Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587227
M. Homayounzade, M. Keshmiri, M. Danesh
In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. The observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the joint's velocity, provided joint's position are measured. Using the measured and estimated states, a controller is designed through the direct Lyapunov method. It is shown that the controller is asymptotically stable in it's region of attraction, both in position and velocity tracking. To show the validity of the proposed scheme, the algorithm is implemented on a two link planar manipulator actuated by BDC motors.
{"title":"An observer-based state feedback controller design for robot manipulators considering actuators' dynamic","authors":"M. Homayounzade, M. Keshmiri, M. Danesh","doi":"10.1109/MMAR.2010.5587227","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587227","url":null,"abstract":"In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. The observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the joint's velocity, provided joint's position are measured. Using the measured and estimated states, a controller is designed through the direct Lyapunov method. It is shown that the controller is asymptotically stable in it's region of attraction, both in position and velocity tracking. To show the validity of the proposed scheme, the algorithm is implemented on a two link planar manipulator actuated by BDC motors.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115287431","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587249
W. Paszke
For systems that repeatedly perform a given task, iterative learning control makes it possible to update the control signal to the system during successive trials in order to improve the tracking performance. Iterative learning control has an inherent two-dimensional/repetitive system structure since dynamics involves in two independent directions, i.e. time and trials. In this paper, the repetitive process structure is exploited in a method that results in a one step synthesis both a stabilizing feedback controller in the time domain and a feedforward controller which guarantees convergence in the trial domain. Furthermore, with the aid of the Generalized Kalman-Yakubovich-Popov lemma the controller design is performed in finite frequency range to determine which frequencies have to be emphasized in the learning process. The advantage of a proposed design method lies in the fact that it is presented in terms of solutions to a set of linear matrix inequalities which requires a reasonable computational cost to solve them. The effectiveness of the theoretical developments will be validated by considering a pick-and-place robot system as a practical application.
{"title":"Finite frequency control of discrete linear repetitive processes with application in iterative learning control","authors":"W. Paszke","doi":"10.1109/MMAR.2010.5587249","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587249","url":null,"abstract":"For systems that repeatedly perform a given task, iterative learning control makes it possible to update the control signal to the system during successive trials in order to improve the tracking performance. Iterative learning control has an inherent two-dimensional/repetitive system structure since dynamics involves in two independent directions, i.e. time and trials. In this paper, the repetitive process structure is exploited in a method that results in a one step synthesis both a stabilizing feedback controller in the time domain and a feedforward controller which guarantees convergence in the trial domain. Furthermore, with the aid of the Generalized Kalman-Yakubovich-Popov lemma the controller design is performed in finite frequency range to determine which frequencies have to be emphasized in the learning process. The advantage of a proposed design method lies in the fact that it is presented in terms of solutions to a set of linear matrix inequalities which requires a reasonable computational cost to solve them. The effectiveness of the theoretical developments will be validated by considering a pick-and-place robot system as a practical application.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116310555","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587258
A. Kaźmierczak, P. Plotnikov, J. Sokołowski, A. Zochowski
In the series of papers the mathematical theory of shape optimization for compressible Navier-Stokes inhomo-geneous boundary value problems is developed. The key part of the theory include the new results on the existence and shape differentiability of the weak solutions to compressible Navier-Stokes equations. In particular, our results lead to the rigorous mathematical framework for the drag minimization of an obstacle in the flow of gas with small adiabatic constant.
{"title":"Numerical method for drag minimization in compressible flows","authors":"A. Kaźmierczak, P. Plotnikov, J. Sokołowski, A. Zochowski","doi":"10.1109/MMAR.2010.5587258","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587258","url":null,"abstract":"In the series of papers the mathematical theory of shape optimization for compressible Navier-Stokes inhomo-geneous boundary value problems is developed. The key part of the theory include the new results on the existence and shape differentiability of the weak solutions to compressible Navier-Stokes equations. In particular, our results lead to the rigorous mathematical framework for the drag minimization of an obstacle in the flow of gas with small adiabatic constant.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127343610","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587270
M. Janiak, Krzysztof Tchona
We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.
{"title":"Constrained robot motion planning: Imbalanced Jacobian algorithm vs. optimal control approach","authors":"M. Janiak, Krzysztof Tchona","doi":"10.1109/MMAR.2010.5587270","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587270","url":null,"abstract":"We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131237515","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587203
Salim Maakaroun, W. Khalil, M. Gautier, P. Chevrel
The use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.
