首页 > 最新文献

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)最新文献

英文 中文
Design of H∞ controller for networked predictive control system with prediction error observer 具有预测误差观测器的网络预测控制系统的H∞控制器设计
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496340
Takuya Takahashi, Y. Uchimura
This paper proposes prediction error observer (PEOB) in the design of networked predictive control systems (NPCSs) with network delays and model errors, which proposes stability criteria for closed-loop NPCSs. In the NPCSs, a prediction error occurs due to model errors. Based on a-priori predictions, the PEOB compensates for the prediction error when the controller predicts the current and future states. The proposed method improves the performance of the conventional NPC associated with network delays and model errors. Experimental results illustrate the effectiveness of the proposed control strategies.
在具有网络延迟和模型误差的网络预测控制系统设计中,提出了预测误差观测器,给出了闭环预测控制系统的稳定性判据。在npc中,由于模型错误而出现预测错误。基于先验预测,当控制器预测当前和未来状态时,PEOB补偿预测误差。该方法改善了传统NPC在网络延迟和模型误差下的性能。实验结果验证了所提控制策略的有效性。
{"title":"Design of H∞ controller for networked predictive control system with prediction error observer","authors":"Takuya Takahashi, Y. Uchimura","doi":"10.1109/AMC.2016.7496340","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496340","url":null,"abstract":"This paper proposes prediction error observer (PEOB) in the design of networked predictive control systems (NPCSs) with network delays and model errors, which proposes stability criteria for closed-loop NPCSs. In the NPCSs, a prediction error occurs due to model errors. Based on a-priori predictions, the PEOB compensates for the prediction error when the controller predicts the current and future states. The proposed method improves the performance of the conventional NPC associated with network delays and model errors. Experimental results illustrate the effectiveness of the proposed control strategies.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117201420","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}
引用次数: 0
Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA) 基于机器人效用任务分配(RUTA)的异构机器人群协调
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496328
Tamer Abukhalil, Madhav Patil, S. Patel, T. Sobh
The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.
这项工作的目标是开发一个面向任务的软件应用程序,以促进多个机器人代理的快速部署。任务解决方案是在运行时创建的,并由代理以集中或分散的方式执行。将任务划分为更小的子任务,然后使用基于机器人效用的任务分配(RUTA)算法将子任务分配给最优数量的机器人。该系统使用其应用程序接口(API)部署这些机器人,并上传与小例程代码集成的程序。当采用分散式方法时,嵌入式例程允许机器人配置解决方案。
{"title":"Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)","authors":"Tamer Abukhalil, Madhav Patil, S. Patel, T. Sobh","doi":"10.1109/AMC.2016.7496328","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496328","url":null,"abstract":"The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126442900","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}
引用次数: 19
A design of in-car multi-layer communication network with Bluetooth and CAN bus 基于蓝牙和CAN总线的车载多层通信网络的设计
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496370
Z. Qi, Ping Dong, Kuang Ma, Nicholas Sargeant
This paper presents a novel design for tablet controlled 4-Wheel Independent Drive and Independent Steering (4-WIDIS) Electric Vehicle (EV) with multilayer communication network. The tablet acts as a human machine interface (HMI) and the host computer of the EV operation control computation for individual wheel-units via Bluetooth, CAN bus, and a gateway that connects the two interfaces. An experimental prototype demonstrates that Bluetooth 4.0 communication rate is insufficient to maintain absolute control required of an EV travelling at high speed. Therefore, it is recommended to designate the tablet as an auxiliary HMI, and upgrade the gateway to a powerful central controller. Such a system structure requires further examination.
