Pub Date : 2012-12-01DOI: 10.1109/ICARCV.2012.6485282
G. Yasuda
In this paper, based on discrete event driven systems, a method of representing cooperative behavior of multiple robots and machines in robotic manufacturing systems using Petri nets is presented. By decomposing a discrete event process into conditions, events and their interrelations with special purpose communication functions for real-time control of machines, extended Petri net models of robotic processes and behaviors are efficiently defined. Simulation and control is realized through client-server communication between several local controllers and one system controller. Implementation of hierarchical and distributed control is described for an example multi-robot manufacturing system. Fundamental experiments confirmed that the proposed system can be used as an effective tool for consistent modeling and control of large and complex manufacturing systems.
{"title":"Petri net based hierarchical and distributed implementation of robotic manufacturing systems","authors":"G. Yasuda","doi":"10.1109/ICARCV.2012.6485282","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485282","url":null,"abstract":"In this paper, based on discrete event driven systems, a method of representing cooperative behavior of multiple robots and machines in robotic manufacturing systems using Petri nets is presented. By decomposing a discrete event process into conditions, events and their interrelations with special purpose communication functions for real-time control of machines, extended Petri net models of robotic processes and behaviors are efficiently defined. Simulation and control is realized through client-server communication between several local controllers and one system controller. Implementation of hierarchical and distributed control is described for an example multi-robot manufacturing system. Fundamental experiments confirmed that the proposed system can be used as an effective tool for consistent modeling and control of large and complex manufacturing systems.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132509270","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485192
Li Wei, M. Fu, Huanshui Zhang
In this paper, we consider the quantized quadratic performance control problem for a class of stochastic systems which are subject to multiplicative noises in the measurement, we look for a dynamic output feedback controller to guarantee certain level of performance. By using the sector bound approach to characterize the quantized error, we show that the existence of the solution of quantized quadratic guaranteed cost problem can be found by solving the so-called guaranteed cost control problem of the associated system with sector bound uncertainty. The main result of this paper show that this problem can be effectively solved using linear matrix inequalities (LMIs).
{"title":"Quantized output-feedback control for linear systems with multiplicative noises in measurement","authors":"Li Wei, M. Fu, Huanshui Zhang","doi":"10.1109/ICARCV.2012.6485192","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485192","url":null,"abstract":"In this paper, we consider the quantized quadratic performance control problem for a class of stochastic systems which are subject to multiplicative noises in the measurement, we look for a dynamic output feedback controller to guarantee certain level of performance. By using the sector bound approach to characterize the quantized error, we show that the existence of the solution of quantized quadratic guaranteed cost problem can be found by solving the so-called guaranteed cost control problem of the associated system with sector bound uncertainty. The main result of this paper show that this problem can be effectively solved using linear matrix inequalities (LMIs).","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132562544","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485338
Jianjun Wang, Xiangpeng Li, Jinjin Zheng, Dong Sun
Bevel-tip steerable needles are widely used in modern minimally invasive percutaneous procedures to reach specific positions inside the body. In this paper, we propose a dynamic path planning approach to insert a steerable needle into soft tissue. Based on mathematic modeling of soft tissue deformation during the insertion process, the proposed approach can drive the needle to reach a goal position in deformable environment. As the goal position changes in the deformable environment, a dynamic path planner is proposed to re-plan the path until the needle tip approaches the target successfully. Simulation and experiment are performed to demonstrate the effectiveness of the proposed approach to insert a flexible needle in deformable environment.
{"title":"Dynamic path planning for inserting a steerable needle into soft tissue","authors":"Jianjun Wang, Xiangpeng Li, Jinjin Zheng, Dong Sun","doi":"10.1109/ICARCV.2012.6485338","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485338","url":null,"abstract":"Bevel-tip steerable needles are widely used in modern minimally invasive percutaneous procedures to reach specific positions inside the body. In this paper, we propose a dynamic path planning approach to insert a steerable needle into soft tissue. Based on mathematic modeling of soft tissue deformation during the insertion process, the proposed approach can drive the needle to reach a goal position in deformable environment. As the goal position changes in the deformable environment, a dynamic path planner is proposed to re-plan the path until the needle tip approaches the target successfully. Simulation and experiment are performed to demonstrate the effectiveness of the proposed approach to insert a flexible needle in deformable environment.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134441665","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485176
Yegui Xiao, Hongyun Wei
In an active noise control (ANC) system, frequencies of the reference cosine and sine waves generated according to the online sensor information may be different from those of the primary noise to be suppressed, if the sensor contains error due to fatigue, aging etc. This difference, called frequency mismatch (FM), will severely deteriorate the performance of the system even though it is quite small. In this paper, three adaptive schemes are introduced for a feedforward hybrid ANC system, which are capable of effectively reducing the FM and thus making the system robust and immune against sensor error. Extensive simulations are conducted to confirm the effectiveness of the proposed adaptive schemes as well as the performance of the modified system.
