Pub Date : 2015-12-28DOI: 10.1109/ICCAS.2015.7364882
J. Jang, J. Cho, Jong-Hyeon Park
In this paper, a method for a biped robot to run with a velocity change by selecting its foot landing position appropriately is proposed. The zero moment point (ZMP) is used as the criteria to identify the stability of the biped robot. The ZMP is estimated by the position of the center of mass (COM) and the acceleration of the robot. This means that by setting an appropriate ZMP for the robot, the acceleration of the robot can be controlled. In this paper, ZMP is not only used for stability criteria, but also used to change the velocity in running. The ZMP is designed to reach the desired velocity of the robot, and the trajectory to change the running velocity is generated made the assumption that the ZMP is the foot landing position. By using the method, the biped robot can run stably while changing its velocity. The performance of the proposed method was verified by computer simulations.
{"title":"Foot placement method to change velocity of running biped robot","authors":"J. Jang, J. Cho, Jong-Hyeon Park","doi":"10.1109/ICCAS.2015.7364882","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364882","url":null,"abstract":"In this paper, a method for a biped robot to run with a velocity change by selecting its foot landing position appropriately is proposed. The zero moment point (ZMP) is used as the criteria to identify the stability of the biped robot. The ZMP is estimated by the position of the center of mass (COM) and the acceleration of the robot. This means that by setting an appropriate ZMP for the robot, the acceleration of the robot can be controlled. In this paper, ZMP is not only used for stability criteria, but also used to change the velocity in running. The ZMP is designed to reach the desired velocity of the robot, and the trajectory to change the running velocity is generated made the assumption that the ZMP is the foot landing position. By using the method, the biped robot can run stably while changing its velocity. The performance of the proposed method was verified by computer simulations.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"21 1","pages":"79-84"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74856717","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364974
D. Kye, Seong-Woo Kim, S. Seo
As automated vehicles begin operating on complex urban roads, precise decision making for automated driving has been increasingly important for safe automated driving. In particular, decision making at unsignalized intersections is one of the most challenging problems of automated urban driving. This paper presents intention-aware automated driving at unsignalized intersections. The intention of the traffic participant is modeled as a Dynamic Bayesian Network (DBN). Given the inference result, an intention-aware decision-making problem is modeled as a Partially Observable Markov Decision Process (POMDP), which is regarded as one of the most widely used models for sequential decision-making problems under uncertain environments. We implemented the proposed system in a passenger car, and the effectiveness of the proposed algorithm is evaluated through experiments at unsignalized intersections on our university campus road.
{"title":"Decision making for automated driving at unsignalized intersection","authors":"D. Kye, Seong-Woo Kim, S. Seo","doi":"10.1109/ICCAS.2015.7364974","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364974","url":null,"abstract":"As automated vehicles begin operating on complex urban roads, precise decision making for automated driving has been increasingly important for safe automated driving. In particular, decision making at unsignalized intersections is one of the most challenging problems of automated urban driving. This paper presents intention-aware automated driving at unsignalized intersections. The intention of the traffic participant is modeled as a Dynamic Bayesian Network (DBN). Given the inference result, an intention-aware decision-making problem is modeled as a Partially Observable Markov Decision Process (POMDP), which is regarded as one of the most widely used models for sequential decision-making problems under uncertain environments. We implemented the proposed system in a passenger car, and the effectiveness of the proposed algorithm is evaluated through experiments at unsignalized intersections on our university campus road.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"38 1","pages":"522-525"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73393725","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364705
S. Nam, Jonggu Kang, Daekeun Moon
There is deep consideration of the proposed SASN(Ship Area Sensor Network) model in last year's paper. For higher QoS of wireless sensor network part in the bulkhead of ship area, packet header compression techniques are considered as a method in this paper. Due to characteristic of SASN that wireless sensor nodes are almost fixed at specific position in initial installation because of that, sensor nodes transmit consecutive data with small difference compared to previous packet. Therefore it is useful to use packet header compression techniques to SASN. We introduce trend of packet header compression techniques and describe the characteristics of some well-known compression techniques which are Payload Header Suppression(PHS), Robust Header Compression(ROHC) and IPv6 over Low power Wireless Personal Area Network Header Compression(6LoWPAN HC). Also there is simulation showing throughput performance comparison of PHC, ROHC and 6LoWPAN HC in two different BER(Bit Error Rate) for consideration of suspicious circumstance. From the simulation result, we consider suitable packet header compression techniques for SASN.
