Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957373
T. Glówka, J. Figwer
In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency response identification integrated bispectra and higher-order non-gaussian multisine excitations are applied. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. The presented discussion is illustrated by examples showing effectiveness of the proposed approach.
{"title":"Frequency response identification using integrated bispectra — Periodic disturbances case","authors":"T. Glówka, J. Figwer","doi":"10.1109/MMAR.2014.6957373","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957373","url":null,"abstract":"In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency response identification integrated bispectra and higher-order non-gaussian multisine excitations are applied. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. The presented discussion is illustrated by examples showing effectiveness of the proposed approach.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126953114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957331
Hao Sun, Thomas Meinlschmidt, H. Aschemann
A comparison of two passivity-based control strategies - with and without an integral control action - is proposed in this paper for the tracking control of a hydrostatic transmission, which is commercially used in working machines. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables - the normalised swashplate angle and the normalised bent axis angle - are estimated by a nonlinear observer. Thereby, a high tracking accuracy can be achieved for the normalised bent axis angle and the angular velocity of the motor as controlled variables. The efficiency of the proposed controllers is demonstrated by both simulations and experiments.
{"title":"Passivity-based control of a hydrostatic transmission with unknown disturbances","authors":"Hao Sun, Thomas Meinlschmidt, H. Aschemann","doi":"10.1109/MMAR.2014.6957331","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957331","url":null,"abstract":"A comparison of two passivity-based control strategies - with and without an integral control action - is proposed in this paper for the tracking control of a hydrostatic transmission, which is commercially used in working machines. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables - the normalised swashplate angle and the normalised bent axis angle - are estimated by a nonlinear observer. Thereby, a high tracking accuracy can be achieved for the normalised bent axis angle and the angular velocity of the motor as controlled variables. The efficiency of the proposed controllers is demonstrated by both simulations and experiments.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127265225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957355
J. Sasiadek, A. Green, S. Ulrich, A. Krzyżak
We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.
{"title":"Nonparametric identification and control of flexible joint robot manipulator","authors":"J. Sasiadek, A. Green, S. Ulrich, A. Krzyżak","doi":"10.1109/MMAR.2014.6957355","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957355","url":null,"abstract":"We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127629515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957366
Walaa Gouda, W. Gomaa
In this paper, an approach to whole body motion planning for humanoid robots using only onboard sensing is presented. Reliable and accurate motion sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high-level task. The design of complex dynamic motions is achievable only through the use of robot kinematics, which is an application of geometry to the study of arbitrary robotic chains. A sequence of actions for avoiding obstacles including, step over actions, as well as step onto/down actions is presented. As demonstrated in simulation as well as real world experiments with NAO humanoid the validity of the approach is examined and evaluated.
{"title":"NAO humanoid robot motion planning based on its own kinematics","authors":"Walaa Gouda, W. Gomaa","doi":"10.1109/MMAR.2014.6957366","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957366","url":null,"abstract":"In this paper, an approach to whole body motion planning for humanoid robots using only onboard sensing is presented. Reliable and accurate motion sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high-level task. The design of complex dynamic motions is achievable only through the use of robot kinematics, which is an application of geometry to the study of arbitrary robotic chains. A sequence of actions for avoiding obstacles including, step over actions, as well as step onto/down actions is presented. As demonstrated in simulation as well as real world experiments with NAO humanoid the validity of the approach is examined and evaluated.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121337196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957449
S. Radkowski, P. Szulim
In the paper, solution of the problem of vibrations which appears during the maneuvers of quadrocopters is presented. Those special kinds of vibration aren't related to mounting or manufacturing faults. In this kinds of flying machines the main sources of vibration comes from motors and/or propellers unbalance. The paper shows analytical description of the source of this problem. Mathematical description of rotor which was subjected of additional rotation had been modeled in Matlab - Simulink environment. It was shown, that correct set of parameters lead to total elimination of this kind of vibration. In paper is shown also investigation on real object and influence of results on vibration reduction.
