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IEEE International Conference on Robotics and Automation (ICRA)

作者： Fumihiko Asano Zhi-Wei Luo Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Computer Science and Systems Engineering Graduate School of Engineering Kobe University Japan

Achieving energy-efficient dynamic walking has become one of the main subjects of research on robotic bipedal locomotion. Approaches based on passive-dynamic walkers can accomplish bipedal locomotion. However, passive dynamic walking has only been studied with the legs, and the effect of an upper body has not been clarified. This paper investigates the effect of an upper body on the efficiency and stability of dynamic bipedal locomotion based on observations. We first investigated a suitable upper body, which was a simple 1-link torso with a bisecting hip mechanism that would not destroy natural dynamics of the biped model. Second, we analyzed the robot's driving mechanism and chose underactuated virtual passive dynamic walking as the method for generating an efficient dynamic gait. We confirmed that efficient dynamic walking was possible with a specific resistance of 0.01 and investigated the effect of the physical parameters of the upper body through numerical simulations.

关键词： Legged locomotion Torso Leg Hip Energy efficiency Robotics and automation Immune system Numerical simulation PD control Prototypes

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A novel control method for the compensation voltages in dynamic voltage restorers

A novel control method for the compensation voltages in dyna...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Sang-Joon Lee Hyosung Kim Seung-Ki Sul School of Electrical Engineering and Computer Science Seoul National University South Korea Department of Control Engineering Cheonan National Technical College South Korea

This paper discusses the control of the compensation voltages in dynamic voltage restorers (DVR). On analyzing the power circuit of a DVR system, control limitations and control targets are presented for the compensation voltage control. Based on the preceded power stage analysis, a novel controller for the compensation voltages in DVRs is proposed by a feedforward control scheme. This paper also discusses the time delay problems in the control system of DVRs. Digital control systems inevitably have control delay due to its the sampling of signal, the switching frequency of an inverter, and the signal delay due to sensor itself. The total signal delay is considerable in real implementation and it endanger the system stability. This paper analyzes the relationship among the control delay, closed loop damping factor, and the output filter parameters of DVR inverters. Based on the control system analysis, a guideline is proposed to design the appropriate output filter parameters and the inverter switching frequency for DVRs. The proposed theory is verified by an experimental DVR system, which is controlled in full digital manner.

关键词： Voltage control control systems Inverters Power system restoration Digital control Switching frequency Filters Circuit analysis Delay effects Sampling methods

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Resilient Exponential Consensus with Time-Varying Adversary Attacks and Asynchronous Events

Resilient Exponential Consensus with Time-Varying Adversary ...

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IEEE Annual Conference on Decision and control

作者： Weiguo Xia Ji Liu Shuang Li Xi-Ming Sun Min Han Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and the School of Control Science and Engineering Dalian University of Technology China Department of Electrical and Computer Engineering Stony Brook University USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

This paper studies the resilient consensus problem with time-varying adversary attacks and asynchronous events. In the synchronous or asynchronous update case, all the nodes or only a fraction of nodes update their states at each time step, respectively. For the synchronous update case, the nodes under attack are time-varying but do not change after some finite time;for the asynchronous update case, the nodes under attack are time-invariant. For both cases, a resilient consensus can be reached exponentially fast under a network topology condition inspired by the notion of the scrambling matrix and an explicit expression for the convergence rate is provided. Numerical examples are given to validate the theoretical results and to compare the performance with an existing algorithm.

关键词： Optimization Convergence Heuristic algorithms Distributed algorithms Sun Network topology Estimation

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Reference wave generation in dynamic voltage restorers by use of PQR power theory

Reference wave generation in dynamic voltage restorers by us...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Hyosung Kim Sang-Joon Lee Seung-Ki Sul Department of Control Engineering Cheonan National Technical College South Korea School of Electrical Engineering and Computer Science Seoul National University South Korea

Dynamic voltage restorer (DVR)s are known as effective and economic means to compensate for voltage sags and swells. This paper proposes a novel method to generate reference waves synchronized with the grid whether or not the line voltages are distorted by a fault. The proposed reference wave generator (RWG) looks for the normal voltage waveforms in the grid from the corrupted line voltages and synthesizes the expected positive sequence reference waves for DVRs. There is no transient problem on the generated reference waves when the line voltages are distorted by faults. Experimental results verified the proposed theory very well.

关键词： Power generation Circuit faults Phase locked loops Power quality Mesh generation Dynamic voltage scaling Power generation economics Surges control systems Frequency

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Sora for foundation robots with parallel intelligence:three world models,three robotic systems

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Frontiers of Information Technology & Electronic engineering 2024年第7期25卷 917-923页

作者： Lili FAN Chao GUO Yonglin TIAN Hui ZHANG Jun ZHANG Fei-Yue WANG School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing 100044China School of Electrical Engineering Wuhan UniversityWuhan 430072China

This paper outlines the initial steps and basic framework for developing foundation/infrastructure robots/robotics based on foundation models and parallel intelligence,as well as the potential applications of new art... 详细信息

关键词： artificial foundation intelligence

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PID-type Sliding Mode control for Permanent Magnet Synchronous Motor Based on Uncertainty and Disturbance Estimator

PID-type Sliding Mode Control for Permanent Magnet Synchrono...

