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2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)最新文献

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Design of H∞ controller for networked predictive control system with prediction error observer 具有预测误差观测器的网络预测控制系统的H∞控制器设计
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496340
Takuya Takahashi, Y. Uchimura
{"title":"Design of H∞ controller for networked predictive control system with prediction error observer","authors":"Takuya Takahashi, Y. Uchimura","doi":"10.1109/AMC.2016.7496340","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496340","url":null,"abstract":"This paper proposes prediction error observer (PEOB) in the design of networked predictive control systems (NPCSs) with network delays and model errors, which proposes stability criteria for closed-loop NPCSs. In the NPCSs, a prediction error occurs due to model errors. Based on a-priori predictions, the PEOB compensates for the prediction error when the controller predicts the current and future states. The proposed method improves the performance of the conventional NPC associated with network delays and model errors. Experimental results illustrate the effectiveness of the proposed control strategies.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117201420","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
Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA) 基于机器人效用任务分配(RUTA)的异构机器人群协调
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496328
Tamer Abukhalil, Madhav Patil, S. Patel, T. Sobh
{"title":"Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)","authors":"Tamer Abukhalil, Madhav Patil, S. Patel, T. Sobh","doi":"10.1109/AMC.2016.7496328","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496328","url":null,"abstract":"The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126442900","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: 19
A design of in-car multi-layer communication network with Bluetooth and CAN bus 基于蓝牙和CAN总线的车载多层通信网络的设计
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496370
Z. Qi, Ping Dong, Kuang Ma, Nicholas Sargeant
{"title":"A design of in-car multi-layer communication network with Bluetooth and CAN bus","authors":"Z. Qi, Ping Dong, Kuang Ma, Nicholas Sargeant","doi":"10.1109/AMC.2016.7496370","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496370","url":null,"abstract":"This paper presents a novel design for tablet controlled 4-Wheel Independent Drive and Independent Steering (4-WIDIS) Electric Vehicle (EV) with multilayer communication network. The tablet acts as a human machine interface (HMI) and the host computer of the EV operation control computation for individual wheel-units via Bluetooth, CAN bus, and a gateway that connects the two interfaces. An experimental prototype demonstrates that Bluetooth 4.0 communication rate is insufficient to maintain absolute control required of an EV travelling at high speed. Therefore, it is recommended to designate the tablet as an auxiliary HMI, and upgrade the gateway to a powerful central controller. Such a system structure requires further examination.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128634596","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
PneuNet based control system for soft robotic tongue 基于PneuNet的软舌机器人控制系统
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496375
Xuanming Lu, Weiliang Xu, Xiaoning Li
{"title":"PneuNet based control system for soft robotic tongue","authors":"Xuanming Lu, Weiliang Xu, Xiaoning Li","doi":"10.1109/AMC.2016.7496375","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496375","url":null,"abstract":"The control system of a novel soft robot which can mimic a few deformations of human tongue was designed based on closed-loop control method. For the purpose of reducing the cost, solenoid directional valves and pressure sensors are applied to the pneumatic actuation circuit instead of proportional valves, which can reduce the cost by about 70%. The electrical circuit of this system consists of a DAQ card, NPN transistors and some other auxiliary components. The control program is written in LabVIEW software because of its compatibility with the DAQ card. Three working modes are realised through the control program including loading, holding and unloading. Several tests of this control system have been carried out and five typical deformations were achieved approving that this system can control the pressure in each chamber independently.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132527826","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
Energy-efficient power assist control with periodic disturbance observer and frequency estimator 基于周期扰动观测器和频率估计器的节能辅助控制
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496379
K. Hatada, K. Hirata, Takuma Sato
{"title":"Energy-efficient power assist control with periodic disturbance observer and frequency estimator","authors":"K. Hatada, K. Hirata, Takuma Sato","doi":"10.1109/AMC.2016.7496379","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496379","url":null,"abstract":"In this paper, energy-efficient power assist control problem for almost-periodic motions is considered. Specifically, we focus on the electric power assisted bicycles. Previously, it was shown that the energy efficiency improves by flattening the pedaling torque pattern. To cope with the frequency fluctuation of our motion, we introduce the periodic disturbance observer and a frequency estimator and suppress the pulsation of the human pedaling torque based on a disturbance observer framework. The effectiveness of the proposed method is demonstrated through experiments with an actual bicycle.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134277106","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: 1
Multi-objective parameter optimization design of a magnetically actuated intravitreal injection device 磁驱动玻璃体内注射装置的多目标参数优化设计
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496388
Hui Zhou, Jinji Sun, Bok Seng Yeow, Hongliang Ren
{"title":"Multi-objective parameter optimization design of a magnetically actuated intravitreal injection device","authors":"Hui Zhou, Jinji Sun, Bok Seng Yeow, Hongliang Ren","doi":"10.1109/AMC.2016.7496388","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496388","url":null,"abstract":"Aiming at intravitreal injection procedures for eye diseases, needless injectors are emerging to puncture complications, save time and improve the safety of the process. In this paper, an injection device based on electromagnetic E-core actuation is selected for its better position control and improved controllability over current solenoid designs. The multi-objective optimization model of the E-core device is derived. Then, an integrated NSGA-II and TOPSIS based on combinatorial weighting approach is proposed for the parameter optimization design of the device and the selection of a final compromise solution or optimal solution. The combination weighting method combines the advantages of the objective and subjective weighting method, making the results more reasonable.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133527388","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