在去年的论文中提出的SASN(船舶区域传感器网络)模型进行了深入的考虑。为了提高船舶区域舱壁无线传感器网络部分的QoS，本文考虑了包头压缩技术作为一种方法。由于SASN的特点，无线传感器节点在初始安装时几乎固定在特定位置，因此传感器节点传输的数据是连续的，与之前的数据包相比差异很小。因此，在SASN中使用包头压缩技术是有用的。介绍了报文报头压缩技术的发展趋势，并介绍了有效载荷报头抑制(PHS)、鲁棒报头压缩(ROHC)和IPv6 over Low power Wireless Personal Area Network报头压缩(6LoWPAN HC)等著名的报头压缩技术的特点。此外，仿真显示了PHC, ROHC和6LoWPAN HC在两种不同误码率(BER)下的吞吐量性能比较，以考虑可疑情况。根据仿真结果，我们考虑了适合SASN的包头压缩技术。
{"title":"Wireless packet header compression techniques for Ship Area Sensor Network(SASN)","authors":"S. Nam, Jonggu Kang, Daekeun Moon","doi":"10.1109/ICCAS.2015.7364705","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364705","url":null,"abstract":"There is deep consideration of the proposed SASN(Ship Area Sensor Network) model in last year's paper. For higher QoS of wireless sensor network part in the bulkhead of ship area, packet header compression techniques are considered as a method in this paper. Due to characteristic of SASN that wireless sensor nodes are almost fixed at specific position in initial installation because of that, sensor nodes transmit consecutive data with small difference compared to previous packet. Therefore it is useful to use packet header compression techniques to SASN. We introduce trend of packet header compression techniques and describe the characteristics of some well-known compression techniques which are Payload Header Suppression(PHS), Robust Header Compression(ROHC) and IPv6 over Low power Wireless Personal Area Network Header Compression(6LoWPAN HC). Also there is simulation showing throughput performance comparison of PHC, ROHC and 6LoWPAN HC in two different BER(Bit Error Rate) for consideration of suspicious circumstance. From the simulation result, we consider suitable packet header compression techniques for SASN.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"2048-2052"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79681342","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364686
W. Ji, Y. Moon
Functionally graded properties are characterized by the variation in composition and structure gradually over volume, resulting in corresponding changes in the properties of the material. Direct laser melting (DLM) process is a kind of prototyping process whereby a 3-D part is built layer-wise by melting the metal powder with laser scanning. DLM can directly build full-density and high-performance complex metal parts from CAD solid model without using any molds and tools. The aim of the study is to demonstrate the possibility to produce functionally graded properties in gear-parts through the direct laser melting of compositionally selected metallic powders. Properties of manufactured parts depend strongly on each single laser-melted track and each single layer. Therefore effects of the processing parameters such as scanning speed and laser power on single tracks formation are explored. For the fabrication of gear, building direction and hatch angle have been mainly controlled. Hardness test and EDX analysis were carried out on cross-section of fabricated gear to characterize functionally graded properties. From the analysis, functionally graded properties can be successfully obtained by DLM of selected metallic powders having different compositions.
