Pub Date : 2005-07-10DOI: 10.1109/ICMECH.2005.1529293
Jong-Hann Jean, Jian-hong Lai
In this paper we present the development of a visual servo system for real-time and automatic aerial surveillance applications. The system can automatically detect the shape contours of objects within a scene and control the camera to track a target object centered at the image plane based on shape features. The system consists of a robust shape detection algorithm based on the randomized Hough transform (RHT) method, an adaptive object tracking algorithm, a probability data association (PDA) prediction filter and a fuzzy visual servo controller. We also establish a testbed to mimic the aerial surveillance environment and provide experimental results to verify the validity of the designed system.
{"title":"Design and implementation of a visual servo system for aerial surveillance applications based on shape features","authors":"Jong-Hann Jean, Jian-hong Lai","doi":"10.1109/ICMECH.2005.1529293","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529293","url":null,"abstract":"In this paper we present the development of a visual servo system for real-time and automatic aerial surveillance applications. The system can automatically detect the shape contours of objects within a scene and control the camera to track a target object centered at the image plane based on shape features. The system consists of a robust shape detection algorithm based on the randomized Hough transform (RHT) method, an adaptive object tracking algorithm, a probability data association (PDA) prediction filter and a fuzzy visual servo controller. We also establish a testbed to mimic the aerial surveillance environment and provide experimental results to verify the validity of the designed system.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128943065","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529267
Y. Chen, D.L. Yang, T. Wu, P.T. Chou, J. Lee, C. Lee
The extraordinary transmission phenomenon has stimulated much interest in recent years. Based on the extraordinary transmission and directional beaming phenomena proposed by Ebbesen et al., a new optical head structures, nonmetal optical head, are presented in this letter. Nonmetal optical head composed of dielectric surface grating on a metallic thin film was proposed. We also offer the physical origin for the directional beaming of light emerging from a single subwavelength slit in the metallic film that has dielectric grating feature on the exit side. Both of experiments and numerical simulations were implemented, and they were shown eventually to agree with this surface plasmon diffraction very well. The main reason for designing nonmetal optical head proposed in this letter is for mass production possibilities of nanoimprint technique. It is very important to know the mechanism which drives the directional beaming phenomenon for nonmetal optical head. Therefore, a design rule for desired nonmetal optical head is presented. Another novel optical design proposed is double slits optical head. Light emerging from the two slits cross at the desired focal length, which is decided by the distance between the two slits. Also, two light beam interference to become a subwavelength light beam. Various applications may appear because of the understanding of this nano-optics device, from this design, for example, an optical switch or an optical sensor, optical lithography, optical storage, and optical microscopy, and so on.
{"title":"Directional beaming by interaction of dielectric nano surface structure and metal: design for fabrication of nanowriter optical head","authors":"Y. Chen, D.L. Yang, T. Wu, P.T. Chou, J. Lee, C. Lee","doi":"10.1109/ICMECH.2005.1529267","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529267","url":null,"abstract":"The extraordinary transmission phenomenon has stimulated much interest in recent years. Based on the extraordinary transmission and directional beaming phenomena proposed by Ebbesen et al., a new optical head structures, nonmetal optical head, are presented in this letter. Nonmetal optical head composed of dielectric surface grating on a metallic thin film was proposed. We also offer the physical origin for the directional beaming of light emerging from a single subwavelength slit in the metallic film that has dielectric grating feature on the exit side. Both of experiments and numerical simulations were implemented, and they were shown eventually to agree with this surface plasmon diffraction very well. The main reason for designing nonmetal optical head proposed in this letter is for mass production possibilities of nanoimprint technique. It is very important to know the mechanism which drives the directional beaming phenomenon for nonmetal optical head. Therefore, a design rule for desired nonmetal optical head is presented. Another novel optical design proposed is double slits optical head. Light emerging from the two slits cross at the desired focal length, which is decided by the distance between the two slits. Also, two light beam interference to become a subwavelength light beam. Various applications may appear because of the understanding of this nano-optics device, from this design, for example, an optical switch or an optical sensor, optical lithography, optical storage, and optical microscopy, and so on.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"2008 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128999784","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529327
Chwan-Hsen Chen
The white-light vertical scanning interferometry (WLVSI) profiler can measure the three-dimensional profile of a minute object with great accuracy. The working principle of the WLVSI is to use the interference patterns measured with a CCD sensor at different objective distance to derive the specimen profile. However, due to the short coherence length nature of the WLVSl profiler, the focusing and leveling operations to bring the specimen surface within the coherence range are very time-consuming. Furthermore, these operations are coupled, for the adjustment of the surface orientation could change the focus condition. An operator has to iterate between focusing and leveling in order to generate a clear image with broad interference stripes. This paper describes an automatic optical path alignment method to focus the image and align the orientation of a specimen surface to perpendicular to the optical axis. Our method first finds the focus point for a specimen by a global search algorithm to establish a starting point. Then, based on a subsequent scanning at several different heights, a rough surface profile is obtained by the depth from focus approach. From this profile, we can fit a plane model to find the major orientation of the specimen. From the surface normal vector, we derive the necessary equations to calculate the rotation angles to restore an oblique surface to perpendicular to the optical axis. After the adjustment, the specimen is refocused again. This implemented automatic alignment system can complete the operations in a few runs.