提出了一种具有多层通信网络的平板控制四轮独立驱动与独立转向(4-WIDIS)电动汽车的设计方案。平板电脑通过蓝牙、CAN总线和连接两个接口的网关,作为单个车轮单元的人机界面(HMI)和电动汽车运行控制计算的主机。实验样机表明,蓝牙4.0通信速率不足以维持高速行驶的电动汽车所需的绝对控制。因此,建议将平板电脑指定为辅助HMI,并将网关升级为功能强大的中央控制器。这种制度结构需要进一步审查。
{"title":"A design of in-car multi-layer communication network with Bluetooth and CAN bus","authors":"Z. Qi, Ping Dong, Kuang Ma, Nicholas Sargeant","doi":"10.1109/AMC.2016.7496370","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496370","url":null,"abstract":"This paper presents a novel design for tablet controlled 4-Wheel Independent Drive and Independent Steering (4-WIDIS) Electric Vehicle (EV) with multilayer communication network. The tablet acts as a human machine interface (HMI) and the host computer of the EV operation control computation for individual wheel-units via Bluetooth, CAN bus, and a gateway that connects the two interfaces. An experimental prototype demonstrates that Bluetooth 4.0 communication rate is insufficient to maintain absolute control required of an EV travelling at high speed. Therefore, it is recommended to designate the tablet as an auxiliary HMI, and upgrade the gateway to a powerful central controller. Such a system structure requires further examination.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128634596","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}
引用次数: 4
PneuNet based control system for soft robotic tongue 基于PneuNet的软舌机器人控制系统
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496375
Xuanming Lu, Weiliang Xu, Xiaoning Li
The control system of a novel soft robot which can mimic a few deformations of human tongue was designed based on closed-loop control method. For the purpose of reducing the cost, solenoid directional valves and pressure sensors are applied to the pneumatic actuation circuit instead of proportional valves, which can reduce the cost by about 70%. The electrical circuit of this system consists of a DAQ card, NPN transistors and some other auxiliary components. The control program is written in LabVIEW software because of its compatibility with the DAQ card. Three working modes are realised through the control program including loading, holding and unloading. Several tests of this control system have been carried out and five typical deformations were achieved approving that this system can control the pressure in each chamber independently.
基于闭环控制方法,设计了一种能够模拟人类舌头部分变形的新型软体机器人的控制系统。为了降低成本,在气动执行回路中采用电磁换向阀和压力传感器代替比例阀,可使成本降低70%左右。该系统的电路由一个数据采集卡、NPN晶体管和其他一些辅助元件组成。由于与DAQ卡兼容,控制程序采用LabVIEW软件编写。通过控制程序实现装载、保持和卸载三种工作模式。对该控制系统进行了多次试验,实现了五种典型变形,证明该控制系统可以独立控制各腔室的压力。
{"title":"PneuNet based control system for soft robotic tongue","authors":"Xuanming Lu, Weiliang Xu, Xiaoning Li","doi":"10.1109/AMC.2016.7496375","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496375","url":null,"abstract":"The control system of a novel soft robot which can mimic a few deformations of human tongue was designed based on closed-loop control method. For the purpose of reducing the cost, solenoid directional valves and pressure sensors are applied to the pneumatic actuation circuit instead of proportional valves, which can reduce the cost by about 70%. The electrical circuit of this system consists of a DAQ card, NPN transistors and some other auxiliary components. The control program is written in LabVIEW software because of its compatibility with the DAQ card. Three working modes are realised through the control program including loading, holding and unloading. Several tests of this control system have been carried out and five typical deformations were achieved approving that this system can control the pressure in each chamber independently.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132527826","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}
引用次数: 4
Energy-efficient power assist control with periodic disturbance observer and frequency estimator 基于周期扰动观测器和频率估计器的节能辅助控制
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496379
K. Hatada, K. Hirata, Takuma Sato
In this paper, energy-efficient power assist control problem for almost-periodic motions is considered. Specifically, we focus on the electric power assisted bicycles. Previously, it was shown that the energy efficiency improves by flattening the pedaling torque pattern. To cope with the frequency fluctuation of our motion, we introduce the periodic disturbance observer and a frequency estimator and suppress the pulsation of the human pedaling torque based on a disturbance observer framework. The effectiveness of the proposed method is demonstrated through experiments with an actual bicycle.