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Chinese Automation Congress (CAC)

作者： Jianxiong Li Songhua Wang Jie Gao Yiming Fang Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China School of Electrical Engineering Yanshan University Qinhuangdao China

In order to improve the speed tracking control performance of Permanent magnet synchronous motors (PMSM) with uncertainties and disturbances, an uncertainty and disturbance estimator (UDE)-based PID-type sliding mode control (SMC) approach is proposed. The proposed controller consists of two parts, the reference model, and the UDE-based sliding mode controller. The reference signals of the actual system are generated by a reference model, whose controller is designed by using a nonsingular terminal sliding mode control (NTSMC), and then employed in the UDE-based controller design. The UDE is used to estimate the uncertainties and disturbances of the system, and an UDE-based SMC algorithm is then developed. It can be proved that the resulting closed-loop system is ultimately bounded. Finally, simulation results are given to illustrate that the proposed control scheme achieves good dynamic performance and strong robustness.

关键词： Uncertainty Sliding mode control Low pass filters Steady-state Robustness Permanent magnet motors Simulation

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Intermnittent Model Predictive control of an Autonomous Underwater Vehicle

Intermnittent Model Predictive Control of an Autonomous Unde...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Quan Truong Liuping Wang P. Gawthrop School of Electrical and Computer Engineering RMIT University Melbourne VIC Australia Centre for Systems and Control and Department of mechanical Engineering University of Glasgow GLASGOW Scotland

The autonomous underwater vehicles (AUVs) have been developed over the last three decades for potential uses in scientific, commercial, environmental, and military purposes. The improvement of the computer technology has allowed the expansion of control algorithms into untethered AUVs motions. The paper applies the continuous time model predictive control algorithm designed using Laguerre functions to the dynamic motions of the vehicle. The nonlinear model of the AUVs is established in six degree of freedom and converts into a state space model. The continuous time model predictive control (MPC) algorithm, using Laguerre orthogonal functions, is extended to include intermittent features for manipulation of rudder and stern angle signals. The proposed approach allows the continuous time MPC to tolerate slower computational time and longer sampling interval

关键词： Predictive models Predictive control Underwater vehicles Military computing Continuous time systems Prediction algorithms Motion control Algorithm design and analysis Vehicle dynamics State-space methods

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Learning a Better control Barrier Function

arXiv

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arXiv 2022年

作者： Dai, Bolun Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding a conservative CBF that only recovers a portion of the true safe set is usually possible. In this work, starting from a "conservative" handcrafted CBF (HCBF), we develop a method to find a CBF that recovers a reasonably larger portion of the safe set. Since the learned CBF controller is not guaranteed to be safe during training iterations, we use a model predictive controller (MPC) to ensure safety during training. Using the collected trajectory data containing safe and unsafe interactions, we train a neural network to estimate the difference between the HCBF and a CBF that recovers a closer solution to the true safe set. With our proposed approach, we can generate safe controllers that are less conservative and computationally more efficient. We validate our approach on two systems: a second-order integrator and a ball-on-beam. © 2022, CC BY.

关键词： controllers

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Based on Linkable Ring Signature Map Review Scheme for Zero-Trust Autonomous Vehicles

Based on Linkable Ring Signature Map Review Scheme for Zero-...

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IEEE International Conference on Data Science in Cyberspace (DSC)

作者： Min Zhang Qing Ye Kaihuan Deng Department of Information Security Naval University of Engineering Wuhan China School of Control and Computer Engineering North China Electric Power University Beijing China

The real-time map plays a vital role in the Internet of Vehicles (IoV) navigation. Compared with the existing map review, the real-time map review method is based on crowdsensing enabling faster data updates and shortening the map period from map collection to service. However, the crowdsensing method requires frequent interaction between the vehicle and nearby devices or servers, increasing the risk of user privacy leakage. How to ensure the privacy of users is a challenge in the real-time map review. Starting from the typical architecture of IoV and combining the core idea of zero-trust “never trust, continuous verification”, IoV-ZT conceptual model architecture is designed. This paper proposes a based on linkable ring signature map review scheme for zero-trust autonomous vehicles (LRSMR). In the LRSMR, a linkable ring signature based on the SM2 digital signature algorithm is used to protect user identity privacy and ensures while ensuring signature linkability by hiding the identity of the actual signer in the ring. Through the requirement for user credit, the reliability of the review data is improved. At the same time, the distribution of rewards increases users' motivation. At last, the security analysis indicates that the LRSMR satisfies correctness, unforgeability, unconditional anonymity, linkability and nonslanderability. The simulation results illustrate that the LRSMR is efficient in terms of communication overhead and computation cost.

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Backstepping control of uncertain strict-feedback system based on time-scale separation

Backstepping control of uncertain strict-feedback system bas...

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International Conference on control, Instrumentation, and Automation

作者： Navid Noroozi Alireza Khayatian Tianshi Chen School of Electrical and Computer Engineering Shiraz University Shiraz Iran Automatic Control Division Electrical Engineering Department Linköping University Linkoping Sweden

In this paper, a state-feedback strategies based on time-scale separation technique for a class of strict-feedback systems in the presence of unstructured uncertainties is proposed which recovers the state trajectories of a nominal control design (without uncertainties) in the presence of unmatched uncertain nonlinearities. The performance of the feedback control scheme is evaluated by simulating state-feedback control for an uncertain strict-feedback system.

关键词： Instruments Automation

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