2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)最新文献_第4页

Optimal path tracking of a quadrotor in the presence of obstacle using the League Championship Algorithm 基于联赛冠军算法的四旋翼飞行器障碍物最优路径跟踪

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657554

E. Abbasi, M. Ghayour, M. Danesh, Mohammad Hussein Yoosefian

{"title":"Optimal path tracking of a quadrotor in the presence of obstacle using the League Championship Algorithm","authors":"E. Abbasi, M. Ghayour, M. Danesh, Mohammad Hussein Yoosefian","doi":"10.1109/ICROM.2018.8657554","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657554","url":null,"abstract":"Nowadays, cost reduction and optimization has attracted attention of researchers and scientists in many fields. Optimal path tracking for vehicles, which reduces fuel consumption, as well as the distance traversed by the vehicle, has mostly caught attention. Besides, Unmanned Arial Vehicles are in the spotlight because of their great performance in doing a vast majority of jobs, especially those which are perilous for human. One of the most prevailing issues in this field is optimal path tracking. Although different algorithms are presented and despite their acceptable performance, none of them has focused on reducing energy and distance. In this paper a new optimization algorithm is utilized for the latter optimizations. This algorithm is called the Championship Algorithm by its Iranian developer. Combining it with the path tracking problem of the unmanned aerial vehicles, it is shown that its performance is much better than one of the most important existing algorithms (GA). Optimal trajectory tracking problem is also solved to reduce fuel and energy consumption.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131974321","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

A Voice Command Detection system for controlling Movement of SCOUT Robot 一种用于控制侦察机器人运动的语音命令检测系统

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657523

S. Azargoshasb, A. H. Korayem, S. Tabibian

引用次数: 5

Control of Chaotic Permanent Magnet Synchronous Motor Using Adaptive Nonlinear-in-Parameter Approximator 混沌永磁同步电机的自适应非线性参数逼近控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657628

M. Shahriari-kahkeshi

{"title":"Control of Chaotic Permanent Magnet Synchronous Motor Using Adaptive Nonlinear-in-Parameter Approximator","authors":"M. Shahriari-kahkeshi","doi":"10.1109/ICROM.2018.8657628","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657628","url":null,"abstract":"An adaptive nonlinear-in-parameter (NIP) approximator-based control approach is proposed to control of a chaotic permanent magnet synchronous motor (PMSM) drive system. It proposes fuzzy wavelet network (FWN) as an adaptive nonlinear-in-parameter (NIP) approximator to represent the model of the uncertain dynamics. Then, it uses dynamic surface control (DSC) approach to design controller. The dilation and the translation of the wavelet functions and the weights of the network are learned online based on the adaptive laws. Stability analysis guarantees that all of the closed-loop signals are semi-globally uniformly ultimately bounded. Also, proper selection of the design parameters results in small tracking error in the vicinity of the origin. Compared with the conventional backstepping-based approaches, in this work, both of the \"explosion of complexity\" and \"explosion of learning parameters\" are eliminated, simultaneously. Furthermore, the availability and boundedness of all derivatives of the desired trajectory are not required for controller design. Simulation results verify the ability of the proposed controller to suppress chaos in the PMSM drive systems.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128473792","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

Robot Assisted Needle Insertion Using CT-Scan Images 使用ct扫描图像的机器人辅助针头插入

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657487

M. Barkhordari, Hamid Sadeghian, M. Keshmiri

引用次数: 1

Fault Tolerant Control for Trajectory Tracking of a Pneumatic Servo Positioning System 气动伺服定位系统轨迹跟踪的容错控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657629

Amirreza Tootchi, Ali Chaibakhsh

引用次数: 6

Composite control design for trajectory tracking of a quadrotor in the presence of unknown disturbances 存在未知干扰的四旋翼飞行器轨迹跟踪的复合控制设计

