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17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2008), vol.2

作者： Sekou Remy Ayanna M. Howard Human Automation Systems HumAnS Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Applications of robotics are quickly changing. Just as computer use evolved from research purposes to everyday functions, applications of robotics are making a transition to mainstream usage. With this change in applications comes a change in the user base of robotics, and there is a pronounced move to reduce the complexity of robotic control. The move to reduce complexity is linked to the separation of the role of robot designer and robot operator. For many target applications, the operator of the robot needs to be able to correct and augment its capabilities. One method to enable this is learning from human data, which has already been successfully applied to robotics. We assert that this learning process is only viable when the demonstrated human behavior is coherent. In this work we test the hypothesis that quantifying the coherence in the provided instruction can provide useful information about the progress of the learning process. We discuss results from the application of this method to reactive behaviors. Such behaviors permit the learning process to be computationally tractable in real-time. These results support the hypothesis that coherence is important for this type of learning and also show that this property can be used to provide an avenue for self regulation of the learning process.

关键词： Robots

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Constrained H∞ control for discrete-time LPV systems using interpolation

Constrained H∞ control for discrete-time LPV systems using ...

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IEEE Conference on Decision and control

作者： Tamas Peni Balazs Kulcsar Jozsef Bokor Michel Verhaegen Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty of Mech Maritime and Materials Eng Technical University Delft Delft Netherlands

The paper proposes an interpolation based control method as a possible solution to the constrained H ∞ control of discrete-time, linear parameter varying (LPV) systems. The control policy is constructed by interpolating among a priori designed, unconstrained state feedback controllers. The predefined H ∞ performance level remains guaranteed under hard state and input constrains. By applying invariant set theory it is also shown that the domain of applicability of the proposed control method is significantly larger than that can be achieved by any, single state feedback.

关键词： control systems Interpolation State feedback Automatic control Nonlinear systems Nonlinear control systems Linear matrix inequalities Optimal control Set theory Robust control

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A New Discrete-time Adaptive ILC for Nonlinear systems with Time-varying Parametric Uncertainties

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自动化学报 2008年第7期34卷 805-808页

作者： CHI Rong-Hu SUI Shu-Lin HOU Zhong-Sheng Institute of Autonomous Navigation and Intelligent Control School of Automation and Electrical Engineering Qingdao University of Science and Technology Qingdao 266042 P.R. China Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 P. R. China

用在分离时间轴和反复的学习轴之间的类比，一条新分离时间的适应反复的学习控制(AILC ) 途径被开发与变化时间的参量的无常探讨非线性的系统的一个班。类似于适应控制，新 AILC 能合并一个设计算法，因此，学习获得能沿着学习的轴反复... 详细信息

用在分离时间轴和反复的学习轴之间的类比，一条新分离时间的适应反复的学习控制(AILC ) 途径被开发与变化时间的参量的无常探讨非线性的系统的一个班。类似于适应控制，新 AILC 能合并一个设计算法，因此，学习获得能沿着学习的轴反复地被调节。当起始的状态是随机的，参考轨道是变化重复的时，新 AILC 能沿着反复的学习轴 asymptotically 在有限时间间隔上完成 pointwise 集中。

关键词：自动化技术智能系统非线性系统离散时间系统不确定性

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H∞O gain-scheduling based control of the heavy vehicle model, a TP model transformation based control

H∞O gain-scheduling based control of the heavy vehicle mode...

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2008 IEEE International Conference on Fuzzy systems, FUZZ 2008

作者： Petres, Zoltán Nagy, Szabolcs Gáspar, Péter Baranyi, Peter Dept. of Telecommunications and Media Informatics Budapest University of Technology and Economics Kende utca 13-17 1111Budapest Hungary Systems and Control Lab. Computer and Automation Research Institute Hungarian Academy of Sciences Kende utca 13-17 1111Budapest Hungary

ISBN: (纸本)9781424418190

This paper is focusing on rollover prevention to provide a heavy vehicle with the ability to resist overturning moments generated during cornering. A combined yaw-roll model including the roll dynamics of unsprung masses is studied. This model is nonlinear with respect to the velocity of the vehicle. In our model the velocity is handled as an LPV scheduling parameter. The Linear Parameter-Varying model of the heavy vehicle is transformed Into a proper polytopic form by Tensor Product model transformation. The H∞ gain-scheduling based control is Immediately applied to this form for the stabilization. The effectiveness of the designed controller is demonstrated by numerical simulation. © 2008 IEEE.

关键词： Scheduling

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Switching LPV control for the air path system of diesel engines

Switching LPV control for the air path system of diesel engi...

