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Design of a H2 Robust Controller for a Small UAV Based on LMI Method 基于LMI方法的小型无人机H2鲁棒控制器设计
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108015
Xiaoyan Chen, Chaoyi Dong
{"title":"Design of a H2 Robust Controller for a Small UAV Based on LMI Method","authors":"Xiaoyan Chen, Chaoyi Dong","doi":"10.1109/ICCAR49639.2020.9108015","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108015","url":null,"abstract":"Due to the small rotation inertia and the incomplete symmetry of its mass, a Small Unmanned Aerial Vehicle (SUAV) is vulnerable to the influence of crosswind and engine torque in the process of flight, and traditional control methods are difficult to ensure the UAV's lateral attitude stability and track the scheduled flight path. In this paper, a robust control strategy based on H2 optimal control theory is used to enhance the anti-interference and adaptability to time-varying parameters of UAV lateral control system. Through the analysis of a SUAV lateral multivariable linear model in a key laboratory, a Linear Matrix Inequality (LMI) method is introduced to design the H2 robust controller. The results show that the closed-loop system of the SUAV with the H2 robust controller can effectively reduce the sideslip angle error and reduce the coupling of flight attitude variables in aileron roll control. At the same time, it has a good performance of suppressing the perturbation of various external disturbance systems and internal structure parameters.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131040062","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
Robot Movement Uncertainty Determines Human Discomfort in Co-worker Scenarios 机器人运动的不确定性决定了人类在同事场景中的不适
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108085
Daphné Aéraïz-Bekkis, G. Ganesh, E. Yoshida, N. Yamanobe
{"title":"Robot Movement Uncertainty Determines Human Discomfort in Co-worker Scenarios","authors":"Daphné Aéraïz-Bekkis, G. Ganesh, E. Yoshida, N. Yamanobe","doi":"10.1109/ICCAR49639.2020.9108085","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108085","url":null,"abstract":"The long term success of a human-robot interaction will depend on how comfortable and safe a human feels with it. But which feature of a robot's movement determines human comfort? To address this question, here we considered four different models of human discomfort. We then designed an empirical human-robot co-worker task that enables us to both, quantify the discomfort experienced by the human co-worker by analyzing behavioral changes, and examine which model of discomfort explains the changes best. Using this task, we show that the perceived uncertainty in a robot's movement is a key determinant of human discomfort, and we discuss how movement uncertainty can give a unified explanation for the modulation of human comfort with robots, and trust in them, as reported in several previous studies.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128230491","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
Investigation of Nonlinear Control Systems for Steam Boiler Pressure and Water Level 蒸汽锅炉压力和水位非线性控制系统的研究
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107976
Yifan Jiang, Xiaobing Mao, Hai Huang, Zhexuan Ma
{"title":"Investigation of Nonlinear Control Systems for Steam Boiler Pressure and Water Level","authors":"Yifan Jiang, Xiaobing Mao, Hai Huang, Zhexuan Ma","doi":"10.1109/ICCAR49639.2020.9107976","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107976","url":null,"abstract":"Based on the control principle of the steam pressure and water level of marine boilers, a set of differential equations to describe steam pressure and water level was derived. By fitting equation coefficients together with the use of a quadratic polynomial, a dual-input coupling mathematical model was derived, in which steam pressure and water level were set as the state variables, while the degree of opening of the fuel solenoid valve and the degree of opening of the feed valve were adopted as input variables. The model was treated as a type of affine nonlinear system for further analysis. Using the sliding-mode variable structure control method, the sliding-mode variable structure controller was solved to realize decoupling of the nonlinear coupling system. By performing a simulation of the boiler steam pressure and water level using the MATLAB environment, it was found that sliding-mode variable structure control based on a nonlinear mathematical model exhibits a series of advantages, including favorable system stability and a strong self-balancing capability.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126534964","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
Industrial Robotics Trajectory Compensation Model and Joints Torsional Stiffness Impact Analysis 工业机器人轨迹补偿模型及关节扭刚度影响分析
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108007
Nora Aguirre Jaca, Jon Larrañaga Amilibia, Ibai Ulacia Garmendia, Ibai Inziarte Hidalgo
