2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献_第8页

Designing a Fractional Order Back-Stepping Controller Based on GPI Observer for a 3D Biped Robot 基于GPI观测器的三维双足机器人分数阶反演控制器设计

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071840

M. Raoufi, M. Edrisi

{"title":"Designing a Fractional Order Back-Stepping Controller Based on GPI Observer for a 3D Biped Robot","authors":"M. Raoufi, M. Edrisi","doi":"10.1109/ICRoM48714.2019.9071840","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071840","url":null,"abstract":"This paper proposes an active disturbance rejection control (ADRC) method based on generalized proportional integral (GPI) observer to control of a biped robot while considering its complicated structure and possible disturbances. These observers are used to estimate time-varying disturbances and possible uncertainties. Generally, implying GPI observer on robotic systems is accompanied by a PD-controller in feedback, which is not efficient enough due to abrupt velocity changes of the biped in impact phase, and consequently, a higher level of input torque is required. Thus, applying the back-stepping technique to the mentioned method is suggested. In this study, a two-nested control loop is designed for a 3D biped robot. The back-stepping method with a GPI observer is used in the inner control loop to improve the custom method. Joint trajectories are designed by an offline method and modified by an online method in the outer loop to maintain the stability of the biped. The efficiency of the proposed control strategy is depicted for the biped in the presence of time-varying disturbances through MATLAB simulation.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131243728","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}

引用次数: 3

Tracking Control of an Autonomous Underwater Vehicle: Higher-Order Sliding Mode Control Approach 自主水下航行器的跟踪控制:高阶滑模控制方法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071866

Fahimeh S Tabataba’i-Nasab, S. Moosavian, A. K. Khalaji

{"title":"Tracking Control of an Autonomous Underwater Vehicle: Higher-Order Sliding Mode Control Approach","authors":"Fahimeh S Tabataba’i-Nasab, S. Moosavian, A. K. Khalaji","doi":"10.1109/ICRoM48714.2019.9071866","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071866","url":null,"abstract":"Tracking control of autonomous underwater vehicle (AUV) is complicated due to highly nonlinear dynamics, structural and non-structural uncertainties, and inevitable external disturbances. In this study, the control algorithm for tracking operation of AUV in 3D workspace is proposed. This algorithm is based on terminal sliding mode control technique, which leads to fast response, time-limited convergence and robustness against uncertainties and external disturbances. To this end, first the trajectory planning and convergence of position tracking errors is introduced using kinematics model. Next, control laws are developed and the stability of the proposed control lows are analyzed. Finally, the system performance using various control laws of terminal sliding mode tracking control (TSMTC), fast terminal sliding mode tracking control (FTSMTC) and feedback linearizing tracking control (FLTC) are compared. Obtained results show efficiency of the proposed FTSMTC algorithm in accelerating route tracking and reasonable performance in handling disturbances in terms of tracking errors.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134298037","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}

引用次数: 5

Dynamic modeling of industrial manipulator Hyundai HS165 in order to determine the dynamic load-carrying capacity for a specified trajectory 对现代HS165工业机械手进行动力学建模，以确定其在指定轨迹下的动态承载能力

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071847

M. N. Nezhad, A. H. Korayem

引用次数: 2

Dynamic modeling and sliding mode control of a wheeled mobile robot assuming lateral and longitudinal slip of wheels 考虑车轮横向和纵向滑移的轮式移动机器人动力学建模与滑模控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071913

N. Ghobadi, S. F. Dehkordi

{"title":"Dynamic modeling and sliding mode control of a wheeled mobile robot assuming lateral and longitudinal slip of wheels","authors":"N. Ghobadi, S. F. Dehkordi","doi":"10.1109/ICRoM48714.2019.9071913","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071913","url":null,"abstract":"In this article, the dynamic model of a wheeled mobile robot(WMR) is derived by assuming the longitudinal and lateral slip of the wheels. The resulting equations are used to control the robot in the specified trajectory and also between the two specified points. Given that increasing the number of states due to the consideration of longitudinal and lateral slip increases computational volume and complexity of robot control, in this paper, non-holonomic mobile base constraints under wheel slip conditions, without changes in the states of the ideal system is expressed. Due to the uncertainties in the studied system, the sliding mode controller(SMC) with respect to the uncertainty-resistant structure is used to control the robot and the stability of the system is guaranteed by Lyapunov method. To control the robot, defining proper outputs of the system is very important; so by defining appropriate output, the robot is driven in the desired direction. The results show that the sliding mode controller, despite the slip, can track the desired trajectory with 0.05 nm torque increase compared to the non-slip mode. Also, the point-to-point error of the robot is an acceptable value of 2.9 *10−4.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132757999","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}

引用次数: 4

Evaluation of Monocular Visual-Inertial SLAM: Benchmark and Experiment 单目视惯性SLAM的评价:基准与实验

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071825

S. J. Haddadi, E. Castelan

{"title":"Evaluation of Monocular Visual-Inertial SLAM: Benchmark and Experiment","authors":"S. J. Haddadi, E. Castelan","doi":"10.1109/ICRoM48714.2019.9071825","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071825","url":null,"abstract":"Simultaneous Localization and Mapping (SLAM) is being developed as a hot topic issue in computer vision which nowadays, is the main core of self-localization and autonomous navigation in robotic technology and unmanned vehicles. In this way, Visual-Inertial SLAM algorithm is a popular strategy to attain high accurate 6-DOF state estimation. But such an accurate system is vulnerable to extreme movements and texture-less environments, and it sometimes fails in confronting such circumstances. In this paper, a tightly-coupled and optimization-based monocular Visual-Inertial SLAM system is proposed, which can tackle the scale ambiguity - a problem that arises by poor initialization. To perform this, the ORB-SLAM as the most reliable feature-based monocular SLAM algorithm has been selected as the base of our study. Then, to improve the accuracy, a Visual-Inertial Odometry (VIO) is carried out that fuses the camera information and Inertial Measurement Unit (IMU) data. We evaluate the performance of our system on the European Robotics Challenge (EuRoC) dataset and compare it with the state-of-the-art algorithms, providing better accuracy in some sequences owing to the improved initialization. Furthermore, we implement the real-world indoor experiment using a monocular-inertial camera to demonstrate the appropriate performance of our system.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115358393","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}

