Pub Date : 2022-12-02DOI: 10.1109/ICCR55715.2022.10053685
Yuan Wang, Ding Wang, Junlong Wu, Mingming Zhao
In this paper, the intelligent and online value iteration (VI) algorithms are developed to solve the optimal control problem for nonlinear discrete-time systems. First, the intelligent VI algorithm combines the advantages of traditional VI initialized by the zero cost function and stabilizing VI initialized by the admissible control policy. The traditional VI is easy to implement and can provide the initial admissible control policy for the stabilizing VI. Meanwhile, stabilizing VI can guarantee all control policies are admissible. Second, based on the concept of the attraction domain, an online value iteration algorithm is proposed to regulate the closed-loop system by using immature control policies rather than the fixed optimal control policy. It ensures that the state trajectory converges to the origin of the attraction domain. Finally, simulations are carried out and the results show the effectiveness of the two new VI algorithms.
{"title":"Online Value Iteration for Discrete-Time Nonlinear Optimal Regulation with Stability Guarantee","authors":"Yuan Wang, Ding Wang, Junlong Wu, Mingming Zhao","doi":"10.1109/ICCR55715.2022.10053685","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053685","url":null,"abstract":"In this paper, the intelligent and online value iteration (VI) algorithms are developed to solve the optimal control problem for nonlinear discrete-time systems. First, the intelligent VI algorithm combines the advantages of traditional VI initialized by the zero cost function and stabilizing VI initialized by the admissible control policy. The traditional VI is easy to implement and can provide the initial admissible control policy for the stabilizing VI. Meanwhile, stabilizing VI can guarantee all control policies are admissible. Second, based on the concept of the attraction domain, an online value iteration algorithm is proposed to regulate the closed-loop system by using immature control policies rather than the fixed optimal control policy. It ensures that the state trajectory converges to the origin of the attraction domain. Finally, simulations are carried out and the results show the effectiveness of the two new VI algorithms.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125740518","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 : 2022-12-02DOI: 10.1109/ICCR55715.2022.10053877
Ling-Yu Li, Haidi Dong, Hai Helen Li, Shengzhi Yuan
This paper elaborates the design of a new iterative learning control scheme for a class of strict-feedback high-order uncertain time-varying nonlinear system. A novel iterative learning neural network approximator (ILNNA) is firstly proposed to eliminate the time-varying uncertainties. Then, combining composite energy function (CEF), robust adaptive control and backstepping techniques, a new iterative learning control mechanism with both differential and difference updating laws is constructed. The learning control scheme can warrant a $L_{pe}$ boundedness of all state variables and a $L_{T}^{2}$ convergence of the output along the iteration axis in the presence of unknown time-varying parametric nonlinearities, needless of Lipschitz continuous assumption. Simulation studies are undertaken to illustrate the effectiveness of the proposed scheme.
{"title":"Adaptive Iterative Learning Controller Design for a Class of Strict-feedback Time-Varying Nonlinear Systems","authors":"Ling-Yu Li, Haidi Dong, Hai Helen Li, Shengzhi Yuan","doi":"10.1109/ICCR55715.2022.10053877","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053877","url":null,"abstract":"This paper elaborates the design of a new iterative learning control scheme for a class of strict-feedback high-order uncertain time-varying nonlinear system. A novel iterative learning neural network approximator (ILNNA) is firstly proposed to eliminate the time-varying uncertainties. Then, combining composite energy function (CEF), robust adaptive control and backstepping techniques, a new iterative learning control mechanism with both differential and difference updating laws is constructed. The learning control scheme can warrant a $L_{pe}$ boundedness of all state variables and a $L_{T}^{2}$ convergence of the output along the iteration axis in the presence of unknown time-varying parametric nonlinearities, needless of Lipschitz continuous assumption. Simulation studies are undertaken to illustrate the effectiveness of the proposed scheme.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128537153","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 : 2022-12-02DOI: 10.1109/ICCR55715.2022.10053934
Heer Huang
The flow of logistics vehicles is one of the important indicators of local economic development, but it is difficult to reflect the development of people's living standards. By contrast, the data of annual inspection vehicles can reflect the situation of local economy and people's living standards more comprehensively. This paper aims to research the correlation between the vehicles' annual inspection and economic development as well as living standards from multidimensional perspectives. Besides, new methods of studying economy and new perspectives on analyzing data are proposed in this paper. From a time perspective, statistics on the quantity of vehicles inspection and local annual inspection rate. From a spatial point of view, statistics on the inspection status of vehicles in different regions and types. Incorporating the local transportation, policies, people's living standards, economic development status, industrial distribution, etc. The contrastive analysis method, grouping analysis method and predictive analysis method are used to dissect the current situation of urban development. The laws of physics behind the data show that: 1) The annual inspection number and growth trend of vehicles compared with the local GDP and its growth rate show a positive correlation, which explains that the vehicles annual inspection status has a strong correlation with the economic development. 2) Combined with the cardinal number of local annual vehicles inspection and annual inspection rate, comparing with the economic situation of each county and district. Its changing trend presents connection with the local economic development level, which shows that the changing trend partly reflects the local economic development level in recent years and its space for rising. 3) Besides the economic center, the destinations where vehicles markedly flow to also includes the neighboring counties with higher economic level. To some extent, it not only reflects the economic disparities between counties and districts, but also comprehensively reflects the economic interaction between counties and districts. 4) The annual inspection distribution of different types of vehicles differ from all vehicles, each with its own characteristics. On a certain level, it shows the distribution characteristics of economically active areas such as urban chemical industry, population-intensive areas, external trade industry, etc.