{"title":"Geometric model of a narrow tilting CAR using robotics formalism","authors":"Salim Maakaroun, W. Khalil, M. Gautier, P. Chevrel","doi":"10.1109/MMAR.2010.5587203","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587203","url":null,"abstract":"The use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129814106","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587221
A. Kowalewski
Various optimization problems associated with the optimal control of second order time delay hyperbolic systems have been studied in [5], [6], [7], [8], [9] and [10] respectively. In this paper, we consider an optimal control problem for a linear infinite order hyperbolic system. One from the initial conditions is given by control function. Sufficient conditions for the existence of a unique solution of such hyperbolic equations with the Dirichlet boundary conditions are presented. The performance functional has the quadratic form. The time horizon T is fixed. Finally, we impose some constraints on the control. Making use of the Lions scheme ([11]), necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional and constrained control are derived.
{"title":"Optimal control via initial state of an infinite order hyperbolic system","authors":"A. Kowalewski","doi":"10.1109/MMAR.2010.5587221","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587221","url":null,"abstract":"Various optimization problems associated with the optimal control of second order time delay hyperbolic systems have been studied in [5], [6], [7], [8], [9] and [10] respectively. In this paper, we consider an optimal control problem for a linear infinite order hyperbolic system. One from the initial conditions is given by control function. Sufficient conditions for the existence of a unique solution of such hyperbolic equations with the Dirichlet boundary conditions are presented. The performance functional has the quadratic form. The time horizon T is fixed. Finally, we impose some constraints on the control. Making use of the Lions scheme ([11]), necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional and constrained control are derived.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131549983","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587230
J. Kabzinski
Chaos suppression, anticontrol and synchronization problems are solved for a chaotic system (Duffing oscillator) with unknown parameters including unknown, variable control gain. Two techniques of adaptive backstepping controller design are presented. The number of adaptive parameters is not imposed by the design technique, but may be elastically chosen.
{"title":"Adaptive control of Duffing oscillator with unknown input gain","authors":"J. Kabzinski","doi":"10.1109/MMAR.2010.5587230","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587230","url":null,"abstract":"Chaos suppression, anticontrol and synchronization problems are solved for a chaotic system (Duffing oscillator) with unknown parameters including unknown, variable control gain. Two techniques of adaptive backstepping controller design are presented. The number of adaptive parameters is not imposed by the design technique, but may be elastically chosen.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"210 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124489598","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587246
Urszula Libal
The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal coefficients. The hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. The algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.
{"title":"Multistage classification of signals with the use of multiscale wavelet representation","authors":"Urszula Libal","doi":"10.1109/MMAR.2010.5587246","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587246","url":null,"abstract":"The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal coefficients. The hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. The algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130839482","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587228
S. Banka, M. Brasel, P. Dworak, K. Latawiec
In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.
{"title":"Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface","authors":"S. Banka, M. Brasel, P. Dworak, K. Latawiec","doi":"10.1109/MMAR.2010.5587228","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587228","url":null,"abstract":"In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114069519","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587196
H. Aschemann, A. Rauh, R. Prabel
In this paper, a flatness-based multivariable control of a permanent magnet synchronous motor (PMSM) as the main drive of a pressurised water supply system is presented. The fluidic subsystem consists of a pump and a storage volume connected to the high pressure side. The pump has to provide the supply volume flow into the storage volume, whereas the drain volume flow is considered as a disturbance. Based on a nonlinear mathematical model of the PMSM in a rotor-fixed coordinate system and the attached fluidic system, a nonlinear tracking control strategy is proposed. Here, the differential flatness of the model with the d-current of the rotor and the storage pressure as flat outputs can be exploited to derive a combined feedforward and feedback control strategy. The coupling torque between the PMSM and the pump follows from an analysis of the fluidic circuit. The disturbance torque acting on the pump is determined by a nonlinear reduced-order observer and can be used in a compensation strategy to improve the tracking behaviour of the electric drive. Simulations point out the effectiveness and the excellent tracking properties of the proposed control structure.
{"title":"Nonlinear control of a pressurised water supply driven by a permanent magnet synchronous motor","authors":"H. Aschemann, A. Rauh, R. Prabel","doi":"10.1109/MMAR.2010.5587196","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587196","url":null,"abstract":"In this paper, a flatness-based multivariable control of a permanent magnet synchronous motor (PMSM) as the main drive of a pressurised water supply system is presented. The fluidic subsystem consists of a pump and a storage volume connected to the high pressure side. The pump has to provide the supply volume flow into the storage volume, whereas the drain volume flow is considered as a disturbance. Based on a nonlinear mathematical model of the PMSM in a rotor-fixed coordinate system and the attached fluidic system, a nonlinear tracking control strategy is proposed. Here, the differential flatness of the model with the d-current of the rotor and the storage pressure as flat outputs can be exploited to derive a combined feedforward and feedback control strategy. The coupling torque between the PMSM and the pump follows from an analysis of the fluidic circuit. The disturbance torque acting on the pump is determined by a nonlinear reduced-order observer and can be used in a compensation strategy to improve the tracking behaviour of the electric drive. Simulations point out the effectiveness and the excellent tracking properties of the proposed control structure.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116006151","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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