研究了近周期运动的节能动力辅助控制问题。具体来说,我们专注于电动助力自行车。先前的研究表明,通过平坦化踏板扭矩模式可以提高能效。为了应对运动的频率波动,我们引入了周期干扰观测器和频率估计器,并基于干扰观测器框架抑制了人踏板转矩的脉动。通过一辆实际自行车的实验验证了该方法的有效性。
{"title":"Energy-efficient power assist control with periodic disturbance observer and frequency estimator","authors":"K. Hatada, K. Hirata, Takuma Sato","doi":"10.1109/AMC.2016.7496379","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496379","url":null,"abstract":"In this paper, energy-efficient power assist control problem for almost-periodic motions is considered. Specifically, we focus on the electric power assisted bicycles. Previously, it was shown that the energy efficiency improves by flattening the pedaling torque pattern. To cope with the frequency fluctuation of our motion, we introduce the periodic disturbance observer and a frequency estimator and suppress the pulsation of the human pedaling torque based on a disturbance observer framework. The effectiveness of the proposed method is demonstrated through experiments with an actual bicycle.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134277106","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}
引用次数: 1
Multi-objective parameter optimization design of a magnetically actuated intravitreal injection device 磁驱动玻璃体内注射装置的多目标参数优化设计
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496388
Hui Zhou, Jinji Sun, Bok Seng Yeow, Hongliang Ren
Aiming at intravitreal injection procedures for eye diseases, needless injectors are emerging to puncture complications, save time and improve the safety of the process. In this paper, an injection device based on electromagnetic E-core actuation is selected for its better position control and improved controllability over current solenoid designs. The multi-objective optimization model of the E-core device is derived. Then, an integrated NSGA-II and TOPSIS based on combinatorial weighting approach is proposed for the parameter optimization design of the device and the selection of a final compromise solution or optimal solution. The combination weighting method combines the advantages of the objective and subjective weighting method, making the results more reasonable.
针对眼科疾病的玻璃体内注射手术,出现了不必要的注射器,以穿刺并发症,节省时间和提高过程的安全性。本文选择了一种基于电磁e芯驱动的喷射装置,因为它比现有的电磁阀设计具有更好的位置控制和更好的可控性。推导了E-core器件的多目标优化模型。然后,提出了一种基于组合加权的NSGA-II和TOPSIS集成方法,用于器件的参数优化设计和最终折衷解或最优解的选择。组合加权法结合了客观加权法和主观加权法的优点,使结果更加合理。
{"title":"Multi-objective parameter optimization design of a magnetically actuated intravitreal injection device","authors":"Hui Zhou, Jinji Sun, Bok Seng Yeow, Hongliang Ren","doi":"10.1109/AMC.2016.7496388","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496388","url":null,"abstract":"Aiming at intravitreal injection procedures for eye diseases, needless injectors are emerging to puncture complications, save time and improve the safety of the process. In this paper, an injection device based on electromagnetic E-core actuation is selected for its better position control and improved controllability over current solenoid designs. The multi-objective optimization model of the E-core device is derived. Then, an integrated NSGA-II and TOPSIS based on combinatorial weighting approach is proposed for the parameter optimization design of the device and the selection of a final compromise solution or optimal solution. The combination weighting method combines the advantages of the objective and subjective weighting method, making the results more reasonable.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133527388","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}
引用次数: 2
Sampled-data robust feedback linearization using estimator 基于估计器的采样数据鲁棒反馈线性化
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496363
Asim Zaheer, Y. Ayaz, Momena Hasan, M. Salman
In this paper, robust control schemes are presented to achieve sampled-data output feedback tracking, for the cases of unknown and known nonlinear minimum phase second order plant (system) models. For known system model case, system output tracks reference trajectory using Extended Kalman Filter (EKF), Unscented Kalman filter (UKF), and Cubature Kalman Filter (CKF). Whereas, for unknown system model case; EKF, UKF and CKF cannot be utilized. For this case, in this paper; State-Space Recursive Least Squares (SSRLS) and Sliding Mode observer (SMO) are employed. SSRLS uses constant velocity model, whereas, SMO requires information about input function only, to track the reference signal. Emulation Design based discrete feedback linearization controller utilizes estimated states to generate control input for plant. The robustness of these sampled-data output feedback control schemes (using estimators) against disturbance and parameter perturbation is demonstrated. It is presented via simulations for magnetic levitation system, that robust tracking is achieved on using estimators (Kalman filters and SMO) in sampled-data output feedback configuration as compared to performing tracking using sampled-data state feedback scheme. Simulation results show that SMO based output feedback tracking is most robust, followed by CKF and EKF based output feedback scheme. UKF based output feedback scheme is robust against external disturbance force, but for case of system parameter perturbation, UKF tracking error takes longer time to converge. SSRLS based scheme behaves poorly in presence of external disturbance force, as SSRLS estimation is based on constant velocity model and not on actual nonlinear system model.