{"title":"Industrial Robotics Trajectory Compensation Model and Joints Torsional Stiffness Impact Analysis","authors":"Nora Aguirre Jaca, Jon Larrañaga Amilibia, Ibai Ulacia Garmendia, Ibai Inziarte Hidalgo","doi":"10.1109/ICCAR49639.2020.9108007","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108007","url":null,"abstract":"The behavior of an industrial robot may change under the influence of an external force. These robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason, an error is generated between the programmed and executed trajectory, decreasing the precision of the operation. This can be associated with the low stiffness of the manipulators. This work presents an industrial robot trajectory compensation model considering joints stiffness and the analysis of the impact on the final trajectory.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129305762","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
Accurate Modelling of Logistics Material Reserve Based on War-Game Deduction 基于兵棋推演的物流物资储备精确建模
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108028
Wen Ding, Defu He, X. Su
{"title":"Accurate Modelling of Logistics Material Reserve Based on War-Game Deduction","authors":"Wen Ding, Defu He, X. Su","doi":"10.1109/ICCAR49639.2020.9108028","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108028","url":null,"abstract":"This paper achieves the accurate modelling of the logistics material (LM) reserve through war-game deduction (WGD). Firstly, the author analyzed the correlations between consumption rule, reserve standard and reserve mode. Next, a minimum reserve model was constructed for the LMs. On this basis, an appropriate reserve model was established, completing the accurate reserve modelling. After that, the WGD-based LM reserve construction was optimized step by step. The research shows that the WGD-based LM reserve construction has many advantages.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127770098","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
Processing Time Optimization for Robot Applications 机器人应用的加工时间优化
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108089
M. Muradi, R. Wanka
{"title":"Processing Time Optimization for Robot Applications","authors":"M. Muradi, R. Wanka","doi":"10.1109/ICCAR49639.2020.9108089","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108089","url":null,"abstract":"This research work includes the use of heuristic algorithms to automatically generate processing time optimized robot programs for manufacturing processes in the automotive industry. For this, we've implemented a genetic algorithm with multi-parent recombination and adjacency-based crossover. A reallocation mutation is also introduced to optimize the load balancing by classifying tasks into common and fixed tasks depending on their location relative to the robots' workspace. The heuristic is compared to an exact solver by applying it to a test problem. Lastly, the methodology is also applied to a real business problem in the area of vehicle sealing.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130483052","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
Optimization of Design Information Decoupling of Kinematic Machinery Based on Meta-Action Theory 基于元作用理论的运动机械设计信息解耦优化
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108065
Xin Yang, Y. Ran, Yifan Chen, Genbao Zhang
{"title":"Optimization of Design Information Decoupling of Kinematic Machinery Based on Meta-Action Theory","authors":"Xin Yang, Y. Ran, Yifan Chen, Genbao Zhang","doi":"10.1109/ICCAR49639.2020.9108065","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108065","url":null,"abstract":"In the late stages of concept design of mechanical product is usually based on sequential design, but the interaction among different performances is ignored. Once defects are generated in the design process, it will be difficult to make up in the subsequent design and cause a constant waste of energy during entire production cycle. In view of this defect and combined with the main characteristics of the motion machinery, we firstly propose the framework of soft decoupling technology for motion machinery's design process is proposed. Secondly, coupling characteristics among the meta-action units are analyzed and the coupling constraint model is constructed. Then we reduce iteration and feedback of the design process information through reducing the information interaction among the aggregation sets of the units to reach the purpose of soft decoupling. Finally, the analysis results demonstrate that the meta-action design units decoupling technology is successfully applied to the design of pallet exchange frame motion scheme, which shortens the product development cycle and provides a beneficial reference for the design of motion-dominated mechanical system.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114249774","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
The Search for Assembly Line Balance Oriented on the Allocation of Quality Control Points 面向质量控制点配置的装配线平衡搜索
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107982
Sara Bysko, J. Krystek, Szymon Bysko, Krzysztof Majchrowicz
