NK Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI 48309 USA

The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observability) matrix, this paper generalizes the results of Shieh et al. [3] and provides systematic and straightforward algorithms for obtaining block companion canonical forms. An example is provided to illustrate this transformation technique.

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Dynamic modularization and synchronization for intelligent robot coordination: the concept of functional time-dependency

Dynamic modularization and synchronization for intelligent r...

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IEEE International Conference on robotics and automation (ICRA)

The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of task synchronization. The necessary representations of robots and tasks are developed, and the structural and operational semantics of the primitive task and reflex models are specified. A concept of time, called functional time-dependency, that allows the dynamic specification of the distributed semantics during task execution by multiple robots is developed. The utility of functional time-dependency is shown using two examples.< >

关键词： Intelligent robots Manipulator dynamics Robot kinematics robotics and automation Information technology Transportation Concurrent computing

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NECESSARY AND SUFFICIENT CONDITIONS OF QUADRATIC STABILITY OF UNCERTAIN LINEAR-SYSTEMS

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1990年第5期35卷 601-604页

作者： GU, KQ ZOHDY, MA LOH, NK Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.

关键词： Plant uncertain quantitative determination Sufficient conditions extremum values Necessary corners Uncertainty quadratic stabilizability Linear system

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Adaptive Robust Pole Placement - An Alternate Approach

Adaptive Robust Pole Placement - An Alternate Approach

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American Control Conference (ACC)

作者： M. Das P. Kokate N. K. Loh Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

This paper proposes an alternate approach for adaptive robust control of linear systems with structured, wide-ranging parametric uncertainties. The overall scheme consists of two steps; namely, off-line design of a robust observer for the partial states of the system, and design of an on-line adaptive pole placement scheme. It is shown that by using this approach, both direct as well as indirect adaptive pole placement can be achieved. Proofs of stability of the schemes are also given.

关键词： Robustness State feedback Adaptive control Robust control Programmable control Linear systems Uncertainty Uncertain systems Control systems robotics and automation

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A distributed model of concurrency for robot sensorimotor synchronization

A distributed model of concurrency for robot sensorimotor sy...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical specification of the flow of control and the temporal order of task execution by multiagent systems. Each level of the resulting hierarchies horizontally contains the synchronization structure of task execution and vertically is a generalization of the level below and a specialization of the level above. The horizontal synchronization structures developed by the proposed Petri net model maintain the desirable properties of safeness and liveness by construction. The model utilizes a modularization of complex kinematic chains, a classification of primitive tasks, and a concept of functional time dependency.< >

关键词： Concurrent computing Robot sensing systems Service robots robotics and automation Flexible manufacturing systems Manipulator dynamics Kinematics Algebra Multiagent systems Intelligent robots

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