Sampled-data robust feedback linearization using estimator 基于估计器的采样数据鲁棒反馈线性化
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496363
Asim Zaheer, Y. Ayaz, Momena Hasan, M. Salman
{"title":"Sampled-data robust feedback linearization using estimator","authors":"Asim Zaheer, Y. Ayaz, Momena Hasan, M. Salman","doi":"10.1109/AMC.2016.7496363","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496363","url":null,"abstract":"In this paper, robust control schemes are presented to achieve sampled-data output feedback tracking, for the cases of unknown and known nonlinear minimum phase second order plant (system) models. For known system model case, system output tracks reference trajectory using Extended Kalman Filter (EKF), Unscented Kalman filter (UKF), and Cubature Kalman Filter (CKF). Whereas, for unknown system model case; EKF, UKF and CKF cannot be utilized. For this case, in this paper; State-Space Recursive Least Squares (SSRLS) and Sliding Mode observer (SMO) are employed. SSRLS uses constant velocity model, whereas, SMO requires information about input function only, to track the reference signal. Emulation Design based discrete feedback linearization controller utilizes estimated states to generate control input for plant. The robustness of these sampled-data output feedback control schemes (using estimators) against disturbance and parameter perturbation is demonstrated. It is presented via simulations for magnetic levitation system, that robust tracking is achieved on using estimators (Kalman filters and SMO) in sampled-data output feedback configuration as compared to performing tracking using sampled-data state feedback scheme. Simulation results show that SMO based output feedback tracking is most robust, followed by CKF and EKF based output feedback scheme. UKF based output feedback scheme is robust against external disturbance force, but for case of system parameter perturbation, UKF tracking error takes longer time to converge. SSRLS based scheme behaves poorly in presence of external disturbance force, as SSRLS estimation is based on constant velocity model and not on actual nonlinear system model.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134365809","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
Position control system based on inertia measurement unit sensor fusion with Kalman filter 基于惯性测量单元传感器与卡尔曼滤波融合的位置控制系统
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496343
T. Ishikawa, T. Nozaki, T. Murakami
{"title":"Position control system based on inertia measurement unit sensor fusion with Kalman filter","authors":"T. Ishikawa, T. Nozaki, T. Murakami","doi":"10.1109/AMC.2016.7496343","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496343","url":null,"abstract":"This paper proposes position control system based on measurements of an inertia measurement unit (IMU) sensor (composed of a gyro sensor and an acceleration sensor) attached on the tip position of a 2-link planar manipulator. To estimate joint angle from only one IMU sensor, velocity applied to end effector is required. However, it is difficult to measure accurate velocity from integration of measurements of the acceleration sensor due to noise, offset and drift error. Therefore, Kalman filter and sensor fusion with acceleration sensor and gyro sensor are introduced to estimate the velocity with high accuracy. In addition to that, Disturbance observer (DOB) is used in the position control system, and the estimated angular velocity information is utilized in DOB. To confirm the performance of proposed control system, 3 types of simulation of position control are conducted. Kalman filter can reduce the noise effect and position control is achieved by proposed control system.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115368398","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: 1
Adaptive vibration suppression perfect tracking control for linear time-varying systems with application to ball-screw feed drives 线性时变系统的自适应振动抑制完美跟踪控制及其在滚珠丝杠进给传动中的应用
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496358
Thomas Beauduin, H. Fujimoto, Yuki Terada
{"title":"Adaptive vibration suppression perfect tracking control for linear time-varying systems with application to ball-screw feed drives","authors":"Thomas Beauduin, H. Fujimoto, Yuki Terada","doi":"10.1109/AMC.2016.7496358","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496358","url":null,"abstract":"In high-precision positioning of feed drive systems, mechanical resonances are one of the main limiting factor for fast and precise motion. Vibration suppression tracking controllers are employed to improve positioning performance, although precise plant models are generally required. Hence, in systems with time-varying modes, the increasing modeling errors often result in the loss of the needed performance. This paper presents an adaptive tracking controller for vibration suppression of linear systems with time-varying dynamics. The technique is based on multirate feedforward, alleviating the unstable-zeros problem of discrete time plant models, for which the nominal plant model is adjusted using recursive estimation. A novel estimation scheme is presented to estimate the modal parameters of the plant based on the relative motion between the mechanical components. The proposed control scheme is applied to ball-screw feed drives with varying dynamics during the cutting process and the advantages demonstrated through simulations and experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116087858","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
Design of feedforward filling control for joining thick materials using robotic welding systems 厚材料机器人焊接系统的前馈填充控制设计
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496357
Suibo Xia, Yan Zhi Tan, C. Pang, C. Chew
{"title":"Design of feedforward filling control for joining thick materials using robotic welding systems","authors":"Suibo Xia, Yan Zhi Tan, C. Pang, C. Chew","doi":"10.1109/AMC.2016.7496357","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496357","url":null,"abstract":"In this paper, a filling control strategy is proposed for robotic welding of thick materials which requires multipass welding. The multi-pass welding process is formulated as a closed-loop control design problem. A PI controller is used in the baseline loop for regulating the seam boundary error in the current pass; a non-causal feedforward controller is designed using the H∞ loop shaping technique for regulating the error from previous welding passes. Simulation results show that as compared to without using a feedforward controller, error propagation on the seam boundary will be eliminated within six passes for disturbances occurring only in the first filling pass, and error amplification is contained within four passes for disturbances occurring at the same position in every filling pass.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122451615","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
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