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2022 30th Mediterranean Conference on Control and Automation (MED)最新文献

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Dynamic path planning and reactive scheduling for a robotic manipulator using nonlinear model predictive control 基于非线性模型预测控制的机械臂动态路径规划与响应调度
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837147
N. Gafur, Leo Weber, V. Yfantis, A. Wagner, Martin Ruskwoski
{"title":"Dynamic path planning and reactive scheduling for a robotic manipulator using nonlinear model predictive control","authors":"N. Gafur, Leo Weber, V. Yfantis, A. Wagner, Martin Ruskwoski","doi":"10.1109/MED54222.2022.9837147","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837147","url":null,"abstract":"Operation of robotic manipulators is limited to structured environments and well-defined tasks due to an offline path planning. However, flexible production processes and human-robot collaboration necessitates a real time path planning to allow for replanning a path in changing environments. In this work, we investigate established planning algorithms for their applicability to dynamic path planning problems. We further compare these methods with our approach based on model predictive control. We consider a single manipulator with six degrees of freedom in static and dynamic environments. We investigate three experimental setups and show the advantages of the proposed MPC-ELS approach over more traditional path planning algorithms in terms of several metrics, such as path-length, execution time or trajectory smoothness. In addition, we propose a scheduling algorithm for object allocation to determine an optimal sequence for pick and place tasks with regard to minimum execution time.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"24 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":"130397500","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
Visual control through narrow passages for an omnidirectional wheeled robot 全向轮式机器人窄通道视觉控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837221
Damiano Morra, E. Cervera, L. Buonocore, Jonathan Cacace, Fabio Ruggiero, V. Lippiello, M. D. Castro
{"title":"Visual control through narrow passages for an omnidirectional wheeled robot","authors":"Damiano Morra, E. Cervera, L. Buonocore, Jonathan Cacace, Fabio Ruggiero, V. Lippiello, M. D. Castro","doi":"10.1109/MED54222.2022.9837221","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837221","url":null,"abstract":"Robotic systems are gradually replacing human intervention in dangerous facilities to improve human safety and prevent risky situations. In this domain, our work addresses the problem of autonomous crossing narrow passages in a semi-structured (i.e., partially-known) environment. In particular, we focus on the CERN’s Super Proton Synchrotron particle accelerator, where a mobile robot platform is equipped with a lightweight arm to perform measurements, inspection, and maintenance operations. The proposed approach leverages an image-based visual servoing strategy that exploits computer vision to detect and track known geometries defining narrow passage gates. The effectiveness of the proposed approach has been demonstrated in a realistic mock-up.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"32 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":"125346594","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
Improved robustness and performance for adaptive control of non-linear plants with input saturations 提高输入饱和非线性对象自适应控制的鲁棒性和性能
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837177
Ian Karez, Thilo Müller, T. Jeinsch
{"title":"Improved robustness and performance for adaptive control of non-linear plants with input saturations","authors":"Ian Karez, Thilo Müller, T. Jeinsch","doi":"10.1109/MED54222.2022.9837177","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837177","url":null,"abstract":"In this paper a robust state feedback adaptive control scheme for non-linear plants with input saturations, such as unmanned underwater vehicles, is proposed. For the performance during input saturation the adaptive model recovery anti-windup method is used. To increase robustness, the control law is divided into a nominal and an adaptive one. High adaptation gains are usually needed to reach good tracking performance. Since high adaptation gains decrease the robustness of adaptive controllers, the control scheme is extended by a command governor. The command governor adjusts the trajectory of the given command signal to improve the transient performance at low adaptation gains.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"92 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":"126823888","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
An integrated design of PI interval observer-based FTC for LTI systems 基于PI区间观测器的LTI系统FTC集成设计
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837133
D. T. Nguyen, S. Mammar, D. Ichalal, Mohand Smaili
