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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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Incremental On-Line Topological Map Learning for A Visual Homing Application

Incremental On-Line Topological Map Learning for A Visual Ho...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Elvina Motard Bogdan Raducanu Viviane Cadenat Jordi Vitria IUP Intelligent Systems (Engineering Department) University of Paul Sabatier Toulouse France Computer Vision Center Barcelona Spain LAAS-CNRS University of Paul Sabatier Toulouse France Computer Vision Center Department of Computer Science Autonomous University of Barcelona Barcelona Spain

In this paper we propose an on-line incremental vision-based topological map learning for AIBO robots. The topological map is represented through a graph, where the vertices encode views from the robot's environment and the edges the spatial relationship between these views. The views are represented through their SIFT keypoints. The proposed map learning method has been successfully applied to a homing application.

关键词： Simultaneous localization and mapping Robot sensing systems Robotics and automation Sonar computer vision Biological information theory Robot vision systems Learning systems Navigation Working environment noise

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H∞ filtering for a class of 2D systems

H∞ filtering for a class of 2D systems

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15th European Signal Processing Conference, EUSIPCO 2007

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory Germany

ISBN: (纸本)9788392134022

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required. © 2007 EURASIP.

关键词： Dynamics

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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control of discrete linear repetitive processes with ℋ ∞ and 2 - ∞ performance

Control of discrete linear repetitive processes with ℋ ∞ a...

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2007 American control Conference, ACC

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

ISBN: (纸本)1424409888

This paper considers the control of discrete linear repetitive processes, which are a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, which are of both system-theoretic and applications interest. In this paper we report new results on the design of control laws with guaranteed levels of performance. In particular, develop algorithms for the design of an ℋ∞ and 2-∞ dynamic output feedback controller which guarantees that the resulting controlled process is stable and has prescribed disturbance attenuation performance as measured by ℋ∞ and 2-∞ norms. © 2007 IEEE.

关键词： Linear systems

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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On NIRS-based brain-robot interface

On NIRS-based brain-robot interface

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IEEE International Conference on Robotics and Biomimetics

作者： Makoto Okumura Zhiwei Luo Department of Computer Science and Systems Engineering Kobe University Kobe Japan Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center RIKEN Nagoya Japan

ISBN: (纸本)9781424417612;1424417619

Constructing of flexible and intelligent human-robot interface that can catch the human intention correctly and lead to the success of the required tasks in complex environment by a robot has become a new challenging research subject. In this research, we proposed to apply NIRS (near infrared spectroscopy) to measure the brain activities during the free body motion, we aim to use it as an interface to control the motion of robots directly in the near future. In detail, two basic types of experiments of a human subject are performed so as to distinguish the human brain activities in different tasks, one is the thinking task and another is during the subject's body motions. For each type of experiment, we also set two different tasks. For the thinking experiment, we studied the tasks when the human subject is performing mathematic calculations and puzzles. For the experiment during body motions, we studied finger tapping and tongue extension tasks. As a result, although we couldn't found the difference of the right and left brain activities in the different thinking experiments, we successfully caught the difference of brain activities for different body motions, which left us the possibility of NIRS as an important technology in constructing the brain-robot interface.

关键词： Humans Intelligent robots Brain Electroencephalography Motion measurement Motion control Robot sensing systems Robot vision systems Electrodes Infrared spectra

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Nonlinear robust/adaptive controller design for an air-breathing hypersonic vehicle model

Nonlinear robust/adaptive controller design for an air-breat...

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AIAA Guidance, Navigation, and control Conference 2007

作者： Fiorentini, L. Serrani, A. Bolender, Michael A. Doman, David B. Collaborative Center of Control Science Ohio State University Columbus OH 43210 United States Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Department of Electrical and Computer Engineering 2015 Neil Ave. United States AIAA United States AFRL/VACA 2210 Eighth St. United States

ISBN: (纸本)1563479044

This paper presents preliminary results on the design of a nonlinear robust controller for an air-breathing hypersonic vehicle model. To overcome the analytical intractability of a dynamical model derived from first principles, a simplified control-oriented model is used for control design. The control-oriented model retains most of the features of the original model, including non-minimum phase characteristic of the flight-path angle dynamics and strong couplings between the engine and flight dynamics, whereas flexibility effects, included in the simulation model, are regarded as a dynamic perturbation. In adopting reduced-complexity models for controller design, the issue of robustness with respect to model uncertainty must be carefully addressed and included at the design level. Dynamic inversion-based design methods do not lend themselves easily to quantitative robustness analysis, due to the complexity of the inverse model of the plant. In this paper, a nonlinear sequential loop-closure approach is adopted to design a dynamic state-feedback controllers that provide stable tracking of velocity and altitude reference trajectories. The approach considered in this paper utilizes a combination of adaptive and robust design methods based on both classic and recently developed nonlinear design tools. Simulation results indicate that the proposed methodology may constitute a feasible approach towards the development of robust nonlinear controllers that satisfactorily address the issue of model uncertainty for this type of applications.

关键词： Adaptive control systems

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A Hierarchical Face Identification System Based on Facial Components

A Hierarchical Face Identification System Based on Facial Co...

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ACS/IEEE International Conference on computer Systems and Applications

作者： Mehrtash T Harandi Majid Nili Ahmadabadi Babak N. Araabi School of cognitive science (SCS) Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

It is generally agreed that faces are not recognized only by utilizing some holistic search among all learned faces, but also through a feature analysis that aimed to specify more important features of each specific face. This paper addresses a novel decision strategy that efficiently uses both holistic and facial component (left eye, right eye, nose and mouth) feature analysis to recognize faces. The proposed algorithm uses the whole face features in the first step of recognition task. If the decision machine fails to assign a class (with high confidence) then the individual facial components are processed and the resulting information are combined with those obtained from the whole face to assign the output. Simulation studies justify the superior performance of the proposed method as compared to that of Eigenface method. Experimental results also show that the proposed system is robust against small errors in facial component extractor.

关键词： Face recognition Humans Facial features Nose Mouth Statistical learning Linear discriminant analysis Principal component analysis Object recognition Vectors

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Filtering of discrete linear repetitive processes with ∞ and 2-∞ performance

Filtering of discrete linear repetitive processes with ∞ an...

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2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007

作者： Ligang, Wu Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 IBJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an ∞ and 2-∞ dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by ∞ and 2- ∞ norms. © 2007 IEEE.

关键词： Signal filtering and prediction

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