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2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献

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Nonlinear Model Predictive Control of Robot Manipulators Using Quasi-LPV Representation 基于拟lpv表示的机器人机械臂非线性模型预测控制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988747
Mojtaba Esfandiari, Sonny Chan, G. Sutherland, D. Westwick
{"title":"Nonlinear Model Predictive Control of Robot Manipulators Using Quasi-LPV Representation","authors":"Mojtaba Esfandiari, Sonny Chan, G. Sutherland, D. Westwick","doi":"10.1109/ICCMA46720.2019.8988747","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988747","url":null,"abstract":"Nonlinear optimization techniques often suffer from time-consuming computational load, which impedes them to be implemented as controller of fast plans, or when a fast action like trajectory tracking is required. In this paper, a Nonlinear Model Predictive Control (NMPC) approach is used to perform the trajectory tracking problem in a robot manipulator in the presence of input saturation and un-modeled dynamics, using the Quasi-Linear Parameter Varying (Quasi-LPV) representation. In this method, instead of the nonlinear state difference equations of the system, a sequence of linearized state equations about a nominal state-control history, over the prediction horizon, is used. By so doing, standard Quadratic Programming (QP) optimization algorithms could be used for the online optimization problem, therefore, speed and efficiency of convergence to the optimal solution would be enhanced. Efficacy of this method is shown by simulation study of a 2-DOF robot manipulator.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"14 2 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":"116920952","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
Task scheduling for human-robot collaboration with uncertain duration of tasks: a fuzzy approach 任务持续时间不确定的人机协作任务调度:一种模糊方法
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988735
Andrea Casalino, Eleonora Mazzocca, Maria Grazia Di Giorgio, A. Zanchettin, P. Rocco
{"title":"Task scheduling for human-robot collaboration with uncertain duration of tasks: a fuzzy approach","authors":"Andrea Casalino, Eleonora Mazzocca, Maria Grazia Di Giorgio, A. Zanchettin, P. Rocco","doi":"10.1109/ICCMA46720.2019.8988735","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988735","url":null,"abstract":"Collaborative robotics is a new production paradigm for manufacturing systems. Typical applications are collaborative assemblies, requiring humans and robots to share a common space to accomplish common tasks. This imposes to predict the actions of humans and consequently control the robot in a safe way, making the time required for completing a task non deterministic as the robot could be forced to be slowed down in unpredictable ways. Moreover, the uncontrollable nature of the human mate as well as the intrinsic variability of humans completion times introduce other sources of uncertainty to account for. This work aims at proposing a novel fuzzy scheduling approach for managing in an optimal way the uncertainties arising in collaborative assemblies. Realistic experiments, involving the assembly of two products, are performed using the dual arm robot YuMi of ABB.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"364 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":"115901923","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: 7
Comparison of Linear and Nonlinear MPC on Operator-In-the-Loop Overhead Cranes 操作员在环式桥式起重机线性与非线性MPC的比较
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988758
Marco Giacomelli, D. Colombo, M. Faroni, O. Schmidt, L. Simoni, A. Visioli
{"title":"Comparison of Linear and Nonlinear MPC on Operator-In-the-Loop Overhead Cranes","authors":"Marco Giacomelli, D. Colombo, M. Faroni, O. Schmidt, L. Simoni, A. Visioli","doi":"10.1109/ICCMA46720.2019.8988758","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988758","url":null,"abstract":"Model Predictive Control has been proved to enhance the control performance of overhead cranes. However, in Operator-In-the-Loop (OIL) overhead cranes the trajectory of the payload strongly depends on the runtime decisions of the user and can not be predicted beforehand. Simple assumptions on the future references evolution have therefore to be made. In this paper we investigate the applicability of linear and nonlinear MPC strategies to the case of OIL overhead cranes, based on different assumptions on the future evolution of the length of the hoisting cable.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"64 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":"124317379","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: 7
Quadrotor Trajectory Tracking Control using Non-Linear Model Predictive Control with ROS Implementation 基于非线性模型预测控制的四旋翼飞行器轨迹跟踪控制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988753
Mohamed Owis, Seif El-Bouhy, A. El-Badawy
