In this paper, we study the existence and uniqueness of solutions for the nonlinear fractional differential equation initial value problem Dαu(t) = f(t, u(t)), t∈ (0, T], t2−αu(t)|t=0 = b1, t2−αu′(t)|t=0 = b2, where 1 < a < 2 is a real number, Dα is the Riemann-Liouville fractional derivative. Using the monotone iterative method and the lower and upper solution method, some existence and uniqueness criteria are established, which extend the given results in recent literary works.
{"title":"On the existence and uniqueness of solutions for initial value problem of nonlinear fractional differential equations","authors":"Qiuping Li, Shurong Sun, Z. Han, Yige Zhao","doi":"10.1155/2012/615230","DOIUrl":"https://doi.org/10.1155/2012/615230","url":null,"abstract":"In this paper, we study the existence and uniqueness of solutions for the nonlinear fractional differential equation initial value problem D<sup>α</sup>u(t) = f(t, u(t)), t∈ (0, T], t<sup>2−α</sup>u(t)|<inf>t=0</inf> = b<inf>1</inf>, t<sup>2−α</sup>u′(t)|<inf>t=0</inf> = b<inf>2</inf>, where 1 < a < 2 is a real number, D<sup>α</sup> is the Riemann-Liouville fractional derivative. Using the monotone iterative method and the lower and upper solution method, some existence and uniqueness criteria are established, which extend the given results in recent literary works.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131396210","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552042
Ling Ma, Youmin Zhang
Fault tolerant control system (FTCS) is to maintain system stability in the presence of fault occurred in the actuators, sensors or other system components. When a fault/failure occurs either in an actuator, sensor or plant, the fault detection and diagnosis (FDD) as the central part of a FTCS will detect and diagnose the source and the magnitude of the fault. The reconfiguration scheme in the FTCS will design the reconfigurable controller based on the FDD information to balance and adapt the system for being able to tolerate to the faults and failures. This paper presents an applicable procedure of integrated fault detection and diagnosis for the NASA Generic Transport Model (GTM) unmanned aerial vehicle (UAV) aircraft model. The implementation of a FDD scheme in handling partial control effector fault cases with the nonlinear GTM and the linear parameter varying (LPV) representation of the nonlinear GTM have been carried out based on a dual unscented Kalman filter (DUKF) and a Baysian rule for detection and isolation decision making. Simulation results show satisfactory results for detecting and diagnosing the control effectors failures.
{"title":"DUKF-based GTM UAV fault detection and diagnosis with nonlinear and LPV models","authors":"Ling Ma, Youmin Zhang","doi":"10.1109/MESA.2010.5552042","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552042","url":null,"abstract":"Fault tolerant control system (FTCS) is to maintain system stability in the presence of fault occurred in the actuators, sensors or other system components. When a fault/failure occurs either in an actuator, sensor or plant, the fault detection and diagnosis (FDD) as the central part of a FTCS will detect and diagnose the source and the magnitude of the fault. The reconfiguration scheme in the FTCS will design the reconfigurable controller based on the FDD information to balance and adapt the system for being able to tolerate to the faults and failures. This paper presents an applicable procedure of integrated fault detection and diagnosis for the NASA Generic Transport Model (GTM) unmanned aerial vehicle (UAV) aircraft model. The implementation of a FDD scheme in handling partial control effector fault cases with the nonlinear GTM and the linear parameter varying (LPV) representation of the nonlinear GTM have been carried out based on a dual unscented Kalman filter (DUKF) and a Baysian rule for detection and isolation decision making. Simulation results show satisfactory results for detecting and diagnosing the control effectors failures.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"373 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128095329","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552011
A. Synodinos, N. Aspragathos
This paper presents a systematic approach for structuring potential fields in the free workspace of a mobile robot based on solid modeling concepts. The robot is considered as a solid object with volume and mass inside an artificial potential field which represents the free space. The applied force and torque to the robot is determined in order to find the direction and the magnitude of the translation and the angle of rotation respectively. A search method based on a modified simulated annealing is introduced to determine the path from the initial to the goal configuration where the robot is guided to the global minimum of the potential field avoiding the trap in local minima. Simulated experiments show the efficiency of the proposed approach and the paper concludes with the discussion of the results and hints for future work.