{"title":"Research on the Correlation between the Vehicles' Annual Inspection Status and Economic Development","authors":"Heer Huang","doi":"10.1109/ICCR55715.2022.10053934","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053934","url":null,"abstract":"The flow of logistics vehicles is one of the important indicators of local economic development, but it is difficult to reflect the development of people's living standards. By contrast, the data of annual inspection vehicles can reflect the situation of local economy and people's living standards more comprehensively. This paper aims to research the correlation between the vehicles' annual inspection and economic development as well as living standards from multidimensional perspectives. Besides, new methods of studying economy and new perspectives on analyzing data are proposed in this paper. From a time perspective, statistics on the quantity of vehicles inspection and local annual inspection rate. From a spatial point of view, statistics on the inspection status of vehicles in different regions and types. Incorporating the local transportation, policies, people's living standards, economic development status, industrial distribution, etc. The contrastive analysis method, grouping analysis method and predictive analysis method are used to dissect the current situation of urban development. The laws of physics behind the data show that: 1) The annual inspection number and growth trend of vehicles compared with the local GDP and its growth rate show a positive correlation, which explains that the vehicles annual inspection status has a strong correlation with the economic development. 2) Combined with the cardinal number of local annual vehicles inspection and annual inspection rate, comparing with the economic situation of each county and district. Its changing trend presents connection with the local economic development level, which shows that the changing trend partly reflects the local economic development level in recent years and its space for rising. 3) Besides the economic center, the destinations where vehicles markedly flow to also includes the neighboring counties with higher economic level. To some extent, it not only reflects the economic disparities between counties and districts, but also comprehensively reflects the economic interaction between counties and districts. 4) The annual inspection distribution of different types of vehicles differ from all vehicles, each with its own characteristics. On a certain level, it shows the distribution characteristics of economically active areas such as urban chemical industry, population-intensive areas, external trade industry, etc.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122285396","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}
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between computationally inexpensive online path planning, and optimality of the path. Along with this, these works often prove optimality for single-start single-goal worlds. To address these challenges, we present a multiple waypoint path planner and controller stack for navigation in unknown indoor environments where waypoints include the goal along with the intermediary points that the robot must traverse before reaching the goal. Our approach makes use of a global planner (to find the next best waypoint at any instant), a local planner (to plan the path to a specific waypoint) and an adaptive Model Predictive Control strategy (for robust system control and faster maneuvers). We evaluate our algorithm on a set of randomly generated obstacle maps, intermediate waypoints and start-goal pairs, with results indicating significant reduction in computational costs, with high accuracies and robust control.
{"title":"Multiple Waypoint Navigation in Unknown Indoor Environments","authors":"Shivam Sood, Jaskaran Singh Sodhi, Parv Maheshwari, Karan Uppal, Debashish Chakravarty","doi":"10.1109/ICCR55715.2022.10053921","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053921","url":null,"abstract":"Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between computationally inexpensive online path planning, and optimality of the path. Along with this, these works often prove optimality for single-start single-goal worlds. To address these challenges, we present a multiple waypoint path planner and controller stack for navigation in unknown indoor environments where waypoints include the goal along with the intermediary points that the robot must traverse before reaching the goal. Our approach makes use of a global planner (to find the next best waypoint at any instant), a local planner (to plan the path to a specific waypoint) and an adaptive Model Predictive Control strategy (for robust system control and faster maneuvers). We evaluate our algorithm on a set of randomly generated obstacle maps, intermediate waypoints and start-goal pairs, with results indicating significant reduction in computational costs, with high accuracies and robust control.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124949369","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 : 2022-07-25DOI: 10.1109/ICCR55715.2022.10053882
S. VishnuRajendran, Soran Parsa, S. Parsons, A. G. Esfahani
Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in defining the efficiency of such a robotic harvesting system. Even though there are reports on various end effectors for strawberry harvesting, but there they lack a picture of certain parameters that the researchers can rely upon to develop new end effectors. These parameters include the limit of gripping force that can be applied on the peduncle for effective gripping, the force required to cut the strawberry peduncle, etc. These estimations would be helpful in the design cycle of the end effectors that target to grip and cut the strawberry peduncle during the harvesting action. This paper studies the estimation and analysis of these parameters experimentally. It has been estimated that the peduncle gripping force can be limited to 10 N. This enables an end effector to grip a strawberry of mass up to 50 grams with a manipulation acceleration of 50 m/s2 without squeezing the peduncle. The study on peduncle cutting force reveals that a force of 15 N is sufficient to cut strawberry peduncle using a blade with a wedge angle of 16.6° at 30° orientation.
{"title":"Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic End-effector Design","authors":"S. VishnuRajendran, Soran Parsa, S. Parsons, A. G. Esfahani","doi":"10.1109/ICCR55715.2022.10053882","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053882","url":null,"abstract":"Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in defining the efficiency of such a robotic harvesting system. Even though there are reports on various end effectors for strawberry harvesting, but there they lack a picture of certain parameters that the researchers can rely upon to develop new end effectors. These parameters include the limit of gripping force that can be applied on the peduncle for effective gripping, the force required to cut the strawberry peduncle, etc. These estimations would be helpful in the design cycle of the end effectors that target to grip and cut the strawberry peduncle during the harvesting action. This paper studies the estimation and analysis of these parameters experimentally. It has been estimated that the peduncle gripping force can be limited to 10 N. This enables an end effector to grip a strawberry of mass up to 50 grams with a manipulation acceleration of 50 m/s2 without squeezing the peduncle. The study on peduncle cutting force reveals that a force of 15 N is sufficient to cut strawberry peduncle using a blade with a wedge angle of 16.6° at 30° orientation.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130504549","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：