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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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OPTIMAL control FOR TWO-DIMENSIONAL LINEAR systems WITH VARIABLE COEFFICIENTS

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Asian Journal of control 2008年第4期1卷

作者： Jimshone Li Jason Sheng-Hong Tsai Leang-San Shieh Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan 701 Taiwan R.O.C. Jim-Shone Li was born in Taiwan R. O.C. on April 20 1967. He received B.S. and M.S. degrees in Electrical Engineering from the Chung-Cheng Institute of Technology Taoyuan Taiwan R.O.C. in 1989 and 1993 respectively. He is currently a Ph.D. student at National Cheng-Kung University Tainan Taiwan R.O.C. His research interests include analysis and design of multidimensional systems and nonlinear system control. Department of Electrical and Computer Engineering University of Houston Houston TX 77004-4793 U.S.A.

An optimal control method for two-dimensional (2-D) linear systems with variable coefficients and free boundary conditions in Roesser's model is proposed in this paper. Based on Roesser's model, an equivalent general 1-D model of the 2-D system is presented, and the problem of minimizing a 2-D linear quadratic (LQ) cost function is solved for the case where complete state information is available. The solution is obtained by using the proposed dynamic programming in 1-D descriptor form to solve the Riccati equation and then arriving at the optimal control law and minimum cost. The proposed control methodology can be applied to discrete-time models of systems described by partial differential equations and can also be used in the field of signal processing.

关键词： Two-dimensional system optimal control Roesser's model Riccati equation

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Polytopic Decomposition of the Linear Parameter-varying Model of the Parallel-type Double inverted Pendulum

Polytopic Decomposition of the Linear Parameter-varying Mode...

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IEEE International Conference on Intelligent Engineering systems (INES)

作者： Szabolcs Nagy Zoltan Petres Peter Baranyi Laszlo Szeidl Pal Michelberger Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Budapest Tech Polytechnical Institution Budapest Hungary Department of Vehicle and Light Weight Structures Analysis Budapest University슠of슠Technology슠and슠Economics Hungary

Most of the formal controller synthesis approaches require conditions like controllability, observability of the systems, however it is still difficult to verify these properties in general. In case of polytopic models these conditions and the feasibility of the linear matrix inequalities (LMI) based design strongly depends on the weighting of the LTI vertex components of the polytopic model. With tensor product (TP) model transformation it is possible to decompose linear parameter-varying (LPV) models into polytopic forms in various ways and also provides the appropriate weighting functions. The objective of this paper is to use this decomposition on the the parallel-type double inverted pendulum control problem.

关键词： Tensile stress Strontium Automatic control control system synthesis Lighting control Linear matrix inequalities Matrix decomposition Concurrent computing automation Electronic mail

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Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms

Runtime reconfiguration of a modular mobile robot with seria...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： H. X. Zhang S.Y. Chen W. Wang J. W. Zhang G. H. Zong Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Dept of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotic Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

This paper presents a novel field robot JL-I based on a reconfigurable concept for urban search and rescue applications. The robot consists of three identical modules; each module is an entire robotic system that can perform distributed activities. It features three-degrees-of-freedom (DOF) active joints actuated by serial and parallel mechanisms for changing shape and flexible docking mechanism. The docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. DOF analysis, working space analysis and the kinematics of the 3D active joint between connected modules are studied thoroughly. In the end a series of successful tests confirm the principles and the robot's capabilities.

关键词： Runtime Mobile robots Orbital robotics Robotics and automation Space technology Intelligent robots Kinematics Testing Prototypes Accidents

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Advances in Telerobotics 1

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丛书名： Springer Tracts in Advanced Robotics

2007年

作者： Manuel Ferre Rafael Aracil Martin Buss Claudio Melchiorri Carlos Balaguer

ISBN: (数字)9783540713647

ISBN: (纸本)9783540713630;9783642425929

At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi cance and quality. It is our hope that the wider dissemination of research developments stimulates exchanges and collaborations among the research community and contributes to further advancement of this rapidly growing eld. The edited volume by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio M- chiorri and Carlos Balaguer is focused on the most recent advances in telerobotics, a technology that deals with the inclusion of a human operator in the control loop of a remote robot. Telerobotics encompasses an area at the crossroads of several scienti c disciplines such as mechatronics, control, communication, computers, sensor-based recognition, multimodality and even teleoperation through Internet.

关键词： control, Robotics, Mechatronics Artificial Intelligence systems Theory, control

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A REAL TIME SOLUTION TO control DISASSEMBLY PROCESSES

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IFAC Proceedings Volumes 2007年第18期40卷 789-794页

作者： L. Duta J.M. Henrioud I. Caciula Computer Science Department Valahia State University 18-24 UniriiAv. Targoviste ROMANIA Fax: +40 (0) 245 21 76 83 E-mail: duta@valahia.ro Automation Laboratory Institute of Production Engineering 25 Alain Savary Besangon FRANCE E-mail: henrioud@ens2m.fr Control Engineering Student Valahia State University 18-24 UniriiAv. Targoviste ROMANIA E-mail: viorel2004_ro@***

Disassembly of manufactured products induces both disassembly costs and revenues from the parts saved by the process. At the planning stage a good trade-off has to be found between the costs of disassembly and the final profit. At the control stage it is important to assure an optimal balance of the line as well as the complete disassembly processing during the rest of the working time. A real time control method based on modeling of disassembly by the precedence graph and on a stochastic algorithm is presented in this article.