{"title":"A feedforward hybrid active noise control system in the presence of sensor error","authors":"Yegui Xiao, Hongyun Wei","doi":"10.1109/ICARCV.2012.6485176","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485176","url":null,"abstract":"In an active noise control (ANC) system, frequencies of the reference cosine and sine waves generated according to the online sensor information may be different from those of the primary noise to be suppressed, if the sensor contains error due to fatigue, aging etc. This difference, called frequency mismatch (FM), will severely deteriorate the performance of the system even though it is quite small. In this paper, three adaptive schemes are introduced for a feedforward hybrid ANC system, which are capable of effectively reducing the FM and thus making the system robust and immune against sensor error. Extensive simulations are conducted to confirm the effectiveness of the proposed adaptive schemes as well as the performance of the modified system.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134511788","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485430
T. Gao, C. Du, Lihua Xie
In this paper, we investigate the effect of voltage and current amplifiers for PZT microactuators on the control performance of dual-stage servo systems in hard disk drives (HDDs), where the PZT microactuator is used as a secondary actuator and works together with the primary actuator of voice coil motor (VCM). First, the PZT microactuator's behavior in terms of motion linearization and frequency responses is experimentally studied and compared when it is driven by a conventional voltage amplifier and a charge or current amplifier. It is found that the PZT microactuator with current amplifier has less hysteresis than with voltage amplifier and its first resonance is relatively smaller. Inspired by this difference, the control performance of the dual-stage servo systems in track-seeking and track-following is then compared between the two driving methods for the PZT microactuator.
{"title":"Control performance comparison of PZT microactuator driven by voltage and current amplifiers in HDD dual-stage systems","authors":"T. Gao, C. Du, Lihua Xie","doi":"10.1109/ICARCV.2012.6485430","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485430","url":null,"abstract":"In this paper, we investigate the effect of voltage and current amplifiers for PZT microactuators on the control performance of dual-stage servo systems in hard disk drives (HDDs), where the PZT microactuator is used as a secondary actuator and works together with the primary actuator of voice coil motor (VCM). First, the PZT microactuator's behavior in terms of motion linearization and frequency responses is experimentally studied and compared when it is driven by a conventional voltage amplifier and a charge or current amplifier. It is found that the PZT microactuator with current amplifier has less hysteresis than with voltage amplifier and its first resonance is relatively smaller. Inspired by this difference, the control performance of the dual-stage servo systems in track-seeking and track-following is then compared between the two driving methods for the PZT microactuator.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133912970","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485438
Yanjie Chen, Yaonan Wang, Xiao Yu
In this paper, a novel path planning strategy based on fuzzy logic for a robot arm with a fixed pedestal is proposed, and the simulation environment conditions in which the robot arm works are specific and unpredictable. First, considering a simple working platform set in front of the robot arm system, it will become an obstacle when robot is working. Second, an obstacle avoidance path planning strategy is designed and the coordinates of robot arm end are used to achieve close-loop control. In addition, fuzzy control theory is applied to design a fuzzy path planning controller, and a dangerous sign is introduced to avoid obstacle. Finally, the experiments simulated on a two-joint robot arm with a fixed pedestal is given. The results show the feasibility and safety of the proposed path planning strategy.
{"title":"Obstacle avoidance path planning strategy for robot arm based on fuzzy logic","authors":"Yanjie Chen, Yaonan Wang, Xiao Yu","doi":"10.1109/ICARCV.2012.6485438","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485438","url":null,"abstract":"In this paper, a novel path planning strategy based on fuzzy logic for a robot arm with a fixed pedestal is proposed, and the simulation environment conditions in which the robot arm works are specific and unpredictable. First, considering a simple working platform set in front of the robot arm system, it will become an obstacle when robot is working. Second, an obstacle avoidance path planning strategy is designed and the coordinates of robot arm end are used to achieve close-loop control. In addition, fuzzy control theory is applied to design a fuzzy path planning controller, and a dangerous sign is introduced to avoid obstacle. Finally, the experiments simulated on a two-joint robot arm with a fixed pedestal is given. The results show the feasibility and safety of the proposed path planning strategy.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133964200","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485250
Do Manh Tuan, Z. Man, Cisheng Zhang, Jiong Jin
A new sliding mode-based learning control scheme is developed for a class of uncertain discrete-time systems. In particular, a recursive-learning controller is designed to enforce the sliding variable vector to reach and retain in the sliding mode, and the system states are then guaranteed to asymptotically converge to zero. A recently introduced “Lipschitz-like condition” for sliding mode control systems, which describes the continuity property of uncertain systems, is further extended to the discrete-time case setting in this paper. The distinguishing features of this approach include: (i) the information about the uncertainties is not required for designing the controller, (ii) the closed-loop system exhibits a strong robustness with respect to uncertainties, and (iii) the control scheme enjoys the chattering-free characteristic. Simulation results are also given to demonstrate the effectiveness of the new control technique.