{"title":"An integrated design of PI interval observer-based FTC for LTI systems","authors":"D. T. Nguyen, S. Mammar, D. Ichalal, Mohand Smaili","doi":"10.1109/MED54222.2022.9837133","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837133","url":null,"abstract":"This paper deals with an integrated design interval observer-based Fault Tolerant Control (FTC) for linear time invariant (LTI) system subject to the uncertain modeling, actuator fault and external disturbances. Under the assumption that uncertainties and disturbances are unknown but bounded with priori known bounds, a design method for obtaining Proportional Integral (PI) interval observer that provides guaranteed lower and upper bounds of the state as well as faults is considered. Based on the estimated information, FTC controller is designed to ensure robust stability of the closed-loop system. Sufficient stability conditions with H∞ performance are expressed in terms of Linear Matrix Inequalities. An application to vehicle lateral dynamics is considered to show the effectiveness of the proposed algorithms.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"72 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":"120917020","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
Towards Dynamic Quadruped Locomotion: Development of a CPG-driven Foot Trajectory Generator 动态四足运动:cpg驱动足部轨迹发生器的研制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837290
Daniel Teixeira de Paula, E. P. Godoy, Mauricio Becerra-Vargas
{"title":"Towards Dynamic Quadruped Locomotion: Development of a CPG-driven Foot Trajectory Generator","authors":"Daniel Teixeira de Paula, E. P. Godoy, Mauricio Becerra-Vargas","doi":"10.1109/MED54222.2022.9837290","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837290","url":null,"abstract":"Legged locomotion has been a widespread daily activity of animals for millions of years, and many of its subtleties are founded on imposed conditions for survival. Agile movement in environments built for human locomotion could be achieved by extracting and implementing key aspects of legged locomotion in artificial creations. This work proposes a novel high-level control system module for dynamic quadruped robot locomotion, integrating the rhythmic developing capabilities of CPGs with foot trajectory generation based on Bézier curves. The proposed system utilizes CPG output signals as driving parameters for a foot trajectory generator based on Bézier curves and is built using a Matlab/Simulink simulated environment, with tests being carried out to validate its quadruped locomotion aptitude with regards to limit-cycle convergence and establishment of synchronized and stable phase shifts corresponding to desired gaits. The results point toward a sound performance of the proposed strategies, showing great promise regarding its locomotion capabilities. Lastly, additions to enhance the system’s effectiveness and enable its use in a complete locomotion control system are suggested to be further explored in future works.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"11 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":"131226757","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
Sliding-Mode Control for On-Orbit Rendezvous with a Fleeing Passive Target on a Circular Capture Trajectory 圆形捕获轨迹上与被动目标在轨交会的滑模控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837287
D. Henry, A. F. de Loza, Martin Fauré, J. Cieslak, Elisabetta Punta
{"title":"Sliding-Mode Control for On-Orbit Rendezvous with a Fleeing Passive Target on a Circular Capture Trajectory","authors":"D. Henry, A. F. de Loza, Martin Fauré, J. Cieslak, Elisabetta Punta","doi":"10.1109/MED54222.2022.9837287","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837287","url":null,"abstract":"This paper deals with the design of finite-time controllers for on-orbit rendezvous and capture missions. The objective is to assess the capacity of sliding–mode controllers to control a chaser spacecraft during a capture maneuver of a fleeing passive spacecraft. The control solution is based on a variable structure approach that relies on the sliding mode control theory. More precisely, the general super-twisting algorithm is used to control the chaser’s attitude, whereas the control of the relative position between the two spacecraft is based on the simplex-based sliding mode control theory. The method is tested in a full-scaled benchmark that accurately simulates the capture mission.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"74 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":"131742502","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 Distributed Control for DC Microgrids with System Constraints 具有系统约束的直流微电网鲁棒分布式控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837215
Grigoris Michos, P. R. B. Monasterios, George C. Konstantopoulos