关键词： production control real time systems decision making stochastic programming

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Comparison of seven approaches for holter ECG clustering and classification

Comparison of seven approaches for holter ECG clustering and...

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29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.10

作者： Vaclav Chudacek Milan Petrik George Georgoulas Miroslav Cepek Lenka Lhotska Chrysostomos Stylios Gerstner laboratory at Department of Cybernetics Czech Technical University Czech Republic Czech Republic Department of Cybernetics Center for Machine Perception Czech Technical University Czech Republic Intelligent Control Systems Laboratory Georgia Technology Research Institute Atlanta USA Czech Republic Department of Computer Science and Engineering Neural Computing Group Czech Technical University Czech Republic Czech Republic Department of Cybernetics Gerstner Laboratory Czech Technical University Czech Republic Department of Informatics and Communications Technology TEI Epirus Artas Greece

In this work we present a comparative study, testing selected methods for clustering and classification of holter electrocardiogram (ECG). More specifically we focus on the task of discriminating between normal 'N' beats and premature ventricular 'V' beats. Some of the tested methods represent the state of the art in pattern analysis, while others are novel algorithms developed by us. All the algorithms were tested on the same datasets, namely the MIT-BIH and the AHA databases. The results for all the employed methods are compared and evaluated using the measures of sensitivity and specificity.

关键词： Electrocardiography Testing Decision trees Laboratories Cybernetics Sensitivity and specificity Heart rate variability Clustering algorithms Spatial databases Computational complexity

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Robust model predictive control of a nuclear power plant pressurizer subsystem

Robust model predictive control of a nuclear power plant pre...

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25th IASTED International Conference on Modelling, Identification, and control, MIC 2006

作者： Péni, T. Varga, I. Szederkényi, G. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute HAS P.O. Box 63 H-1518 Budapest Hungary

ISBN: (纸本)0889865515

Robust model predictive control of an industrial pressurizer is presented in this paper. The physical model of the pressurizer is based on first engineering principles and the model parameters have been previously identified from measured data. To satisfy the hard constraints on the state variables and the input even in the presence of disturbances, the so-called single policy robust model predictive control method is applied. The maximal admissible level set, the disturbance invariant set and the terminal sets are determined for the system. Simulation results show that the proposed controller satisfies all the requirements and shows good time-domain behavior.

关键词： Nuclear power plants

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Use of colour and shape constraints in vision-based valve operation by robot

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International Journal of Advanced Robotic systems 2006年第3期3卷 267-274页

作者： Xu, De Tan, Min Jiang, Zemin Hu, Osheng Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Computer Science University of Essex Colchester CO4 3SQ United Kingdom

This paper proposes a new strategy for a humanoid robot to approach and operate a valve based on colour and shape constraints. It consists of four stages, namely rough base approaching, fine base approaching, rough hand approaching and fine hand approaching and grasping. The robot estimates the object's position using its stereo-vision at the first stage. A new visual positioning method is used to determine the valve's position and pose in the robot's frame in the second stage. When its hands are near the valve, a visual servoing method is employed to catch the handle of the valve via cameras in end-effectors. The advantages of both eye-in-head and eye-to-hand systems are exploited. Experimental results are presented to verify the effectiveness of the proposed method.

关键词： Robots

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Cognitive informatics based DIND for corner and crossing detection in intelligent space

Cognitive informatics based DIND for corner and crossing det...

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2006 SICE-ICASE International Joint Conference

作者： Reskó, Barna Róka, András Csapó, Ádám Baranyi, Péter Hashimoto, Hideki Institute of Industrial Sciences University of Tokyo Japan Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Integrated Intelligent Systems Japanese-Hungarian Laboratory Hungary

ISBN: (纸本)8995003855

Intelligent Space is a space of distributed sensory intelligence and actuators. The basic component of Intelligent Space is the Distributed Intelligent Network Device (DIND), responsible for intelligent sensing and estimation. It is important for Intelligent Space to be aware of state of its internal environment, such as the class and position of objects it contains. The ability of object recognition is thus necessary in Intelligent Space. Existing cognitive computational systems like the mammalian cortex perform extremely well when it comes to visual object recognition. Psychological experiments have shown that image features such as edges and especially corners are of great importance in cognitive object recognition. Inspired by cognitive recognition systems, the proposed cognitive informatics model addresses the problem of vertex and corner detection. The model integrates the previously developed Visual Feature Array (VFA), which is a cognitive model of oriented edge detection. The ultimate goal of the presented model is to provide suitable input for a cognitive object recognition system. © 2006 ICASE.

关键词： Intelligent networks

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