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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Christian Graf Rüdiger Kieneke Jürgen Maas Control Engineering and Mechatronic Systems Laboratory Ostwestfalen-Lippe University of Applied Sciences Germany Control Engineering and Mechatronic Systems Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany

While the damping of a common cabin of a commercial vehicle is realized with hydraulic based dampers integrated into the air springs of the suspension, the damping forces of the realized active cabin suspension are generated by varying the mass of air inside the air spring volume. To achieve a high bandwidth of vibration suppression, the mass flow of compressed air is controlled using fast switching valves. To design the force controller, the air spring force has to be known for the feedback. Due to the limited design space and to reduce costs, an observer based concept is chosen, utilizing the already available sensor signals for displacement and acceleration. To ensure an accurate and high dynamic force estimation, two nonlinear state estimator concepts are introduced, which are both capable of considering noisy signals as well. The comparison between estimation results and measured signals shows a good correlation. By use of a superimposed vibration control, the cabin accelerations can be reduced by applying optimal damping forces, which is proven by measurements.

关键词： Springs Force Vectors Suspensions Valves Covariance matrix Estimation

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Modified Iterative-Learning-control-Based Ramp Metering Strategies for Freeway Traffic control With Iteration-Dependent Factors

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IEEE Transactions on Intelligent Transportation systems 2012年第2期13卷 606-618页

作者： Zhongsheng Hou Jingwen Yan Jian-Xin Xu Zhenjiang Li Advanced Control Systems Laboratory of School of Electronic and Information Engineering Beijing Jiaotong University Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

For a freeway traffic system with strict repeatable pattern, iterative learning control (ILC) has been successfully applied to local ramp metering for a macroscopic freeway environment by formulating the original ramp metering problem as an output tracking, disturbance rejection, and error compensation problem. In this paper, we address the freeway traffic ramp-metering system under a nonstrict repeatable pattern. ILC-based ramp metering and ILC add-on to ALINEA strategies are modified to deal with the presence of iteration-dependent parameters, iteration-dependent desired trajectory, and input constraints. Theoretical analysis and extensive simulations are used to verify the effectiveness of the proposed approaches.

关键词： Traffic control Trajectory Mathematical model Vehicles Equations Feedback control

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Herb 2.0: Lessons learned from developing a mobile manipulator for the home

Herb 2.0: Lessons learned from developing a mobile manipulat...

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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL

Design and experimental implementation of a compliant hybrid...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Koushil Sreenath Hae-Won Park J. W. Grizzle Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Michigan Ann Arbor MI USA

This paper presents a control design based on the method of virtual constraints and hybrid zero dynamics to achieve stable running on MABEL, a planar biped with compliance. In particular, a time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. The compliant-hybrid-zero-dynamics-based controller with active force control is implemented experimentally and shown to realize stable running gaits on MABEL at an average speed of 1.95 m/s (4.4 mph) and a peak speed of 3.06 m/s (6.8 mph). The obtained gait has flight phases upto 39% of the gait, and an estimated ground clearance of 7.5 - 10 cm.

关键词： Springs Dynamics Robot kinematics Torso Legged locomotion Actuators

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Switching control design for accommodating large step-down disturbances in bipedal robot walking

Switching control design for accommodating large step-down d...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hae-Won Park Koushil Sreenath Alireza Ramezani J.W. Grizzle Mechanical Engineering Department University of Michigan Ann Arbor MI USA Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

This paper presents a feedback controller that allows MABEL, a kneed, planar bipedal robot, with 1 m-long legs, to accommodate an abrupt 20 cm decrease in ground height. The robot is provided information on neither where the step down occurs, nor by how much. After the robot has stepped off a raised platform, however, the height of the platform can be estimated from the lengths of the legs and the angles of the robot's joints. A real-time control strategy is implemented that uses this on-line estimate of step-down height to switch from a baseline controller, that is designed for flat-ground walking, to a second controller, that is designed to attenuate torso oscillation resulting from the step-down disturbance. After one step, the baseline controller is re-applied. The control strategy is developed on a simplified-design model of the robot and then verified on a more realistic model before being evaluated experimentally. The paper concludes with experimental results showing MABEL (blindly) stepping off a 20 cm high platform.

关键词： Legged locomotion Torso Switches Mathematical model Optimization

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Agent-based cyber control strategy design for resilient control systems: Concepts, architecture and methodologies

Agent-based cyber control strategy design for resilient cont...

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International Symposium on Resilient control systems, ISRCS

作者： Craig Rieger Quanyan Zhu Tamer Başar Instrumentation Control & Intelligent Systems Idaho National Laboratory Idaho USA Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL

The implementation of automated regulatory control has been around since the middle of the last century through analog means. It has allowed engineers to operate the plant more consistently by focusing on overall operations and settings instead of individual monitoring of local instruments (inside and outside of a control room). A similar approach is proposed for cyber security, where current border-protection designs have been inherited from information technology developments that lack consideration of the high-reliability, high consequence nature of industrial control systems. Instead of an independent development, however, an integrated approach is taken to develop a holistic understanding of performance. This performance takes shape inside a multi-agent design, which provides a notional context to model highly decentralized and complex industrial process control systems, the nervous system of critical infrastructure. The resulting strategy will provide a framework for researching solutions to security and unrecognized interdependency concerns with industrial control systems.

关键词： control systems computer security Sensors Process control Software control theory

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Development of Prosthesis Grasp control systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Neural and Fuzzy Dynamic Programming for Under-actuated systems

Neural and Fuzzy Dynamic Programming for Under-actuated Syst...

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International Joint Conference on Neural Networks

作者： Dongbin Zhao Yuanheng Zhu Haibo He State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Electrical Computer and Biomedical Engineering University of Rhode Island

ISBN: (纸本)9781467314886

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： Adaptive dynamic programming Fuzzy control Neural network Underactutaed system Cart-pole plant Pendubot

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Distributed Output Regulation for Multi-agent systems with Unknown Communication Delays

Distributed Output Regulation for Multi-agent Systems with U...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Lu Yu Jinzhi Wang Zhong-Ping Jiang Yiguang Hong State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace Engin Department of Electrical and Computer Engineering Polytechnic Institute of New York University Bro Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy o

In this paper, the distributed output regulation problem of multi-agent linear systems with communication time delays is studied, by means of both dynamic state and output feedback control laws. Given bounded communication delays, distributed control laws are designed via linear matrix inequalities (LMI). Both delay-independent and delaydependent conditions are discussed.

关键词： Multi-agent systems Output Regulation Time Delay

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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