{"title":"Path planning of a mobile robot using solid modeling techniques on potential fields","authors":"A. Synodinos, N. Aspragathos","doi":"10.1109/MESA.2010.5552011","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552011","url":null,"abstract":"This paper presents a systematic approach for structuring potential fields in the free workspace of a mobile robot based on solid modeling concepts. The robot is considered as a solid object with volume and mass inside an artificial potential field which represents the free space. The applied force and torque to the robot is determined in order to find the direction and the magnitude of the translation and the angle of rotation respectively. A search method based on a modified simulated annealing is introduced to determine the path from the initial to the goal configuration where the robot is guided to the global minimum of the potential field avoiding the trap in local minima. Simulated experiments show the efficiency of the proposed approach and the paper concludes with the discussion of the results and hints for future work.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131882991","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552043
C. Yeh, Han-Long Yang, Wen Chen
This paper is to explore further results regarding Total Fault Information-based Residual (ToMFIR) approach to fault detection in dynamic systems. The TomFIR contains the essential fault information and remains unaffected by control actions in a closed-loop system. It is composed of control input residual and output error residual. The TomFIR is formulated in frequency domain. More importantly, the ToMFIR is able to detect faults/failures resulting from control-used computer. Currently, all of existing fault-detection schemes cannot achieve the same task at all. A practical DC motor example, with a PID controller, is used to demonstrate the effectiveness of the ToMFIR-based fault detection. Comparison with standard observer-based technique is also provided.
{"title":"A fault detection approach using both control and output error signals in frequency domain","authors":"C. Yeh, Han-Long Yang, Wen Chen","doi":"10.1109/MESA.2010.5552043","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552043","url":null,"abstract":"This paper is to explore further results regarding Total Fault Information-based Residual (ToMFIR) approach to fault detection in dynamic systems. The TomFIR contains the essential fault information and remains unaffected by control actions in a closed-loop system. It is composed of control input residual and output error residual. The TomFIR is formulated in frequency domain. More importantly, the ToMFIR is able to detect faults/failures resulting from control-used computer. Currently, all of existing fault-detection schemes cannot achieve the same task at all. A practical DC motor example, with a PID controller, is used to demonstrate the effectiveness of the ToMFIR-based fault detection. Comparison with standard observer-based technique is also provided.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117157173","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552031
H. Sheng, Haiyang Chao, C. Coopmans, Jinlu Han, M. McKee, Y. Chen
Thermal infrared (TIR) remote sensing is recognized as a powerful tool for collecting, analyzing and modeling of energy fluxes and temperature variations. Traditional aircraft, satellite or ground TIR platforms can provide valuable regional-scale environmental information. However, these platforms have limitations, such as expensive cost, complicated manipulation, etc. In comparison, small unmanned aircraft systems (UAS) have many advantages in TIR remote sensing applications over traditional platforms. In this paper, a low-cost UAV-based TIR remote sensing platform: AggieAir-TIR is introduced. AggieAir-TIR is a small, low-cost, flexible TIR remote sensing platform, which was accomplished at the Center for Self Organizing and Intelligent Systems (CSOIS) in Utah State University (USU). The detailed introduction of AggieAir-TIR remote sensing platform is provided in the paper. Furthermore, a low-cost TIR imaging camera calibration experiment is designed, and the calibration results are provided. Based on this AggieAir-TIR remote sensing platform, many remote TIR image data collection and analysis projects can be effectively implemented.
{"title":"Low-cost UAV-based thermal infrared remote sensing: Platform, calibration and applications","authors":"H. Sheng, Haiyang Chao, C. Coopmans, Jinlu Han, M. McKee, Y. Chen","doi":"10.1109/MESA.2010.5552031","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552031","url":null,"abstract":"Thermal infrared (TIR) remote sensing is recognized as a powerful tool for collecting, analyzing and modeling of energy fluxes and temperature variations. Traditional aircraft, satellite or ground TIR platforms can provide valuable regional-scale environmental information. However, these platforms have limitations, such as expensive cost, complicated manipulation, etc. In comparison, small unmanned aircraft systems (UAS) have many advantages in TIR remote sensing applications over traditional platforms. In this paper, a low-cost UAV-based TIR remote sensing platform: AggieAir-TIR is introduced. AggieAir-TIR is a small, low-cost, flexible TIR remote sensing platform, which was accomplished at the Center for Self Organizing and Intelligent Systems (CSOIS) in Utah State University (USU). The detailed introduction of AggieAir-TIR remote sensing platform is provided in the paper. Furthermore, a low-cost TIR imaging camera calibration experiment is designed, and the calibration results are provided. Based on this AggieAir-TIR remote sensing platform, many remote TIR image data collection and analysis projects can be effectively implemented.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"15 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123657146","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552060
Jinhuang Huang, Jun Xie
Using single-bus temperature sensor DS18B20 to measure real-time temperature of the drinking fountains, providing calendar and time through clock chip DS1302, receiving information from the remote through HS0038B, and displaying the calendar and time as well as the current temperature value through LCD12864, the system was designed based on microcontroller STC89C52. The system's overall design concept, the hardware circuit and software flow chart and design, temperature error of processing and the use of fitting algorithm have been demonstrated. The system has such functions as remote control, temperature control, cooling, variable power heating, with a high level of safety, stability, intelligent control and low power consumption.