{"title":"Automatic optical path alignment for a vertical scanning interference profiler","authors":"Chwan-Hsen Chen","doi":"10.1109/ICMECH.2005.1529327","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529327","url":null,"abstract":"The white-light vertical scanning interferometry (WLVSI) profiler can measure the three-dimensional profile of a minute object with great accuracy. The working principle of the WLVSI is to use the interference patterns measured with a CCD sensor at different objective distance to derive the specimen profile. However, due to the short coherence length nature of the WLVSl profiler, the focusing and leveling operations to bring the specimen surface within the coherence range are very time-consuming. Furthermore, these operations are coupled, for the adjustment of the surface orientation could change the focus condition. An operator has to iterate between focusing and leveling in order to generate a clear image with broad interference stripes. This paper describes an automatic optical path alignment method to focus the image and align the orientation of a specimen surface to perpendicular to the optical axis. Our method first finds the focus point for a specimen by a global search algorithm to establish a starting point. Then, based on a subsequent scanning at several different heights, a rough surface profile is obtained by the depth from focus approach. From this profile, we can fit a plane model to find the major orientation of the specimen. From the surface normal vector, we derive the necessary equations to calculate the rotation angles to restore an oblique surface to perpendicular to the optical axis. After the adjustment, the specimen is refocused again. This implemented automatic alignment system can complete the operations in a few runs.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130132889","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529334
C. Kuo, Jung-Jie Liu, Kun-Lin Lin, Fang-Chung Yang, Huai-Wen Chen
This paper presents an asynchronous Internet-based ear-nose-throat diagnosis system to promote the location independent diagnosis. This work proposes a new medical service mechanism for the patients who may ask for diagnosis at home or office instead of going to hospital. Based on the proposed medical service mechanism, the ENT physicians can diagnose the electric patient record (EPR) through the Internet. In addition, the patients can submit the physiological signals and multimedia data at home or office. Especially, the quality of multimedia data can be maintained based on the asynchronous diagnosis mechanism. The tentative diagnosis can suggest the patients to the clinic, local hospital, general hospital, or medical center for advanced face-to-face diagnoses to balance the national medical resources. The practical implementations of this work include the digitalized ENT symptoms and signs acquisition devices, remote electrical diagnosis box (REDB), remote patient data acquisition (RPDA) program, and virtual hospital service (VHS) Web server. The academic prototype had been implemented in terms of the in-lab design hardware devices and software programs. Finally, the entire system has been verified for several clinical trials, and they are reported in this paper.
{"title":"Hands-on practice and implementations on Internet-based remote ENT diagnosis systems","authors":"C. Kuo, Jung-Jie Liu, Kun-Lin Lin, Fang-Chung Yang, Huai-Wen Chen","doi":"10.1109/ICMECH.2005.1529334","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529334","url":null,"abstract":"This paper presents an asynchronous Internet-based ear-nose-throat diagnosis system to promote the location independent diagnosis. This work proposes a new medical service mechanism for the patients who may ask for diagnosis at home or office instead of going to hospital. Based on the proposed medical service mechanism, the ENT physicians can diagnose the electric patient record (EPR) through the Internet. In addition, the patients can submit the physiological signals and multimedia data at home or office. Especially, the quality of multimedia data can be maintained based on the asynchronous diagnosis mechanism. The tentative diagnosis can suggest the patients to the clinic, local hospital, general hospital, or medical center for advanced face-to-face diagnoses to balance the national medical resources. The practical implementations of this work include the digitalized ENT symptoms and signs acquisition devices, remote electrical diagnosis box (REDB), remote patient data acquisition (RPDA) program, and virtual hospital service (VHS) Web server. The academic prototype had been implemented in terms of the in-lab design hardware devices and software programs. Finally, the entire system has been verified for several clinical trials, and they are reported in this paper.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127506608","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529314
Y. Kung, G. Shu
A servo control IC for vertical articulated robot arm using SOPC (system-on-a-programmable-chip) technology is presented in this paper. The SOPC technology, developed by Altera Corporation, consists of a FPGA (field programmable gate array) and a Nios embedded processor. In this proposed servo control IC, there are two modules. One module performs the functions of the sequential control, the motion trajectory control and five-axis position control. The other module performs the functions of the five sets of PWM (pulse width modulation) generation and QEP (quadrature encoder pulse) capture. The former is implemented by software using Nios embedded processor due to the need of complicated control algorithm and low sampling frequency control (motion trajectory control & position control: less than 1 kHz). The latter is implemented by hardware using PLD (programmable logic device) in FPGA due to the need of high sampling frequency control (PWM circuit: 18 kHz, peripheral circuits: 4~8 MHz) but simple computation. As the result, the use of the SOPC technology can make the controller of the vertical articulated robot arm more compact, high performance and cost down.