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Chinese control and Decision Conference, CCDC

作者： Lihua liu Xiukun Wei Zhidong Liu Department of Computer Science and Automation Beijing Institute of Machinery Beijing China Delft Center of Systems and Control Delft University of Technnology Delft Netherlands

This paper addresses the switching LPV techniques aiming to improve the control performance of a class of nonlinear systems that can be approximated by a family of linear parameter varying (LPV) models for the entire operation envelope. The proposed method provides a systematical strategy for the controller synthesis for such class system which can guarantee the global stability of the closed loop. The proposed method is further applied to the air path system of diesel engines which is critical for reducing the emissions. Due to its strong nonlinearity the working envelope of the air path system is divided into four subregions and in each subregion an LPV model is built. Accordingly, a gain scheduled LPV controller is synthesized for each nominal LPV model, the system is then regulated by hysteresis switching logic among a family of LPV controllers. The effectiveness of the proposed method is illustrated by simulations.

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Quasi-LPV gain scheduling control for the air path system of diesel engines

Quasi-LPV gain scheduling control for the air path system of...

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Chinese control and Decision Conference, CCDC

作者： Lihua Liu Xiukun Wei Tao Zhu Department of Computer Science and Automation Beijing Institute of Machinery Beijing China Delft Center of Systems and Control Delft University of Technnology Delft Netherlands

This paper addresses the issue on gain scheduled quasi linear parameter varying (LPV) control strategy for the air path system of diesel engines, which plays a critical role for the emission reduction of diesel engines. Due to the strong nonlinearities of the underlying system, traditional linear control algorithm can not achieve a satisfactory control performance. In this paper, the considered nonlinear plant is approximated as an Hammerstein quasi-LPV system in the first place. An advanced quasi-LPV gain scheduled control strategy is applied to the underlying system. The effectiveness of the new control algorithm is illustrated by the simulations.

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Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization

Trajectory tracking control of a 6-degree-of-freedom robot a...

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International Workshop on Advanced Motion control (AMC)

作者： Ferenc Lombai Gabor Szederkenyi Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The trajectory tracking control of a 6-degree-of- freedom (DOF) rigid robot arm is described in this paper. The trajectories for the joint variables are generated in third-order spline form using general constrained nonlinear optimization, taking into consideration the joint position, velocity, acceleration, jerk and overall current consumption constraints during the movement. The trajectory tracking of the individual joints is solved using a discrete-time linear controller design. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The complete inverse kinematics of the arm is symbolically calculated in the Mathematica computing environment and implemented in C++. Simulations and measurements show the applicability of the proposed method.

关键词： Trajectory Robots Object oriented modeling Robotics and automation Kinematics Mathematical model Constraint optimization Automatic control Topology Orbital robotics

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Sequential Particle Swarm Optimization for Visual Tracking

Sequential Particle Swarm Optimization for Visual Tracking

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26th IEEE Conference on computer Vision and Pattern Recognition (CVPR 2008), vol.5

作者： Xiaoqin Zhang Weiming Hu Steve Maybank Xi Li Mingliang Zhu National Laboratory of Pattern Recognition Institute of Automation Beijing China School of Computer Science and Information Systems Birkbeck College London UK

Visual tracking usually involves an optimization process for estimating the motion of an object from measured images in a video sequence. In this paper, a new evolutionary approach, PSO (particle swarm optimization), is adopted for visual tracking. Since the tracking process is a dynamic optimization problem which is simultaneously influenced by the object state and the time, we propose a sequential particle swarm optimization framework by incorporating the temporal continuity information into the traditional PSO algorithm. In addition, the parameters in PSO are changed adaptively according to the fitness values of particles and the predicted motion of the tracked object, leading to a favourable performance in tracking applications. Furthermore, we show theoretically that, in a Bayesian inference view, the sequential PSO framework is in essence a multi-layer importance sampling based particle filter. Experimental results demonstrate that, compared with the state-of-the-art particle filter and its variation-the unscented particle filter, the proposed tracking algorithm is more robust and effective, especially when the object has an arbitrary motion or undergoes large appearance changes.

关键词： Particle swarm optimization Particle tracking Particle filters Inference algorithms Motion estimation Motion measurement Video sequences Bayesian methods Nonhomogeneous media Monte Carlo methods

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French Champagne and Belgian Chocolate Problems in Simultaneous Stabilization of Linear systems

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IFAC Proceedings Volumes 2008年第2期41卷 1105-1110页

作者： Guannan He Long Wang Wensheng Yu Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 P.R. China Center for Systems and Control College of Engineering Peking University Beijing 100871 P.R. China

This paper considers two open problems associated with simultaneous stabilization of linear systems, namely French champagne problem and Belgian chocolate problem. Based on the recent development in automated inequality-type theorem proving, the explicit bounds which guarantee the existence of stabilizing controllers with fixed order are determined. In addition, two conjectures concerning the Belgian chocolate problem are formulated. Some numerical examples are worked out.

关键词： linear systems simultaneous stabilization French champagne problem Belgian chocolate problem inequality-type theorem automated theorem proving

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Modelling and identification of a small unmanned aerial vehicle

Modelling and identification of a small unmanned aerial vehi...

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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The systems and control laboratory of the computer and automation Research institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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