{"title":"Robust Distributed Control for DC Microgrids with System Constraints","authors":"Grigoris Michos, P. R. B. Monasterios, George C. Konstantopoulos","doi":"10.1109/MED54222.2022.9837215","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837215","url":null,"abstract":"This work proposes a distributed robust control architecture for meshed DC Microgrid networks. Each interlinking converter is modelled as a network node and is connected in parallel to a constant power load representing the network’s power consumption. Each node employs a local controller consisting of two parts; current regulation based on a modified version of the state-limiting PI and a distributed MPC driving the system to desired setpoints. We analytically prove each controller’s robustness to model variations caused by changes in both the power demand and the transmitted information among the subsystems. The concept of positive invariance sets and the inherent robustness properties of the nominal MPC are used to prove recursive feasibility of the optimal control problem and guarantee constraint satisfaction at all times. The stability proof of the cascaded node dynamics is based upon the emerging properties of both the state limiting PI and the distributed MPC design. Demonstration of the results is given in a simulated scenario.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"260 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":"132651978","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 algorithm for vessel roll prediction based on the Bayesian approach* 基于贝叶斯方法的船舶横摇预测自适应算法*
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837123
O. Stepanov, Yulia A. Litvinenko, Danila V. Antonov, O. Zaitsev
{"title":"Adaptive algorithm for vessel roll prediction based on the Bayesian approach*","authors":"O. Stepanov, Yulia A. Litvinenko, Danila V. Antonov, O. Zaitsev","doi":"10.1109/MED54222.2022.9837123","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837123","url":null,"abstract":"The problem of vessel roll prediction is considered within the framework of the Bayesian approach; the proposed adaptive algorithm for its solution is described. The advantages of the proposed algorithm are discussed, and its interrelation with the algorithm based on neural networks is analyzed.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"6 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114019715","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
MPC Control Strategy for Autonomous Vehicles Driving in Roundabouts 自动驾驶汽车在环形交叉路口行驶的MPC控制策略
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837120
Zsófia Farkas, András Mihály, P. Gáspár
{"title":"MPC Control Strategy for Autonomous Vehicles Driving in Roundabouts","authors":"Zsófia Farkas, András Mihály, P. Gáspár","doi":"10.1109/MED54222.2022.9837120","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837120","url":null,"abstract":"The appearance of autonomous vehicles (AVs) in transportation has increased the attention of the scientific community to develop modern solutions for the control design of AVs in different traffic scenarios. In this paper a control method is proposed for the coordination of autonomous vehicles in roundabout scenarios. For collision avoidance and minimization of traveling time, a Model Predictive Control (MPC) with a centralized controller is introduced to calculate the traveling times of the vehicles. A presented algorithm determines velocity profiles for safety reasons and for the reduction of possible congestion. The operation of the proposed MPC method is tested and demonstrated in CarSim simulation environment.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"142 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":"115187442","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
Model-Based/Model Predictive Control Design for Free Floating Space Manipulator Systems 自由漂浮空间机械臂系统基于模型/模型预测控制设计
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837196
Evangelos Psomiadis, E. Papadopoulos
{"title":"Model-Based/Model Predictive Control Design for Free Floating Space Manipulator Systems","authors":"Evangelos Psomiadis, E. Papadopoulos","doi":"10.1109/MED54222.2022.9837196","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837196","url":null,"abstract":"The rapid increase in satellites and space debris mandates advanced capabilities for on-orbit operations. The hostile-to-human environment and the required high accuracy and robustness of on-orbit operations render Space Manipulator Systems (SMS) the appropriate choice. This work proposes an easily applicable, computationally inexpensive, nonlinear, and robust Cartesian control law for spatial Free-Floating SMS (FFSMS). The controller consists of two fundamental parts. The first is a Model-Based (MB) controller, which linearizes the system and guarantees prescribed performance. The second is a Model Predictive Controller (MPC), which integrates the model and provides optimal performance with parametric uncertainty, noise, and disturbances compensation. Input and output constraints are integrated into the latter to improve its performance. Numerical simulations for a planar model using Matlab/Simulink and MSC Adams highlight the MB/MPC’s increased accuracy in comparison to a regular MB/PID controller, during a task that requires moving a captured object in the presence of parametric uncertainty, disturbances, and sensor noise. Monte-Carlo simulations substantiate the higher accuracy achieved by the MB/MPC.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"14 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":"115326994","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
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