针对未知和已知非线性最小相位二阶系统模型,提出了实现采样数据输出反馈跟踪的鲁棒控制方案。对于已知的系统模型情况,系统输出使用扩展卡尔曼滤波器(EKF)、无气味卡尔曼滤波器(UKF)和Cubature卡尔曼滤波器(CKF)跟踪参考轨迹。对于未知的系统模型情况;不能使用EKF、UKF和CKF。对于这种情况,在本文中;采用状态空间递推最小二乘(SSRLS)和滑模观测器(SMO)。SSRLS采用恒速模型,而SMO只需要输入函数的信息来跟踪参考信号。基于仿真设计的离散反馈线性化控制器利用预估状态生成被控对象的控制输入。证明了这些采样数据输出反馈控制方案(使用估计器)对扰动和参数扰动的鲁棒性。通过对磁悬浮系统的仿真表明,与使用采样数据状态反馈方案进行跟踪相比,在采样数据输出反馈配置中使用估计器(卡尔曼滤波器和SMO)可以实现鲁棒跟踪。仿真结果表明,基于SMO的输出反馈跟踪鲁棒性最强,其次是基于CKF和EKF的输出反馈方案。基于UKF的输出反馈方案对外部扰动力具有鲁棒性,但在系统参数扰动情况下,UKF跟踪误差需要较长的收敛时间。由于SSRLS估计是基于恒速模型,而不是基于实际的非线性系统模型,因此基于SSRLS的方案在存在外部扰动力时表现不佳。
{"title":"Sampled-data robust feedback linearization using estimator","authors":"Asim Zaheer, Y. Ayaz, Momena Hasan, M. Salman","doi":"10.1109/AMC.2016.7496363","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496363","url":null,"abstract":"In this paper, robust control schemes are presented to achieve sampled-data output feedback tracking, for the cases of unknown and known nonlinear minimum phase second order plant (system) models. For known system model case, system output tracks reference trajectory using Extended Kalman Filter (EKF), Unscented Kalman filter (UKF), and Cubature Kalman Filter (CKF). Whereas, for unknown system model case; EKF, UKF and CKF cannot be utilized. For this case, in this paper; State-Space Recursive Least Squares (SSRLS) and Sliding Mode observer (SMO) are employed. SSRLS uses constant velocity model, whereas, SMO requires information about input function only, to track the reference signal. Emulation Design based discrete feedback linearization controller utilizes estimated states to generate control input for plant. The robustness of these sampled-data output feedback control schemes (using estimators) against disturbance and parameter perturbation is demonstrated. It is presented via simulations for magnetic levitation system, that robust tracking is achieved on using estimators (Kalman filters and SMO) in sampled-data output feedback configuration as compared to performing tracking using sampled-data state feedback scheme. Simulation results show that SMO based output feedback tracking is most robust, followed by CKF and EKF based output feedback scheme. UKF based output feedback scheme is robust against external disturbance force, but for case of system parameter perturbation, UKF tracking error takes longer time to converge. SSRLS based scheme behaves poorly in presence of external disturbance force, as SSRLS estimation is based on constant velocity model and not on actual nonlinear system model.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134365809","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}
引用次数: 0
Position control system based on inertia measurement unit sensor fusion with Kalman filter 基于惯性测量单元传感器与卡尔曼滤波融合的位置控制系统
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496343
T. Ishikawa, T. Nozaki, T. Murakami
This paper proposes position control system based on measurements of an inertia measurement unit (IMU) sensor (composed of a gyro sensor and an acceleration sensor) attached on the tip position of a 2-link planar manipulator. To estimate joint angle from only one IMU sensor, velocity applied to end effector is required. However, it is difficult to measure accurate velocity from integration of measurements of the acceleration sensor due to noise, offset and drift error. Therefore, Kalman filter and sensor fusion with acceleration sensor and gyro sensor are introduced to estimate the velocity with high accuracy. In addition to that, Disturbance observer (DOB) is used in the position control system, and the estimated angular velocity information is utilized in DOB. To confirm the performance of proposed control system, 3 types of simulation of position control are conducted. Kalman filter can reduce the noise effect and position control is achieved by proposed control system.