{"title":"Quadrotor Trajectory Tracking Control using Non-Linear Model Predictive Control with ROS Implementation","authors":"Mohamed Owis, Seif El-Bouhy, A. El-Badawy","doi":"10.1109/ICCMA46720.2019.8988753","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988753","url":null,"abstract":"This paper presents a Model Predictive Controller for trajectory tracking control of the quadrotor using the ACADO Toolkit on Matlab/Simulink. Model Predictive Control (MPC) prediction feature and ability to obtain optimal control action yields an accurate trajectory tracking performance. The controller is applied to a quadrotor system. The mathematical model was derived using Newton’s and Euler’s laws. Simulations for the trajectory tracking test was done for evaluating the trajectory tracking performance. Afterwards, an interface between RotorS Gazebo Simulator and Simulink was implemented using the Robot Operating System (ROS) for validation of the controller’s performance. The paper presents the results of both simulations under disturbances to determine the suitability and validity of the proposed control algorithm.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"15 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":"115242654","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: 13
Design of Intelligent Hybrid Controller for a Robot with Uncertain Parameters 参数不确定机器人的智能混合控制器设计
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988704
Hamed Kharrati Shishavan, Z. Shahbazi
{"title":"Design of Intelligent Hybrid Controller for a Robot with Uncertain Parameters","authors":"Hamed Kharrati Shishavan, Z. Shahbazi","doi":"10.1109/ICCMA46720.2019.8988704","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988704","url":null,"abstract":"This paper presents an intelligent hybrid control system for controlling the position and orientation of a robot with uncertain parameters. Due to the nonlinear and time varying dynamics, parameter uncertainties, and the existence of uncertain disturbances, a sliding-mode controller (SMC) combined with fuzzy logic controller is proposed. In this way, the switching function is introduced as a corrective controller for removing chattering, which is used by the fuzzy controller to adjust the slope of the switching function. In this proposed control approach, the time delay estimation method (TDE) has been utilized to reduce the uncertainties of the control law and the genetic algorithm (GA) has also been employed to optimize the controller parameters. In order to evaluate the efficiency of the proposed control system, we compare the proposed controller with sliding-mode controller optimized with genetic algorithm (SMC-GA) and sliding-mode controller using TDE (SMC-TDE) to control the position and orientation. The simulation results show that the fuzzy sliding-mode controller using TDE and GA (fuzzy SMC-TDE-GA) successfully control a robot with 6 degree of freedom (6-DOF) in 3-D space.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"24 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":"123408184","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
A Dynamic Controller for PDE-Based Systems 基于pde系统的动态控制器
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988596
Juan Pablo Flores-Flores, R. Martínez-Guerra
{"title":"A Dynamic Controller for PDE-Based Systems","authors":"Juan Pablo Flores-Flores, R. Martínez-Guerra","doi":"10.1109/ICCMA46720.2019.8988596","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988596","url":null,"abstract":"A dynamic controller for the generalized synchronization of system described by partial differential equations (PDE) by means of a differential algebraic approach is developed. Generalized synchronization is based on the existence of a transformation. Here, such transformation is generated through the so called differential primitive element. Since the solution of the systems treated here evolves in an infinite dimensional Hilbert space, the stability of the proposed controller is analysed from the spectral theory and semi-group theory. In order to show the effectiveness of the proposed method, an example of generalized synchronization for Gray-Scott systems is given and the corresponding numerical results are presented.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","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":"129067490","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
Trajectory Tracking Control of a Mobile Robot with Model Predictive Controller and Observer 基于模型预测控制器和观测器的移动机器人轨迹跟踪控制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988644
C. U. Doğruer
