42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)最新文献_第10页

An exponential class of model-free visual servoing controllers in the presence of uncertain camera calibration 不确定摄像机标定条件下的指数型无模型视觉伺服控制器

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272494

Yongchun Fang, W. Dixon, D. Dawson, Jing Chen

{"title":"An exponential class of model-free visual servoing controllers in the presence of uncertain camera calibration","authors":"Yongchun Fang, W. Dixon, D. Dawson, Jing Chen","doi":"10.1109/CDC.2003.1272494","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272494","url":null,"abstract":"In recent papers, a new class of model-free (i.e., the 3-dimensional task-space model of the object is unknown) visual servoing methods was proposed that are based on the estimation of the relative camera orientation between two views of an object. By utilizing homography-based techniques, the control problem is decoupled by separating the rotation and translation components. A single controller is used to control the rotation component, and the class members consist of various translation controllers. Each of the current class members has been proven to yield asymptotic regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. New control development and stability analysis techniques are crafted in this paper to develop a new translation controller that yields exponential rotation and translation regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. Extensions to this research can be used to yield exponential regulation by the other translation controllers in the asymptotic class presented.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117323773","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: 22

Robust Lyapunov-based feedback control of nonlinear Web-winding systems 非线性卷绕系统的鲁棒lyapunov反馈控制

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272347

M. D. Baumgart, L. Pao

{"title":"Robust Lyapunov-based feedback control of nonlinear Web-winding systems","authors":"M. D. Baumgart, L. Pao","doi":"10.1109/CDC.2003.1272347","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272347","url":null,"abstract":"Web-winding systems such as tape drives are often modeled as linear and time-invariant (LTI), but at least two nonlinearities are common in these systems. First, the reel radii and moments of inertia change as web media spools from one reel to another. Second, friction can draw a thin layer of air between the layers of web media wrapped on the takeup reel, making the system's spring and damping characteristics nonlinear by allowing a greater length of media to vibrate freely. Little has been published regarding the dynamic behavior of this \"air entrainment\" phenomenon. This paper first describes a model for web-winding systems that includes these nonlinearities. No particular model is taken for air entrainment; it is only assumed that its effects are bounded in a certain sense. It is further assumed that the motor parameters are not known exactly. Feedback linearization, state feedback, and changes of variables are then used to transform the system into decoupled and intuitively meaningful tension and velocity loops. Lyapunov redesign techniques are then used to develop control laws that are robust with respect to the motor parameters. Under these laws, velocity error is exponentially-stable and tension error satisfies a desired bound for all time - with tension error also exponentially stable in the steady-state case. Simulations illustrate the performance of these schemes.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130784489","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: 25

Adaptive gain sliding observer based sliding controller for uncertain parameters nonlinear systems. Application to flexible joint robots 基于自适应增益滑动观测器的不确定参数非线性系统滑动控制器。柔性关节机器人的应用

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1271696

A. Filipescu, L. Dugard, J. Dion

引用次数: 22

On the stability of limit cycles in resonant dc-to-dc power converters 谐振dc- dc功率变换器极限环的稳定性

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272761

V.M. Hernandez, R. Silva-Ortigoza, H. Sira-Ramírez

引用次数: 15

Approximate stabilisation of uncertain hybrid systems with controllable transitions 具有可控过渡的不确定混合系统的近似镇定

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272853

Yan Gao, J. Lygeros, M. Quincampoix, N. Seube

引用次数: 2

Realization of interconnected nonlinear input-output discrete-time systems 互连非线性输入输出离散系统的实现

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272800

S. Nõmm

引用次数: 3

Cryptography by discrete-time hyperchaotic systems 离散时间超混沌系统的密码学

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272893

I. Belmouhoub, M. Djemaï, J. Barbot

引用次数: 19

Piecewise polynomial Lyapunov functions for a class of switched nonlinear systems 一类切换非线性系统的分段多项式Lyapunov函数

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1271820

D. Coutinho, A. Trofino

引用次数: 4

MCS adaptive control of vehicle dynamics: an application of bifurcation techniques to control system design 车辆动力学的MCS自适应控制:分岔技术在控制系统设计中的应用

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272953

Bruno Catino, S. Santini, M. Bernardo

引用次数: 45

Formation control of a multi-agent system using decentralized nonlinear servomechanism 基于分散非线性伺服机构的多智能体系统编队控制

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1273002

V. Gazi

引用次数: 12