{"title":"Design and implementation of a control IC for vertical articulated robot arm using SOPC technology","authors":"Y. Kung, G. Shu","doi":"10.1109/ICMECH.2005.1529314","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529314","url":null,"abstract":"A servo control IC for vertical articulated robot arm using SOPC (system-on-a-programmable-chip) technology is presented in this paper. The SOPC technology, developed by Altera Corporation, consists of a FPGA (field programmable gate array) and a Nios embedded processor. In this proposed servo control IC, there are two modules. One module performs the functions of the sequential control, the motion trajectory control and five-axis position control. The other module performs the functions of the five sets of PWM (pulse width modulation) generation and QEP (quadrature encoder pulse) capture. The former is implemented by software using Nios embedded processor due to the need of complicated control algorithm and low sampling frequency control (motion trajectory control & position control: less than 1 kHz). The latter is implemented by hardware using PLD (programmable logic device) in FPGA due to the need of high sampling frequency control (PWM circuit: 18 kHz, peripheral circuits: 4~8 MHz) but simple computation. As the result, the use of the SOPC technology can make the controller of the vertical articulated robot arm more compact, high performance and cost down.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127667017","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529244
Yi-Cheng Huang, K. Chuang, Mou-Sheng Lin, Chi-Fan Chen
The aim of this paper is to develop the detection system for present fast-developing LED (light emitted diode) photoelectric industry. To cope with the processing size of next generation dwindles, the gear of the inspection equipment in ultra precision and fast inspection specifications will become one of the important research keys. This paper presents a machine vision to inspect LED microstructure by piezo-actuation stage, while implemented vision system is used for feedback control of the planar motor. Ultra precision and fast positioning for searching the LED pad/die is achieved by using the features of piezoelectric actuator (PEA) that is embedded in the probing stage. Such piezo-actuated probing stage is controlled by using feed-forward neural network (FFNN) learning algorithm to compensate for the nonlinear and hysteresis properties of piezoelectricity. Experimental results show each LED pad/die can be finished lighting within the rate of 4 pieces per second of one probe. This work validates a new inspection machine structure and demonstrates the feasibility on future multi probes for next manufacturing in lower dimensions.
{"title":"Inspecting LED micro structure by piezo servo system","authors":"Yi-Cheng Huang, K. Chuang, Mou-Sheng Lin, Chi-Fan Chen","doi":"10.1109/ICMECH.2005.1529244","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529244","url":null,"abstract":"The aim of this paper is to develop the detection system for present fast-developing LED (light emitted diode) photoelectric industry. To cope with the processing size of next generation dwindles, the gear of the inspection equipment in ultra precision and fast inspection specifications will become one of the important research keys. This paper presents a machine vision to inspect LED microstructure by piezo-actuation stage, while implemented vision system is used for feedback control of the planar motor. Ultra precision and fast positioning for searching the LED pad/die is achieved by using the features of piezoelectric actuator (PEA) that is embedded in the probing stage. Such piezo-actuated probing stage is controlled by using feed-forward neural network (FFNN) learning algorithm to compensate for the nonlinear and hysteresis properties of piezoelectricity. Experimental results show each LED pad/die can be finished lighting within the rate of 4 pieces per second of one probe. This work validates a new inspection machine structure and demonstrates the feasibility on future multi probes for next manufacturing in lower dimensions.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115760764","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529290
M. Yan, Y. Huang, A. Hsue
Conventional milling machine contained nonlinear time-varying dynamics because of the effect of irregular friction and obvious backlash inherited in the ball-screw driven table. In this paper, a fuzzy logic controller combined with neural network-based (NN) feedforward control was proposed to improve the contouring accuracy of this milling machine through friction compensation. Experiments on contouring control were conducted for various paths under milling force. The experimental results showed that this control scheme improved not only the contouring accuracy significantly, but also the disturbance rejection and robustness, comparing to the conventional control scheme.