{"title":"Fabrication of functionally graded properties by direct laser melting of compositionally selective metallic powder","authors":"W. Ji, Y. Moon","doi":"10.1109/ICCAS.2015.7364686","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364686","url":null,"abstract":"Functionally graded properties are characterized by the variation in composition and structure gradually over volume, resulting in corresponding changes in the properties of the material. Direct laser melting (DLM) process is a kind of prototyping process whereby a 3-D part is built layer-wise by melting the metal powder with laser scanning. DLM can directly build full-density and high-performance complex metal parts from CAD solid model without using any molds and tools. The aim of the study is to demonstrate the possibility to produce functionally graded properties in gear-parts through the direct laser melting of compositionally selected metallic powders. Properties of manufactured parts depend strongly on each single laser-melted track and each single layer. Therefore effects of the processing parameters such as scanning speed and laser power on single tracks formation are explored. For the fabrication of gear, building direction and hatch angle have been mainly controlled. Hardness test and EDX analysis were carried out on cross-section of fabricated gear to characterize functionally graded properties. From the analysis, functionally graded properties can be successfully obtained by DLM of selected metallic powders having different compositions.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"35 1","pages":"1955-1957"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90242884","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364583
Natalie Ramos Pedroza, W. MacKunis, V. Golubev
A sliding mode control method is presented in this paper, which is proven to achieve asymptotic limit cycle oscillation (LCO) suppression in unmanned aerial vehicle wings equipped with synthetic jet actuators (SJA). With a focus on applications involving small unmanned aerial vehicles (SUAV) with limited onboard computing resources, the proposed control law is designed to be inexpensively implemented, requiring no adaptive laws, function approximators, or pitching and plunging velocity measurements. Challenges in the control design include input-multiplicative uncertainty due to the parametric uncertainty and nonlinearity that are inherent in the SJA dynamic model. To achieve the result, a sliding mode control strategy is amalgamated with a velocity estimator, which is designed using a bank of dynamic filters. This is the first output feedback control result that achieves asymptotic LCO regulation in the presence of an uncertain, nonlinear SJA dynamic model, without the use of adaptive laws or neural networks. A detailed model of the SUAV dynamics is utilized along with a rigorous Lyapunov-based stability analysis to prove asymptotic regulation of the pitching and plunging displacements, and numerical simulation results are provided to demonstrate the performance of the proposed control design.
{"title":"A new method of synthetic jet actuator-based LCO suppression using an output feedback control strategy","authors":"Natalie Ramos Pedroza, W. MacKunis, V. Golubev","doi":"10.1109/ICCAS.2015.7364583","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364583","url":null,"abstract":"A sliding mode control method is presented in this paper, which is proven to achieve asymptotic limit cycle oscillation (LCO) suppression in unmanned aerial vehicle wings equipped with synthetic jet actuators (SJA). With a focus on applications involving small unmanned aerial vehicles (SUAV) with limited onboard computing resources, the proposed control law is designed to be inexpensively implemented, requiring no adaptive laws, function approximators, or pitching and plunging velocity measurements. Challenges in the control design include input-multiplicative uncertainty due to the parametric uncertainty and nonlinearity that are inherent in the SJA dynamic model. To achieve the result, a sliding mode control strategy is amalgamated with a velocity estimator, which is designed using a bank of dynamic filters. This is the first output feedback control result that achieves asymptotic LCO regulation in the presence of an uncertain, nonlinear SJA dynamic model, without the use of adaptive laws or neural networks. A detailed model of the SUAV dynamics is utilized along with a rigorous Lyapunov-based stability analysis to prove asymptotic regulation of the pitching and plunging displacements, and numerical simulation results are provided to demonstrate the performance of the proposed control design.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"44 1","pages":"1463-1468"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90529219","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364912
Ping Li, M. Garratt, A. Lambert
A visual inertial fusion method is proposed in this paper for the state estimation and control of a low-cost Unmanned Aerial Vehicle. A binary template matching algorithm is combined with a gradient based algorithm to compute optic flow (OF). The proposed OF method is capable of handling large displacement, illumination variation and gives subpixel accuracy. With a ground plane assumption, the Jacobian motion model is employed to solve for the unscaled linear velocity, which is fused with inertial measurements in an Extended Kalman Filter (EKF) framework to estimate metric speed and altitude. A number of flight tests have been conducted both indoors and outdoors to evaluate the performance of the proposed approach.