{"title":"Analysis of vibration of rotors in unmanned aircraft","authors":"S. Radkowski, P. Szulim","doi":"10.1109/MMAR.2014.6957449","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957449","url":null,"abstract":"In the paper, solution of the problem of vibrations which appears during the maneuvers of quadrocopters is presented. Those special kinds of vibration aren't related to mounting or manufacturing faults. In this kinds of flying machines the main sources of vibration comes from motors and/or propellers unbalance. The paper shows analytical description of the source of this problem. Mathematical description of rotor which was subjected of additional rotation had been modeled in Matlab - Simulink environment. It was shown, that correct set of parameters lead to total elimination of this kind of vibration. In paper is shown also investigation on real object and influence of results on vibration reduction.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126628803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957457
D. Bazylev, A. Kremlev, A. Margun, K. Zimenko
This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.
{"title":"Control system of biped robot balancing on board","authors":"D. Bazylev, A. Kremlev, A. Margun, K. Zimenko","doi":"10.1109/MMAR.2014.6957457","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957457","url":null,"abstract":"This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125963121","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957361
J. Smoczek, J. Szpytko
The paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of local linear controllers represented by rule conclusions is determined based on the objective function derived from an interval Diophantine equation. The two methods, iterative procedure and evolutionary algorithm are developed to find minimum number of fuzzy sets and tune triangular membership functions satisfying the performances robustness to variation of operating conditions.
{"title":"Iterative and evolutionary optimization for interval analysis-based designing a fuzzy controller for a planar crane model","authors":"J. Smoczek, J. Szpytko","doi":"10.1109/MMAR.2014.6957361","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957361","url":null,"abstract":"The paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of local linear controllers represented by rule conclusions is determined based on the objective function derived from an interval Diophantine equation. The two methods, iterative procedure and evolutionary algorithm are developed to find minimum number of fuzzy sets and tune triangular membership functions satisfying the performances robustness to variation of operating conditions.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124062784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957319
P. Augusta, K. Gałkowski
In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.
{"title":"An algorithm for design of deadbeat controllers of spatially invariant systems","authors":"P. Augusta, K. Gałkowski","doi":"10.1109/MMAR.2014.6957319","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957319","url":null,"abstract":"In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128965124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957364
P. Leśniewski, A. Bartoszewicz
In this paper a novel non-switching type reaching law for quasi-sliding mode control of linear discrete time systems is proposed. The reaching law determines the sliding variable rate of change proportional to the negative value of the hyperbolic tangent of this variable. The approach proposed in this paper helps satisfy input and state constraints in the controlled system, and at the same time it does not unduly damp the system convergence rate in the vicinity of the sliding plane. In the second part of this paper we apply the proposed reaching law to solve the periodic review inventory management problem, with suppliers' constraints explicitly taken into account.
{"title":"Discrete time sliding mode inventory management — Hyperbolic tangent reaching law based approach","authors":"P. Leśniewski, A. Bartoszewicz","doi":"10.1109/MMAR.2014.6957364","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957364","url":null,"abstract":"In this paper a novel non-switching type reaching law for quasi-sliding mode control of linear discrete time systems is proposed. The reaching law determines the sliding variable rate of change proportional to the negative value of the hyperbolic tangent of this variable. The approach proposed in this paper helps satisfy input and state constraints in the controlled system, and at the same time it does not unduly damp the system convergence rate in the vicinity of the sliding plane. In the second part of this paper we apply the proposed reaching law to solve the periodic review inventory management problem, with suppliers' constraints explicitly taken into account.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130833678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957339
R. Kamocki
In the paper, a fractional nonlinear continuous control system with modified Riemann-Liouville derivative is considered. An existence and uniqueness of a solution and continuous dependence of solutions on controls to such system are investigated. Finally, a theorem on the existence of optimal solutions to this one with a nonlinear integral performance index is proved.
{"title":"On a fractional optimal control problem with Jumarie's modified Riemann-Liouville derivative","authors":"R. Kamocki","doi":"10.1109/MMAR.2014.6957339","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957339","url":null,"abstract":"In the paper, a fractional nonlinear continuous control system with modified Riemann-Liouville derivative is considered. An existence and uniqueness of a solution and continuous dependence of solutions on controls to such system are investigated. Finally, a theorem on the existence of optimal solutions to this one with a nonlinear integral performance index is proved.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116618133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：