IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)最新文献

Suppression control of harmonics by switching route connection in distribution systems 配电系统中开关线路连接的谐波抑制控制

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280284

H. Ukai, K. Nakamura, K. Ohnishi, N. Matsui

引用次数: 1

Autonomous decentralized control for formation of multiple mobile-robots considering ability of robot 考虑机器人能力的多移动机器人编队自主分散控制

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280557

H. Takahashi, K. Ohnishi

{"title":"Autonomous decentralized control for formation of multiple mobile-robots considering ability of robot","authors":"H. Takahashi, K. Ohnishi","doi":"10.1109/IECON.2003.1280557","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280557","url":null,"abstract":"The studies about multiple mobile robots have been developed. Formation control is an important theme since it is applicable in various themes. \"Leader-following\" strategy is a suitable method for controlling multiple mobile robots in formation. It is because it is easy to control robots and to express a formation of robots. But in this strategy, it is difficult to consider the ability gap of a robot like human being. In respect of autonomous decentralized control, it is important to control robots in most suitable formation considering the ability of a robot. Each robot has to be controlled by each controller according to the ability. The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using \"leader-following\" strategy. At first, new idea which is called performance index is defined and new controller is proposed based on performance index. Second, compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally simulation results show the validity of the proposed method.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115324823","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

A power-assisted wheelchair taking running environment into account 考虑到跑步环境的电动辅助轮椅

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280252

T. Miyazawa, S. Katsura, K. Ohnishi

引用次数: 6

An improved design procedure for LCC resonant filter of dimmable electronic ballasts for fluorescent lamps, based on lamp model 基于灯管模型的荧光灯可调光电子镇流器LCC谐振滤波器改进设计方法

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280656

F. T. Wakabayashi, C. Canesin

引用次数: 8

A real time GPRS surveillance system using the embedded system 一个采用嵌入式系统的实时GPRS监控系统

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280228

Chin-E. Lin, Chih-Ching Li

引用次数: 46

Development of an ultra-precision stage control system using nonresonant ultrasonic motor 基于非谐振超声电机的超精密舞台控制系统的研制

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280249

S. Hashimoto, K. Ohishi, T. Ohishi, T. Ishikawa, K. Kosaka, Y. Egashira, H. Kubota, T. Ohmi

引用次数: 13

An approach to absolute position control of mobile robot by PSD based robust control 基于PSD鲁棒控制的移动机器人绝对位置控制方法

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280559

T. Sugawara, T. Murakami

{"title":"An approach to absolute position control of mobile robot by PSD based robust control","authors":"T. Sugawara, T. Murakami","doi":"10.1109/IECON.2003.1280559","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280559","url":null,"abstract":"The purpose of this research is to realize an absolute position control of mobile robot. Several researches with respect to position control of mobile robot considering its nonholonomic constraints have already reported. They are so powerful, but there are still some issues to improve the control performance. First, the disturbances such as wheel slip, modeling error, and so on deteriorate the position response. So the disturbances suppression should be considered. Second, it is difficult to predetermine the trajectory to reach the desired position because of the nonholonomic constraints. To improve the performance of the position convergence, it is strongly required to develop the trajectory generation algorithm independently of the nonholonomic constraints. In the proposed approach, the absolute position detected by PSD is used to construct the robust position controller. Furthermore, the virtual forces to swing the mobile robot and to modify its orientation are arbitrarily generated to guarantee the convergence to the desired position even if the position response is affected by slip motion or uneven floor. Several numerical and experimental results are shown to verify the validity of the proposed approach.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127866362","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: 6

A new method of temperature control for the uniform heating 一种均匀加热温度控制的新方法

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280566

N. Matsunaga, I. Nanno, M. Tanaka, S. Kawaji

引用次数: 4

Design indices for information connection in decentralized system 分散系统中信息连接指标的设计

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280623

K. Akuzawa, K. Ohnishi

引用次数: 12

Contact motion in unknown environment 未知环境下的接触运动

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI: 10.1109/IECON.2003.1280116

M. Morisawa, T. Tsuji, Y. Nishioka, K. Akuzawa, H. Takahashi, K. Ohnishi

引用次数: 14