提出了一种基于惯性测量单元(IMU)传感器(由陀螺传感器和加速度传感器组成)测量的二连杆平面机械臂的位置控制系统。为了仅从一个IMU传感器估计关节角,需要应用于末端执行器的速度。但是,由于噪声、偏置误差和漂移误差的影响,很难通过对加速度传感器测量的积分来精确测量速度。为此,引入卡尔曼滤波和加速度传感器与陀螺传感器的传感器融合,以获得高精度的速度估计。此外,在位置控制系统中引入扰动观测器(DOB),并利用估计的角速度信息进行位置控制。为了验证所提出的控制系统的性能,进行了三种类型的位置控制仿真。卡尔曼滤波可以有效地降低噪声影响,并实现了位置控制。
{"title":"Position control system based on inertia measurement unit sensor fusion with Kalman filter","authors":"T. Ishikawa, T. Nozaki, T. Murakami","doi":"10.1109/AMC.2016.7496343","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496343","url":null,"abstract":"This paper proposes position control system based on measurements of an inertia measurement unit (IMU) sensor (composed of a gyro sensor and an acceleration sensor) attached on the tip position of a 2-link planar manipulator. To estimate joint angle from only one IMU sensor, velocity applied to end effector is required. However, it is difficult to measure accurate velocity from integration of measurements of the acceleration sensor due to noise, offset and drift error. Therefore, Kalman filter and sensor fusion with acceleration sensor and gyro sensor are introduced to estimate the velocity with high accuracy. In addition to that, Disturbance observer (DOB) is used in the position control system, and the estimated angular velocity information is utilized in DOB. To confirm the performance of proposed control system, 3 types of simulation of position control are conducted. Kalman filter can reduce the noise effect and position control is achieved by proposed control system.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115368398","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}
引用次数: 1
Adaptive vibration suppression perfect tracking control for linear time-varying systems with application to ball-screw feed drives 线性时变系统的自适应振动抑制完美跟踪控制及其在滚珠丝杠进给传动中的应用
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496358
Thomas Beauduin, H. Fujimoto, Yuki Terada
In high-precision positioning of feed drive systems, mechanical resonances are one of the main limiting factor for fast and precise motion. Vibration suppression tracking controllers are employed to improve positioning performance, although precise plant models are generally required. Hence, in systems with time-varying modes, the increasing modeling errors often result in the loss of the needed performance. This paper presents an adaptive tracking controller for vibration suppression of linear systems with time-varying dynamics. The technique is based on multirate feedforward, alleviating the unstable-zeros problem of discrete time plant models, for which the nominal plant model is adjusted using recursive estimation. A novel estimation scheme is presented to estimate the modal parameters of the plant based on the relative motion between the mechanical components. The proposed control scheme is applied to ball-screw feed drives with varying dynamics during the cutting process and the advantages demonstrated through simulations and experiments.
