2022 30th Mediterranean Conference on Control and Automation (MED)最新文献_第10页

On the Efficiency, Usability, and Intuitiveness of a Wearable, Affordable, Open-Source, Generic Robot Teaching Interface 关于一个可穿戴的、可负担的、开源的、通用的机器人教学界面的效率、可用性和直观性

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837172

Gal Gorjup, Lucas Gerez, Geng Gao, Minas Liarokapis

引用次数: 0

Towards quasi-static kinematic calibration of serial articulated industrial manipulators 系列铰接式工业机械臂准静态运动学标定研究

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837167

N. Theissen, Fabio Marco Monetti, Monica Katherine Gonzalez, A. Maffei

{"title":"Towards quasi-static kinematic calibration of serial articulated industrial manipulators","authors":"N. Theissen, Fabio Marco Monetti, Monica Katherine Gonzalez, A. Maffei","doi":"10.1109/MED54222.2022.9837167","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837167","url":null,"abstract":"Research on kinematic calibration of industrial robots has focused on applying different measurement instruments into open- and closed-loop approaches and optimising calibration configurations through various cost functions. Such ways are either expensive or time-consuming. This work presents essential steps towards realising quasi-static kinematic calibration of industrial manipulators. This approach employs measurement data from a quasi-static measurement instead of a static one to identify the model parameters and has the potential of considerably reducing the measurement phase time during calibration. The focus lies on the technological challenges needed to achieve a successful quasi-static kinematic calibration, such as the trajectory generation, the measurement instrument and the controller data synchronisation. A case study assess the data obtained from a quasi-static kinematic measurement with a robot/tracker configuration of 100 mm/s and 100 Hz. The average positioning accuracy is similar for the static and the quasi-static measurement. The time for the quasi-static trajectory is reduced to almost one-third of the static trajectory time without considering the setup time.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129783641","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

Robust Tracking Control for a Class of Uncertain Systems with Matched and Unmatched Nonlinearities* 一类具有匹配和不匹配非线性的不确定系统的鲁棒跟踪控制

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837176

L. Dritsas

{"title":"Robust Tracking Control for a Class of Uncertain Systems with Matched and Unmatched Nonlinearities*","authors":"L. Dritsas","doi":"10.1109/MED54222.2022.9837176","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837176","url":null,"abstract":"This article is concerned with the systematic design of robust nonlinear tracking controllers with various degrees of aggressiveness for a certain class of uncertain systems i.e. systems which are nominally linear, suffering from matched model uncertainties and disturbances and uncertain matched and unmatched nonlinearities. The proposed composite state feedback tracking controller u = uL+uN consists of two parts: a linear and a nonlinear one. The LMI–based design of the linear part of the composite controller is based on the nominal linear system and is formulated as a multi–objective H∞ minimization problem for stabilization, disturbance rejection, tracking, performance and minimization of the 2-norm of the state feedback gains. The design of the nonlinear part is based on Lyapunov redesign methodologies, and a continuous nonlinear state feedback guarantees Uniform Ultimate Boundedness (UUB) of the closed–loop system. Explicit formulae for the size of the UUB region and the Radius of the Attracting Ball (RAB) are derived, indicating a tradeoff between robustness, tracking performance and control chattering. The efficacy of the proposed methodology is demonstrated in a numerical example on a single input system.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122816424","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

Finite-Time Distributed Protocol for Tracking the Upper (Lower) Bound For a Set of Time-Varying Reference Signals 时变参考信号集上(下)界跟踪的有限时间分布式协议

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837239

M. Lippi, Antonio Furchì, A. Marino, A. Gasparri

引用次数: 2

The influence of driving cycle characteristics on motor optimisation for electric vehicles 驱动循环特性对电动汽车电机优化的影响

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837227

A. Meddour, N. Rizoug, A. Babin

引用次数: 1

Group and Socially Aware Multi-Agent Reinforcement Learning * 群体和社会感知多智能体强化学习*

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837206

Manav Vallecha, R. Kala

{"title":"Group and Socially Aware Multi-Agent Reinforcement Learning *","authors":"Manav Vallecha, R. Kala","doi":"10.1109/MED54222.2022.9837206","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837206","url":null,"abstract":"Many researches in the field of robot navigation show the effectiveness of Deep Reinforcement Learning and Reward Function Modeling for Crowd Navigation and Multi-Agent Reinforcement Learning. The notion of groups has not yet been studied in the context of Reinforcement Learning. A robot using the current approaches is likely to walk in-between a group of people, while a robot moving alongside with a group of people is unlikely to make an extra effort to avoid group splitting when avoiding other people. We learn the behavior of multiple-robots to be group-aware to avoid breaking of the groups, while also being-socially aware to leave comforting personal space from the other people. The work uses Imitation Learning on a dataset produced by using the Social Potential Field algorithm to kick start the learning of the Reinforcement Learning policy. The learning is facilitated by the reward function that is specifically modelled to learn the desired behaviours. The proposed work is compared against the Artificial Potential Field Algorithm, Social Potential Field Algorithm, Optimal Reciprocal Collision Avoidance and Reinforcement Learning baselines and found to be the best among all these approaches.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126837293","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-Robot Task Allocation Framework with Integrated Risk-Aware 3D Path Planning 集成风险感知三维路径规划的多机器人任务分配框架

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837240

Yifan Bai, B. Lindqvist, Stefan Karlsson, C. Kanellakis, G. Nikolakopoulos

引用次数: 0

Optimal Load Control and Scheduling through Distributed Mixed-integer Linear Programming 基于分布式混合整数线性规划的最优负荷控制与调度

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837224

V. Yfantis, William Motsch, Nico Bach, A. Wagner, M. Ruskowski

引用次数: 1

Disturbance Decoupling by Dynamic Output Feedback for Linear Impulsive Systems with Periodic Jumps 周期跃变线性脉冲系统的动态输出反馈干扰解耦

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837142

E. Zattoni, N. Otsuka, A. Perdon, G. Conte

引用次数: 0

Hierarchical Distributed Model Predictive Control based on Dual Decomposition and Quadratic Approximation 基于对偶分解和二次逼近的分层分布模型预测控制

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837180

V. Yfantis, N. Gafur, A. Wagner, M. Ruskowski

{"title":"Hierarchical Distributed Model Predictive Control based on Dual Decomposition and Quadratic Approximation","authors":"V. Yfantis, N. Gafur, A. Wagner, M. Ruskowski","doi":"10.1109/MED54222.2022.9837180","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837180","url":null,"abstract":"This paper presents a dual decomposition-based distributed optimization algorithm and applies it to distributed model predictive control (DMPC) problems. The considered DMPC problems are coupled through shared limited resources. Lagrangian duality can be used to decompose an MPC problem, so that each subsystem can compute its individual resource utilization, without sharing information, such as dynamics or constraints, with the other subsystems. The feasibility of the central problem is ensured by the coordination of the subproblems through dual variables which can be interpreted as prices on the shared limited resources. The proposed coordination algorithm makes efficient use of information collected from previous iterations by performing a quadratic approximation of the dual function of the central MPC problem. Aggressive update steps of the dual variables are prevented through a covariance-based step size constraint. The nonsmoothness encountered in dual optimization problems is addressed by the construction of cutting planes, similar to bundle methods for nonsmooth optimization. The cutting planes ensure that the updated dual variables do not lie outside the range of validity of the dual approximation. The proposed algorithm is evaluated on a two-tank system and compared to the standard subgradient method. The results show that the rate of convergence towards the centralized solution can be significantly improved while still preserving privacy between the subsystems through limited information exchange.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121997302","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