{"title":"Trajectory Tracking Control of a Mobile Robot with Model Predictive Controller and Observer","authors":"C. U. Doğruer","doi":"10.1109/ICCMA46720.2019.8988644","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988644","url":null,"abstract":"This paper proposes the use of a model predictive controller with state observer to solve the trajectory tracking and kinematic model identification problem in mobile robotics field. Since it can be shown that observer and model predictive controller dynamics are independent from each other; model predictive controller based on a local linear-time-invariant model is designed by minimizing a finite horizon quadratic cost function and observer dynamics is designed by using a pole-placement technique. Performance of the proposed model predictive controller and observer pair was compared against that of a regular model predictive controller and it has been shown that the proposed controller-observer pair has better trajectory tracking performance.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"3 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":"128329827","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 eXogenous Kalman Filter for Actuator Fault Diagnosis in Robotics and Autonomous Systems 基于自适应外生卡尔曼滤波的机器人与自主系统执行器故障诊断
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988724
A. Hasan
{"title":"Adaptive eXogenous Kalman Filter for Actuator Fault Diagnosis in Robotics and Autonomous Systems","authors":"A. Hasan","doi":"10.1109/ICCMA46720.2019.8988724","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988724","url":null,"abstract":"This paper presents an algorithm for actuator fault diagnosis in robotics and autonomous systems under random uncertainties based on a cascade of nonlinear observer and linearized Kalman filter. The two-stage estimation method assumes uniform complete observability and controllability conditions and persistent excitation condition. To this end, we consider dynamical systems of robotics and autonomous systems with one-sided Lipschitz nonlinearity. To demonstrate the effectiveness of the proposed algorithm, numerical simulations in a single-link flexible joint robot are performed.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"67 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":"126084563","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: 12
Frequency Domain Tuning of a Filtered Smith Predictor Based PIλ Controller and Its Application to Pressure Plant 基于滤波Smith预测器的PIλ控制器频域整定及其在压力装置中的应用
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988625
Roohallah Azarmi, Mahsan Tavakoli‐Kakhki, A. Fatehi, A. Khaki‐Sedigh
{"title":"Frequency Domain Tuning of a Filtered Smith Predictor Based PIλ Controller and Its Application to Pressure Plant","authors":"Roohallah Azarmi, Mahsan Tavakoli‐Kakhki, A. Fatehi, A. Khaki‐Sedigh","doi":"10.1109/ICCMA46720.2019.8988625","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988625","url":null,"abstract":"This paper is devoted to proposing a simple method to tune the parameters of a fractional order PI (FOPI) controller. The studied control scheme is a fractional filtered Smith predictor (FFSP) structure, which can compensate for the inherently long dead time of the industrial processes. The proposed frequency domain scheme would be a practical approach to compensate the stable processes, which can be modeled by a fractional order counterpart of First Order Plus Dead Time (FOPDT) transfer function. Two fractional order filters are also used to improve the reference tracking and to enhance the robustness of the compensated system. The obtained results of practical implementation on a pressure plant and the comparison results are given to demonstrate the effectiveness of the proposed technique.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"46 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":"125970182","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
Electronic Differential Optimization for Electric Vehicle Full Model for In-Wheel Permanent Magnet Brushless DC Motors 电动汽车轮毂永磁无刷直流电机全模型电子差动优化
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988695
Hossam T. Al-Fiky, Mostafa Sh. Asfoor, M. Yacoub, A. M. Sharaf
{"title":"Electronic Differential Optimization for Electric Vehicle Full Model for In-Wheel Permanent Magnet Brushless DC Motors","authors":"Hossam T. Al-Fiky, Mostafa Sh. Asfoor, M. Yacoub, A. M. Sharaf","doi":"10.1109/ICCMA46720.2019.8988695","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988695","url":null,"abstract":"The intervention of in-wheel motors in Battery Electric Vehicles (BEVs), for improved overall efficiency, has led to seek for a replacement of the mechanical differential in conventional rear-wheel drive vehicles. Electronic differentials (ED) aim to synchronize inner and outer wheel rotations during vehicle cornering. In the present work, a mathematical model of the electronic differential is presented. The controller gains were optimized to minimize the motors energy consumption so that two constraints were considered; minimized wheel slippage and avoidance of motor torque saturation. The study included a full-vehicle modeling, three-phase brushless DC (BLDC) motor modeling and the controller design. The results and analysis presented showed an improved electronic differential performance and reduced energy consumption.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"103 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":"133601120","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
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