{"title":"A new sliding mode-based learning control for uncertain discrete-time systems","authors":"Do Manh Tuan, Z. Man, Cisheng Zhang, Jiong Jin","doi":"10.1109/ICARCV.2012.6485250","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485250","url":null,"abstract":"A new sliding mode-based learning control scheme is developed for a class of uncertain discrete-time systems. In particular, a recursive-learning controller is designed to enforce the sliding variable vector to reach and retain in the sliding mode, and the system states are then guaranteed to asymptotically converge to zero. A recently introduced “Lipschitz-like condition” for sliding mode control systems, which describes the continuity property of uncertain systems, is further extended to the discrete-time case setting in this paper. The distinguishing features of this approach include: (i) the information about the uncertainties is not required for designing the controller, (ii) the closed-loop system exhibits a strong robustness with respect to uncertainties, and (iii) the control scheme enjoys the chattering-free characteristic. Simulation results are also given to demonstrate the effectiveness of the new control technique.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134105224","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485368
Baoyong Zhang, Shengyuan Xu, Yong-ming Li
This paper is concerned with the H∞ tracking control problem for linear time-delay systems with Markovian jumping parameters. The objective is to design state-feedback mode-dependent controllers such that the resulting closed-loop system is stochastically stable and its state follows a reference signal. Based on the Lyapunov-Krasovskii functional method together with the delay-partitioning technique, delay-dependent conditions for the existence of the desired controllers are obtained in terms of linear matrix inequalities. In addition, a new stability criterion for Markovian jump systems with constant delays is also given, which is less conservative than the recent ones in the literature. Numerical examples are provided to demonstrate the effectiveness of the proposed methods.
{"title":"H∞ tracking control for time-delay systems with Markovian jumping parameters","authors":"Baoyong Zhang, Shengyuan Xu, Yong-ming Li","doi":"10.1109/ICARCV.2012.6485368","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485368","url":null,"abstract":"This paper is concerned with the H∞ tracking control problem for linear time-delay systems with Markovian jumping parameters. The objective is to design state-feedback mode-dependent controllers such that the resulting closed-loop system is stochastically stable and its state follows a reference signal. Based on the Lyapunov-Krasovskii functional method together with the delay-partitioning technique, delay-dependent conditions for the existence of the desired controllers are obtained in terms of linear matrix inequalities. In addition, a new stability criterion for Markovian jump systems with constant delays is also given, which is less conservative than the recent ones in the literature. Numerical examples are provided to demonstrate the effectiveness of the proposed methods.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"238 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131576330","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485291
Kevin John Rafferty, E. McGookin
The focus of this paper is the design and comparison of controllers for a nonlinear mathematical model of a remotely operated helicopter (X-Cell 60 SE). The particular control methodologies used to design propulsion and heading control are based on PID and Sliding Mode theories. The design of these controllers is based on the assumption that the surge and heading dynamics of the system can be separated into independent subsystems, each having only one control input. The resulting controllers are tested through simulated manoeuvres on Matlab, and the results are compared. Their ability to cope with disturbances is also tested. The results show that both controllers perform well with or without external disturbances, but the Sliding Mode controller exhibits better overall performance.
{"title":"A comparison of PID and Sliding Mode controllers for a remotely operated helicopter","authors":"Kevin John Rafferty, E. McGookin","doi":"10.1109/ICARCV.2012.6485291","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485291","url":null,"abstract":"The focus of this paper is the design and comparison of controllers for a nonlinear mathematical model of a remotely operated helicopter (X-Cell 60 SE). The particular control methodologies used to design propulsion and heading control are based on PID and Sliding Mode theories. The design of these controllers is based on the assumption that the surge and heading dynamics of the system can be separated into independent subsystems, each having only one control input. The resulting controllers are tested through simulated manoeuvres on Matlab, and the results are compared. Their ability to cope with disturbances is also tested. The results show that both controllers perform well with or without external disturbances, but the Sliding Mode controller exhibits better overall performance.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133483780","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485213
Yunhua Li, Liuyu He, Liman Yang
This paper mainly deals with the optimal accelerated driving control for multi-axle hydrostatic driving vehicle. Addressed the hydrostatic traveling system to be composed of pump-controlled-parallel-motor, a hierarchical coordinated control structure was proposed by regulating variable displacement pump to improve the acceleration and deceleration performance of vehicle. Furthermore, a first order sliding-mode observer was designed for estimating the road condition and confirmed the optimal slip rate. The numerical simulations on the proposed control algorithm were conducted. The results and simulation evaluation show that the proposed control law can make the vehicle reach to the optimal slip rate and achieve the excellent acceleration and deceleration performance.
{"title":"Coordinated and optimal acceleration and deceleration driving control for multi-axle hydrostatic driving vehicle","authors":"Yunhua Li, Liuyu He, Liman Yang","doi":"10.1109/ICARCV.2012.6485213","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485213","url":null,"abstract":"This paper mainly deals with the optimal accelerated driving control for multi-axle hydrostatic driving vehicle. Addressed the hydrostatic traveling system to be composed of pump-controlled-parallel-motor, a hierarchical coordinated control structure was proposed by regulating variable displacement pump to improve the acceleration and deceleration performance of vehicle. Furthermore, a first order sliding-mode observer was designed for estimating the road condition and confirmed the optimal slip rate. The numerical simulations on the proposed control algorithm were conducted. The results and simulation evaluation show that the proposed control law can make the vehicle reach to the optimal slip rate and achieve the excellent acceleration and deceleration performance.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"259 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132435991","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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