{"title":"Intelligent water dispenser system based on embedded systems","authors":"Jinhuang Huang, Jun Xie","doi":"10.1109/MESA.2010.5552060","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552060","url":null,"abstract":"Using single-bus temperature sensor DS18B20 to measure real-time temperature of the drinking fountains, providing calendar and time through clock chip DS1302, receiving information from the remote through HS0038B, and displaying the calendar and time as well as the current temperature value through LCD12864, the system was designed based on microcontroller STC89C52. The system's overall design concept, the hardware circuit and software flow chart and design, temperature error of processing and the use of fitting algorithm have been demonstrated. The system has such functions as remote control, temperature control, cooling, variable power heating, with a high level of safety, stability, intelligent control and low power consumption.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121981458","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552020
Zhiyang Cai, Chengbin Ma, Qunfei Zhao
Anti-skid control for electric vehicles has attracted the attention of many researchers over the past years. Most of the approaches proposed need to measure or estimate the vehicle velocity to calculate the slip ratio. In this paper, an approach based on the ratio of wheel acceleration to motor torque for electric vehicle anti-skid control is proposed. Instead of the vehicle velocity, only two easily measured parameters for electric vehicles, wheel acceleration and motor torque, are used to estimate the slip level. Two types of controllers, a rules-based controller and a fuzzy logic controller are designed for the vehicle anti-skid control. Simulation results show that both of them can successfully prevent vehicle skidding.
{"title":"Acceleration-to-torque ratio based anti-skid control for electric vehicles","authors":"Zhiyang Cai, Chengbin Ma, Qunfei Zhao","doi":"10.1109/MESA.2010.5552020","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552020","url":null,"abstract":"Anti-skid control for electric vehicles has attracted the attention of many researchers over the past years. Most of the approaches proposed need to measure or estimate the vehicle velocity to calculate the slip ratio. In this paper, an approach based on the ratio of wheel acceleration to motor torque for electric vehicle anti-skid control is proposed. Instead of the vehicle velocity, only two easily measured parameters for electric vehicles, wheel acceleration and motor torque, are used to estimate the slip level. Two types of controllers, a rules-based controller and a fuzzy logic controller are designed for the vehicle anti-skid control. Simulation results show that both of them can successfully prevent vehicle skidding.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123284945","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552050
Liu Zhi-hai, Zen Qing-liang, L. Qing, Wang Liang
There are many different factors that influence the safe production of coal mine such as equipment factor, environment factor and artificial factor etc. At current, many coal mines all over the world have built up harmoniously independent mutually monitoring and controlling sub-systems based on variety communicate channels and protocols. In this paper, a monitoring and controlling framework model is built up based on industrial ring Ethernet in coal mine, four layers of network demarcation are put forward, and the method and steps of hardware and software integrates are discussed. At last, the design procedure of a drainage auto control sub-system is introduced according to the Ethernet communication technique.