{"title":"The Search for Assembly Line Balance Oriented on the Allocation of Quality Control Points","authors":"Sara Bysko, J. Krystek, Szymon Bysko, Krzysztof Majchrowicz","doi":"10.1109/ICCAR49639.2020.9107982","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107982","url":null,"abstract":"In the paper important aspects of the proper use of quality inspection in production process were presented. The paper deals with the problem of assembly line balance analysis taking into account occurrence of quality checkpoints. It is very important for producers, because the earlier the detection of a defect, the greater the possibility of reducing the costs of manufacturing a faulty product. In order to present the real assembly line balancing problem taking into account occurrence of checkpoints in strictly defined places, simplified process of USB flash drive production was analyzed. The assembly line balancing was performed and the indicators evaluating quality of the solutions were obtained. The calculations were made for different conditions regarding the type and location of quality inspections. Approaches like classical assembly line balancing without and with quality inspection, and fragmentary assembly line balancing with quality inspection were verified. All results and discussion are presented in the paper.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123659544","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
Imitation Learning for High Precision Peg-in-Hole Tasks 高精度钉孔任务的模仿学习
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108072
S. Gubbi, Shishir N. Y. Kolathaya, B. Amrutur
{"title":"Imitation Learning for High Precision Peg-in-Hole Tasks","authors":"S. Gubbi, Shishir N. Y. Kolathaya, B. Amrutur","doi":"10.1109/ICCAR49639.2020.9108072","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108072","url":null,"abstract":"Industrial robot manipulators are not able to match the precision and speed with which humans are able to execute contact rich tasks even to this day. Therefore, as a means to overcome this gap, we demonstrate generative methods for imitating a peg-in-hole insertion task in a 6-DOF robot manipulator. In particular, generative adversarial imitation learning (GAIL) is used to successfully achieve this task with a $6 mumathrm{m}$ peg-hole clearance on the Yaskawa GP8 industrial robot. Experimental results show that the policy successfully learns within 20 episodes from a handful of human expert demonstrations on the robot (i.e., < 10 tele-operated robot demonstrations). The insertion time improves from > 20 seconds (which also includes failed insertions) to < 15 seconds, thereby validating the effectiveness of this approach.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122401965","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
Vehicle Tip-over Prevention Using SDRE Controller 利用SDRE控制器预防车辆侧翻
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108076
Hari M Nair, S. Chandramohan
{"title":"Vehicle Tip-over Prevention Using SDRE Controller","authors":"Hari M Nair, S. Chandramohan","doi":"10.1109/ICCAR49639.2020.9108076","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108076","url":null,"abstract":"Vehicle rollovers are known to produce the highest number of deaths amongst vehicle accidents. Rollover prevention systems currently available in commercial vehicles attempts to prevent any wheel lift-off the ground to avoid a subsequent rollover. In literature, attempts that were made to recover a vehicle from a tip-over point after a wheel lift-off has occurred are only a few. The present article proposes a State Dependent Riccati Equation (SDRE) based anti-rollover controller to recover a vehicle from tip-over point. SDRE method delivers a simple yet effective solution to the nonlinear optimal control problem. An Inverted Double Pendulum on a Cart Model (IDPC) acts as the base model in the controller. The tip-over point of the IDPC model is an unstable equilibrium point of the model and the gravity torque has a negligibly small effect in this vicinity. In the SDRE method, this unstable equilibrium point acts as a singularity point. A virtual rollover torque is used with the IDPC model instead of the gravity torque to overcome this problem. Essentially the controller makes use of a model that is more prone to rollover than the real model with gravity assistance. The controller is evaluated with IDPC model with gravity torque, as well as a 10 Degrees of Freedom (DOF) full vehicle model with a nonlinear tire model. A study is also conducted on the change in performance of the controller with weight value of roll state used in the performance index. Studies proved the controller to be simple yet effective in reinstating the vehicle model in all the near tip-over case studies conducted. The control input force was found to increase with increase in weight value of the roll state which resulted in a reduced reinstating time duration.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122418679","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
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