{"title":"Friction compensation of a retrofit milling machine through a fuzzy logic controller combined with neural network-based feedforward control","authors":"M. Yan, Y. Huang, A. Hsue","doi":"10.1109/ICMECH.2005.1529290","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529290","url":null,"abstract":"Conventional milling machine contained nonlinear time-varying dynamics because of the effect of irregular friction and obvious backlash inherited in the ball-screw driven table. In this paper, a fuzzy logic controller combined with neural network-based (NN) feedforward control was proposed to improve the contouring accuracy of this milling machine through friction compensation. Experiments on contouring control were conducted for various paths under milling force. The experimental results showed that this control scheme improved not only the contouring accuracy significantly, but also the disturbance rejection and robustness, comparing to the conventional control scheme.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125764131","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529371
S. Staicu
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position and the rotational motion of the platform are known, an inverse dynamic problem is developed using the virtual power approach. Finally, some recursive matrix relations and some graphs for the torques of the actuators are determined.
{"title":"Planetary gear train for robotics","authors":"S. Staicu","doi":"10.1109/ICMECH.2005.1529371","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529371","url":null,"abstract":"A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position and the rotational motion of the platform are known, an inverse dynamic problem is developed using the virtual power approach. Finally, some recursive matrix relations and some graphs for the torques of the actuators are determined.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128509400","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529296
Chia-How Lin, H. Andrian, Yao-Qing Wang, K. Song
This paper presents a design and implementation of a prototype personal assistant robot (PAR). The goal for the development of PAR is to investigate how an intelligent machine can assist and interact with a person in a smart manner. The PAR prototype consists of a mobile platform and a three degree-of-freedom manipulator. Currently, implemented functions include PDA remote control, human face recognition and tracking, and fuzzy behavior-based navigation. Experimental studies of these functions show that the robot demonstrates autonomous interactions as well as assistant functions in a natural indoor environment.
{"title":"Personal assistant robot","authors":"Chia-How Lin, H. Andrian, Yao-Qing Wang, K. Song","doi":"10.1109/ICMECH.2005.1529296","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529296","url":null,"abstract":"This paper presents a design and implementation of a prototype personal assistant robot (PAR). The goal for the development of PAR is to investigate how an intelligent machine can assist and interact with a person in a smart manner. The PAR prototype consists of a mobile platform and a three degree-of-freedom manipulator. Currently, implemented functions include PDA remote control, human face recognition and tracking, and fuzzy behavior-based navigation. Experimental studies of these functions show that the robot demonstrates autonomous interactions as well as assistant functions in a natural indoor environment.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132970333","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529312
C. Hwang, Song-Yu Han, L. Chang
In this paper, a mixed H/sub 2//H/sub /spl infin// decentralized variable structure control for car-like mobile robot (CLMR) was developed. Under no uncertain condition, a linear discrete-time dynamic model for steering and translation subsystem was individually achieved by the recursive least-squares parameter estimation. Then the H/sub 2/-norm of output error and weighted control input was minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. In addition, the H/sub /spl infin//-norm of weighted sensitivity between output disturbance (caused by the interactions among subsystems, modeling error, and external load) and output error was minimized to attenuate the effect of output disturbance. For further improving system performance, a switching control for every subsystem was designed. The experiment of CLMR for tracking an "S" trajectory was carried out to evaluate the usefulness of the proposed control system.
{"title":"Trajectory tracking of car-like mobile robots using mixed H/sub 2//H/sub /spl infin// decentralized variable structure control","authors":"C. Hwang, Song-Yu Han, L. Chang","doi":"10.1109/ICMECH.2005.1529312","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529312","url":null,"abstract":"In this paper, a mixed H/sub 2//H/sub /spl infin// decentralized variable structure control for car-like mobile robot (CLMR) was developed. Under no uncertain condition, a linear discrete-time dynamic model for steering and translation subsystem was individually achieved by the recursive least-squares parameter estimation. Then the H/sub 2/-norm of output error and weighted control input was minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. In addition, the H/sub /spl infin//-norm of weighted sensitivity between output disturbance (caused by the interactions among subsystems, modeling error, and external load) and output error was minimized to attenuate the effect of output disturbance. For further improving system performance, a switching control for every subsystem was designed. The experiment of CLMR for tracking an \"S\" trajectory was carried out to evaluate the usefulness of the proposed control system.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133152890","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}
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