在进给传动系统的高精度定位中,机械共振是制约其快速精确运动的主要因素之一。振动抑制跟踪控制器用于提高定位性能,但通常需要精确的对象模型。因此,在具有时变模式的系统中,不断增加的建模误差通常会导致所需性能的损失。针对时变动态线性系统的振动抑制问题,提出了一种自适应跟踪控制器。该技术基于多速率前馈,缓解了离散时间植物模型的不稳定零问题,对名义植物模型采用递归估计进行调整。提出了一种基于机械部件之间的相对运动来估计系统模态参数的新方法。将所提出的控制方案应用于切削过程中动态变化的滚珠丝杠进给传动,并通过仿真和实验证明了其优越性。
{"title":"Adaptive vibration suppression perfect tracking control for linear time-varying systems with application to ball-screw feed drives","authors":"Thomas Beauduin, H. Fujimoto, Yuki Terada","doi":"10.1109/AMC.2016.7496358","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496358","url":null,"abstract":"In high-precision positioning of feed drive systems, mechanical resonances are one of the main limiting factor for fast and precise motion. Vibration suppression tracking controllers are employed to improve positioning performance, although precise plant models are generally required. Hence, in systems with time-varying modes, the increasing modeling errors often result in the loss of the needed performance. This paper presents an adaptive tracking controller for vibration suppression of linear systems with time-varying dynamics. The technique is based on multirate feedforward, alleviating the unstable-zeros problem of discrete time plant models, for which the nominal plant model is adjusted using recursive estimation. A novel estimation scheme is presented to estimate the modal parameters of the plant based on the relative motion between the mechanical components. The proposed control scheme is applied to ball-screw feed drives with varying dynamics during the cutting process and the advantages demonstrated through simulations and experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116087858","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}
引用次数: 3
Design of feedforward filling control for joining thick materials using robotic welding systems 厚材料机器人焊接系统的前馈填充控制设计
Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496357
Suibo Xia, Yan Zhi Tan, C. Pang, C. Chew
In this paper, a filling control strategy is proposed for robotic welding of thick materials which requires multipass welding. The multi-pass welding process is formulated as a closed-loop control design problem. A PI controller is used in the baseline loop for regulating the seam boundary error in the current pass; a non-causal feedforward controller is designed using the H∞ loop shaping technique for regulating the error from previous welding passes. Simulation results show that as compared to without using a feedforward controller, error propagation on the seam boundary will be eliminated within six passes for disturbances occurring only in the first filling pass, and error amplification is contained within four passes for disturbances occurring at the same position in every filling pass.
针对需要多道次焊接的厚材料机器人焊接,提出了一种填充控制策略。将多道次焊接过程表述为一个闭环控制设计问题。在基线回路中采用PI控制器来调节电流道缝边界误差;采用H∞回路整形技术设计了一种非因果前馈控制器来调节前道焊接误差。仿真结果表明,与不使用前馈控制器相比,仅在第一次充填过程中出现的扰动在6道内消除了误差在煤层边界上的传播,在每次充填过程中出现在同一位置的扰动在4道内误差被放大。
{"title":"Design of feedforward filling control for joining thick materials using robotic welding systems","authors":"Suibo Xia, Yan Zhi Tan, C. Pang, C. Chew","doi":"10.1109/AMC.2016.7496357","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496357","url":null,"abstract":"In this paper, a filling control strategy is proposed for robotic welding of thick materials which requires multipass welding. The multi-pass welding process is formulated as a closed-loop control design problem. A PI controller is used in the baseline loop for regulating the seam boundary error in the current pass; a non-causal feedforward controller is designed using the H∞ loop shaping technique for regulating the error from previous welding passes. Simulation results show that as compared to without using a feedforward controller, error propagation on the seam boundary will be eliminated within six passes for disturbances occurring only in the first filling pass, and error amplification is contained within four passes for disturbances occurring at the same position in every filling pass.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122451615","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}
引用次数: 3
期刊
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1