引用次数: 0

Robot localization performance using different SLAM approaches in a homogeneous indoor environment 在均匀的室内环境中使用不同SLAM方法的机器人定位性能

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071902

Navid Zarrabi, Rasul Fesharakifard, M. Menhaj

引用次数: 1

Design, Modeling and Fabrication of an Isokinetic Exercise Device for Back Muscles Strength and Endurance 背部肌肉力量和耐力等速运动装置的设计、建模和制造

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071877

Ebrhim Panahpoori, M. Mahjoob, A. Sadighi

{"title":"Design, Modeling and Fabrication of an Isokinetic Exercise Device for Back Muscles Strength and Endurance","authors":"Ebrhim Panahpoori, M. Mahjoob, A. Sadighi","doi":"10.1109/ICRoM48714.2019.9071877","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071877","url":null,"abstract":"Low back pain is one of the most common pains that people experience in their lives. This pain is mainly associated with the weakness of back muscles that increases the risk of spine damage. Proper exercise can increase muscle strength and improve spine stability and protect it against damages. A new exercise device intended for back muscles is developed here based on biomechanical, rehabilitation and engineering requirements. A novel mechanism has been designed and fabricated such that the flexion/extension and lateral bending tests and trains can be conducted in sitting/standing positions with a single actuation and monitoring system all in one device, enhancing functionality and reducing costs. The muscles torque is monitored via a mechanism composed of two single-point load cells. An electrical motor with closed loop control is used to provide the required constant speed (in the isokinetic operation mode). The parameters in the dynamic model of the electrical motor are estimated through system identification. Two controllers (including a PI and a repetitive controller) are designed and implemented. Both controllers demonstrated good tracking and disturbance rejection in the steady state performance. The test results associated with the isokinetic and isometric operation modes obtained in the training of an adult subject are also presented and discussed.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114663475","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}

引用次数: 0

Design and comparison of two PID control strategies to improve the performance of the boiler unit in a steam power plant 设计并比较了两种PID控制策略以提高某电厂锅炉机组的性能

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071865

S. Khodakaramzadeh, H. Moradi

{"title":"Design and comparison of two PID control strategies to improve the performance of the boiler unit in a steam power plant","authors":"S. Khodakaramzadeh, H. Moradi","doi":"10.1109/ICRoM48714.2019.9071865","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071865","url":null,"abstract":"In this paper, two PID-based control strategies are proposed to improve the performance of an industrial boiler unit in the steam power plant. A multivariable dynamic model of the boiler unit of a certain steam power plant is considered. Output variables of the dynamic system including the water level of drum, drum pressure and steam temperature are controlled via the manipulation of input variables including the feed water, fuel and spray attemprator mass rates. To design the controllers, two cases are considered for the dynamics of the boiler unit. First, it is considered as a multi SISO (single input-single output) models while in the second case, it is considered as a MIMO (multi inputs-multi outputs) model. For these cases, two PID controllers in the configuration of a diagonal and a lower triangular matrix gain are designed. The objective of the control strategy is to improve the dynamic system performance in the presence of perturbations in output variables. The effectiveness of the proposed PID controllers in tracking of desired objectives and required variation of control efforts is compared.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125532044","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}

引用次数: 0

Improving the Performance of a Small-Scale CHP Plant using Fuzzy Sliding Mode Controller 利用模糊滑模控制器改善小型热电联产电厂的性能

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071912

Khatere Dakhili, A. Y. Koma, A. Esmaeilzadeh

{"title":"Improving the Performance of a Small-Scale CHP Plant using Fuzzy Sliding Mode Controller","authors":"Khatere Dakhili, A. Y. Koma, A. Esmaeilzadeh","doi":"10.1109/ICRoM48714.2019.9071912","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071912","url":null,"abstract":"In order to cope with the problem of increasing fuel consumption and the greenhouse effect, efficient energy systems such as Combined Heat and Power (CHP) plants have been widely studied and used over past years. The strongly nonlinear behavior of the components of a CHP plant has led to the development of advanced controllers to ensure their safe and reliable operation. In this study, the Thermodynamic model of a small-scale CHP plant based on a recuperated micro gas turbine (MGT) was developed and governing equations of the system were obtained. Then, the system components were simulated by means of MATLAB Simulink. The aim of the paper is to design a Fuzzy - Sliding Mode (FSM) controller to control the speed of the turbine - compressor shaft and the turbine exhaust temperature simultaneously. The performance of the FSM controller was compared with the performance of a PID controller optimized using genetic algorithm (GA-PID) with two different input electrical load commands. The results show that the fuzzy - sliding mode controller improves the settling time in the shaft speed configuration at the desired value and maintains the exhaust gas temperature below the temperature limit.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126581310","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}

引用次数: 2

Path Planning for a UAV by Considering Motion Model Uncertainty 考虑运动模型不确定性的无人机路径规划

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071838

Hossein Sheikhi Darani, Ali Noormohammadi-Asl, H. Taghirad

引用次数: 1