{"title":"A monitoring and controlling system based on distributed industrial ring ethernet in coal mine","authors":"Liu Zhi-hai, Zen Qing-liang, L. Qing, Wang Liang","doi":"10.1109/MESA.2010.5552050","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552050","url":null,"abstract":"There are many different factors that influence the safe production of coal mine such as equipment factor, environment factor and artificial factor etc. At current, many coal mines all over the world have built up harmoniously independent mutually monitoring and controlling sub-systems based on variety communicate channels and protocols. In this paper, a monitoring and controlling framework model is built up based on industrial ring Ethernet in coal mine, four layers of network demarcation are put forward, and the method and steps of hardware and software integrates are discussed. At last, the design procedure of a drainage auto control sub-system is introduced according to the Ethernet communication technique.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130576693","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 : 2010-07-15DOI: 10.1109/MESA.2010.5551994
E. Frontoni, A. Ascani, A. Mancini, P. Zingaretti
This paper addresses the problem of long term mobile robot localization in large urban environments using a partial apriori knowledge made by different kind of images. Typically, GPS is the preferred sensor for outdoor operation. However, using GPS-only localization methods leads to significant performance degradation in urban areas where tall nearby structures obstruct the view of the satellites. In our work, we use omnidirectional vision-based sensors to complement GPS and odometry and provide accurate localization.We also present some novel Monte Carlo Localization optimizations and we introduce the concept of online knowledge acquisition and integration presenting a framework able to perform long term robot localization in real environments. The vision system identifies prominent features in the scene and matches them with a database of geo-referenced features already known (with a partial coverage of the environment and using both directional and omnidirectional images and with different resolutions) or learned and integrated during the localization process (omnidirectional images only). Results of successful robot localization in the old town of Fermo are presented. The whole architecture behaves well also in long term experiments, showing a suitable and good system for real life robot applications with a particular focus on the integration of different knowledge sources.
{"title":"Robot localization in urban environments using omnidirectional vision sensors and partial heterogeneous apriori knowledge","authors":"E. Frontoni, A. Ascani, A. Mancini, P. Zingaretti","doi":"10.1109/MESA.2010.5551994","DOIUrl":"https://doi.org/10.1109/MESA.2010.5551994","url":null,"abstract":"This paper addresses the problem of long term mobile robot localization in large urban environments using a partial apriori knowledge made by different kind of images. Typically, GPS is the preferred sensor for outdoor operation. However, using GPS-only localization methods leads to significant performance degradation in urban areas where tall nearby structures obstruct the view of the satellites. In our work, we use omnidirectional vision-based sensors to complement GPS and odometry and provide accurate localization.We also present some novel Monte Carlo Localization optimizations and we introduce the concept of online knowledge acquisition and integration presenting a framework able to perform long term robot localization in real environments. The vision system identifies prominent features in the scene and matches them with a database of geo-referenced features already known (with a partial coverage of the environment and using both directional and omnidirectional images and with different resolutions) or learned and integrated during the localization process (omnidirectional images only). Results of successful robot localization in the old town of Fermo are presented. The whole architecture behaves well also in long term experiments, showing a suitable and good system for real life robot applications with a particular focus on the integration of different knowledge sources.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130374449","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552075
K. Tahboub
This article presents a biologically-inspired framework for postural and reaching control of a multi-segment humanoid robot. It is based mainly on the underpinning principles of human postural control as identified in a previous work by the author and tested experimentally on a one-segment special-purpose robot. Thus the goal of this article is to extend the control and estimation architecture to cover multi-segment humanoids. In addition to the inherent instability of humanoids, multi-segment motion introduces destabilizing dynamic coupling effects that requires heterogeneous control in the form of full state feedback. Thus a robust multi-input-multi-output tracking control architecture with feedback, feedforward, and integral control parts is implemented. This article addresses as well a variety of external disturbances that might act on the humanoid such as supporting surface translational and rotational motion as well as external pull/push forces acting on the body of the humanoid. A central extended disturbance observer is used to estimate the external disturbances is employed. Simulation experiments demonstrate good performance for this method and highlight the merits of the central extended observer which is based on a full internal model that takes into account the kinematic and kinetics of the humanoid.
{"title":"Biologically-inspired postural and reaching control of a multi-segment humanoid robot","authors":"K. Tahboub","doi":"10.1109/MESA.2010.5552075","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552075","url":null,"abstract":"This article presents a biologically-inspired framework for postural and reaching control of a multi-segment humanoid robot. It is based mainly on the underpinning principles of human postural control as identified in a previous work by the author and tested experimentally on a one-segment special-purpose robot. Thus the goal of this article is to extend the control and estimation architecture to cover multi-segment humanoids. In addition to the inherent instability of humanoids, multi-segment motion introduces destabilizing dynamic coupling effects that requires heterogeneous control in the form of full state feedback. Thus a robust multi-input-multi-output tracking control architecture with feedback, feedforward, and integral control parts is implemented. This article addresses as well a variety of external disturbances that might act on the humanoid such as supporting surface translational and rotational motion as well as external pull/push forces acting on the body of the humanoid. A central extended disturbance observer is used to estimate the external disturbances is employed. Simulation experiments demonstrate good performance for this method and highlight the merits of the central extended observer which is based on a full internal model that takes into account the kinematic and kinetics of the humanoid.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129795258","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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