{"title":"Sensing and control of a quadrotor using a visual inertial fusion method","authors":"Ping Li, M. Garratt, A. Lambert","doi":"10.1109/ICCAS.2015.7364912","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364912","url":null,"abstract":"A visual inertial fusion method is proposed in this paper for the state estimation and control of a low-cost Unmanned Aerial Vehicle. A binary template matching algorithm is combined with a gradient based algorithm to compute optic flow (OF). The proposed OF method is capable of handling large displacement, illumination variation and gives subpixel accuracy. With a ground plane assumption, the Jacobian motion model is employed to solve for the unscaled linear velocity, which is fused with inertial measurements in an Extended Kalman Filter (EKF) framework to estimate metric speed and altitude. A number of flight tests have been conducted both indoors and outdoors to evaluate the performance of the proposed approach.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"28 1","pages":"231-236"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89681090","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364812
Yeon-Beom Choi, Jun-Ho Kim, Woo-Junn Kim, Doo-Hee Jung
In this paper, we propose a method to correct the pechan prism table for optical three-dimensional microscope. To minimize an error in rotation angle of image for corresponding polar angle when using the calculated pechan prism table, we processed the image of reference sample to calculate the rotation angle, then create a new table. Experimental works show the validity and practicality of the proposed method.
{"title":"A study on the compensation of image rotation for optical three-dimensional microscope","authors":"Yeon-Beom Choi, Jun-Ho Kim, Woo-Junn Kim, Doo-Hee Jung","doi":"10.1109/ICCAS.2015.7364812","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364812","url":null,"abstract":"In this paper, we propose a method to correct the pechan prism table for optical three-dimensional microscope. To minimize an error in rotation angle of image for corresponding polar angle when using the calculated pechan prism table, we processed the image of reference sample to calculate the rotation angle, then create a new table. Experimental works show the validity and practicality of the proposed method.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"25 1","pages":"1205-1210"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87772167","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364792
Hee-Su Choi, Jun-Y. Park, Sungjin Choi
Electric field-coupled wireless power transmission utilizes the electric field applied between the physically separated metal plates. In this application, how to provide the regulated output voltage through the resonant LC link are challenging task. In this paper, analysis and control design of such system are investigated. Following small signal and high Q approximation, transfer function of the overall power stage including the transmitter and receiver circuit is extracted and the control loop is designed in the frequency domain. The theoretical results are verified by PSIM simulation for a 10V/0.5A prototype system.
{"title":"Analysis and control of capacitive-coupled wireless power transmission system","authors":"Hee-Su Choi, Jun-Y. Park, Sungjin Choi","doi":"10.1109/ICCAS.2015.7364792","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364792","url":null,"abstract":"Electric field-coupled wireless power transmission utilizes the electric field applied between the physically separated metal plates. In this application, how to provide the regulated output voltage through the resonant LC link are challenging task. In this paper, analysis and control design of such system are investigated. Following small signal and high Q approximation, transfer function of the overall power stage including the transmitter and receiver circuit is extracted and the control loop is designed in the frequency domain. The theoretical results are verified by PSIM simulation for a 10V/0.5A prototype system.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"52 1","pages":"1005-1009"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87475402","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364851
Seongkyun Jeong, Chen Sig Sin
GNSS(Global Navigation Satellite System) is used in various fields. Because the strength of GNSS signal is very weak on Earth surface, GNSS signal is easy to be disturbed by interference. For increasing the GNSS signal stability and availability, various mitigation methods and analysis of interference are studied. As these situation, it is necessary the standard platform to assist the interference mitigation studies and analyze receiver properties and interference effect. ETRI(Electronics and Telecommunications Research Institute) is developing GNSS Interference Signal Verification Platform. This platform generates interference signal and measures the receiver properties influenced by interference. Using the measurement result and signal propagation model, this platform analyzes the effect of interference. GNSS Interference Signal Verification Platform consists of GNSS Interference Signal Generation Equipment, GNSS Interference Signal Measurement Equipment, and GNSS Interference Propagation Model. This paper introduces GNSS Interference Signal Verification and describes the generation signal types which are jamming and spoofing interference. Finally we make the interference signal generation scenario for GNSS Interference Signal Generation Equipment. This scenario reflects the purpose and usage of GNSS Interference Signal Verification Platform.