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657498

A. Mohammadi, E. Abbasi, M. Ghayour, M. Danesh

{"title":"Composite control design for trajectory tracking of a quadrotor in the presence of unknown disturbances","authors":"A. Mohammadi, E. Abbasi, M. Ghayour, M. Danesh","doi":"10.1109/ICROM.2018.8657498","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657498","url":null,"abstract":"this paper is focused on proposition a nonlinear control protocol for a quadrotor. Dynamic model of the quadrotor which is based on the Newton-Euler equation and the model with external unknown disturbances are developed. The quadrotor is an under-actuated system with strongly coupled characteristics. These properties make the controller designing difficult. In this paper, a nonlinear control method is designed by using combination of PID controller, backstepping and sliding mode controls to stabilize the quadrotor attitude and to carry out the trajectory tracking task. The presented controllers are divided into attitude controller and position controller, and Lyapunov stability theorem is used to show the validity of their stability. Traditional sliding mode controller produces the chattering phenomenon and discontinuousness of control inputs. These faults can be avoided by using combined controllers. The effectiveness of the control approach presented in this paper is shown by the different simulations. The results show that the presented control method not only has a better tracking performance than others, but has better robustness when unknown disturbances exist.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129390137","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

Robust Adaptive Fractional-Order Backstepping Sliding Mode Control of Uncertain Continuum Robot 不确定连续体机器人的鲁棒自适应分数阶反步滑模控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657491

Yousef Farid, Abbas Ehsani-Seresht

引用次数: 3

Backstepping Control based on Sliding Mode for Station-Keeping of Stratospheric Airship 基于滑模的平流层飞艇反步控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657611

A. Parsa, Sadra Borji Monfared, A. Kalhor

{"title":"Backstepping Control based on Sliding Mode for Station-Keeping of Stratospheric Airship","authors":"A. Parsa, Sadra Borji Monfared, A. Kalhor","doi":"10.1109/ICROM.2018.8657611","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657611","url":null,"abstract":"Stratospheric airship is a kind of lighter than air flying devices. The vehicle is designed to be able to operate unmanned, autonomous, and operation with remote control at altitude about 20-22 kilometers above Earth. Buoyancy force is caused to long-term flights. In this paper, in order to station keeping of stratospheric airship, the integral backstepping technique based on sliding mode method in the presence of the disturbance has been developed. Firstly, the dynamic model of an airship is presented and descriptive equations are in an adequate state-space introduced for purpose of designing a controller based on backstepping strategy. Then the backstepping controller is designed. In this control strategy, the control performance due to the external disturbance is not satisfactory. Therefore, for enhancing the operation of the platform, combination sliding mode and backstepping approach is used. In this regard, by the definition of the sliding surfaces in the equations that are included the disturbance, the robustness of the system against the external disturbance has been improved. The results are indicated that the steady error has decreased also system stabilization in present of external disturbances has improved.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121936028","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: 14

Optimal Trajectory Planning of a Six DOF Parallel Stewart Manipulator 六自由度并联Stewart机械臂最优轨迹规划

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657525

M. Beiki, M. Irani-Rahaghi

引用次数: 5

Modeling and Optimal Contol of 4 Wheel Steering Vehicle Using LQR and its Comparison with 2 Wheel Steering Vehicle 基于LQR的四轮转向车辆建模与最优控制及其与两轮转向车辆的比较

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657562

H. Tourajizadeh, M. Sarvari, S. Ordoo

{"title":"Modeling and Optimal Contol of 4 Wheel Steering Vehicle Using LQR and its Comparison with 2 Wheel Steering Vehicle","authors":"H. Tourajizadeh, M. Sarvari, S. Ordoo","doi":"10.1109/ICROM.2018.8657562","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657562","url":null,"abstract":"In this paper kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are now a days more applicable the number of controlling actuators are more than the required actuators for controllability of the system. As a result the possible path through which he vehicle can move to transfer between two boundaries is not unique and this fact provides the possibility of optimization of a desired cost function. In this paper after extracting the model of these vehicles based on Jacobian matrix a compromise between the accuracy and controlling effort is selected as the mentioned objective function and the optimal control and its related optimal path is extracted through which the best accuracy and the least input is required. The correctness of modeling and efficiency of the designed optimal controller is verified by the aid of a series of simulation scenarios and also comparing the results between 4 wheel steering vehicles and 2 wheel steering ones.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123997674","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