{"title":"GNSS Interference Signal Generation scenario for GNSS Interference Verification Platform","authors":"Seongkyun Jeong, Chen Sig Sin","doi":"10.1109/ICCAS.2015.7364851","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364851","url":null,"abstract":"GNSS(Global Navigation Satellite System) is used in various fields. Because the strength of GNSS signal is very weak on Earth surface, GNSS signal is easy to be disturbed by interference. For increasing the GNSS signal stability and availability, various mitigation methods and analysis of interference are studied. As these situation, it is necessary the standard platform to assist the interference mitigation studies and analyze receiver properties and interference effect. ETRI(Electronics and Telecommunications Research Institute) is developing GNSS Interference Signal Verification Platform. This platform generates interference signal and measures the receiver properties influenced by interference. Using the measurement result and signal propagation model, this platform analyzes the effect of interference. GNSS Interference Signal Verification Platform consists of GNSS Interference Signal Generation Equipment, GNSS Interference Signal Measurement Equipment, and GNSS Interference Propagation Model. This paper introduces GNSS Interference Signal Verification and describes the generation signal types which are jamming and spoofing interference. Finally we make the interference signal generation scenario for GNSS Interference Signal Generation Equipment. This scenario reflects the purpose and usage of GNSS Interference Signal Verification Platform.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"1363-1365"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87528234","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364988
Yoichi Masuda, K. Nagase
This paper proposes a method for designing a control law for a distributed cooperative formation control of multi-agent systems that positively utilizes self-equilibrium conditions on the basis of the force density method. The force density method is widely used in structural mechanics, and enables us to design the equilibrium of axially loaded structures (tensegrity structures) with a non-zero internal force. The control law is derived from a potential function of virtual linear springs connecting the agents. Replacing the design variables in linear springs by force density (control force per unit length) and member constant (product of spring constant and rest length), the design problems can be described as convex optimization problems. Considering the trade-off between the stiffness of target formation and the control effort, we choose a design objective to minimize the maximum eigenvalue of the tangent stiffness matrix under a constraint of stability. Numerical examples show that the proposed method suppresses the maximum eigenvalue of the tangent stiffness matrix, and decreases the control effort by introducing the non-zero internal force.
{"title":"Optimal internal force design for formation control of multi-agent systems","authors":"Yoichi Masuda, K. Nagase","doi":"10.1109/ICCAS.2015.7364988","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364988","url":null,"abstract":"This paper proposes a method for designing a control law for a distributed cooperative formation control of multi-agent systems that positively utilizes self-equilibrium conditions on the basis of the force density method. The force density method is widely used in structural mechanics, and enables us to design the equilibrium of axially loaded structures (tensegrity structures) with a non-zero internal force. The control law is derived from a potential function of virtual linear springs connecting the agents. Replacing the design variables in linear springs by force density (control force per unit length) and member constant (product of spring constant and rest length), the design problems can be described as convex optimization problems. Considering the trade-off between the stiffness of target formation and the control effort, we choose a design objective to minimize the maximum eigenvalue of the tangent stiffness matrix under a constraint of stability. Numerical examples show that the proposed method suppresses the maximum eigenvalue of the tangent stiffness matrix, and decreases the control effort by introducing the non-zero internal force.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"13 1","pages":"597-602"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88533498","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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