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2023 IEEE International Conference on Mechatronics (ICM)最新文献

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Sliding Mode-Based Design of Unified Force and Position Control for Series Elastic Actuator 基于滑模的串联弹性作动器力位统一控制设计
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101901
Minoru Yokoyama, T. Shimono, T. Uzunović, A. Sabanoviç
{"title":"Sliding Mode-Based Design of Unified Force and Position Control for Series Elastic Actuator","authors":"Minoru Yokoyama, T. Shimono, T. Uzunović, A. Sabanoviç","doi":"10.1109/ICM54990.2023.10101901","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101901","url":null,"abstract":"This paper presents unified force and position control based on sliding mode control (SMC) for a series elastic actuator (SEA). Compliant motion of robotic systems is crucial when dealing with unstructured environments as in the case of physical human-robot interaction. Therefore, not only traditional mechanical systems with stiff joints but also mechanically compliant systems such as SEAs have been actively studied. In order to accomplish versatile tasks, the strategy enabling both position control and force control is favorable. In this paper, the controller synthesizing position and force controllers on the basis of SMC for the control problem of SEAs is proposed by extending our previous work. Simulation results demonstrate the feasibility of the proposed method.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"20 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113992961","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
Stiffness estimation of a lumped mass-spring system using sliding DFT 用滑动DFT估计集总质量-弹簧系统的刚度
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102017
Foeke Vanbecelaere, M. Monte, K. Stockman
{"title":"Stiffness estimation of a lumped mass-spring system using sliding DFT","authors":"Foeke Vanbecelaere, M. Monte, K. Stockman","doi":"10.1109/ICM54990.2023.10102017","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102017","url":null,"abstract":"Obtaining an accurate parametric model of a mechanism enables optimised control. System identification through noise injection is a common method for obtaining frequency responses which are suited for control design, but not for feedforward control and motion profile optimisation as the response is non-parametric. Especially when the mechanism consists of multiple sources of flexibility, extracting parameters from frequency responses is challenging and often requires model order reduction. Moreover, if the parameters are either time or position-dependent, an on-line estimator is required for enabling adaptive control and optimisation. This paper therefore presents a computationally efficient approach, based on the sliding Discrete Fourier Transform, for tracking stiffness during operation. A lumped mass-spring system with 4 degrees of freedom is used as a proof of concept. Through simulations, the expected accuracy of the developed estimator is analysed and its ability to deal with noise is demonstrated.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122839962","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
Dual MPC for Adaptive Cruise Control with Unknown Road Profile 双MPC自适应巡航控制与未知的道路轮廓
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102091
Zhaolun Li, Jingjing Jiang, Wen-Hua Chen
{"title":"Dual MPC for Adaptive Cruise Control with Unknown Road Profile","authors":"Zhaolun Li, Jingjing Jiang, Wen-Hua Chen","doi":"10.1109/ICM54990.2023.10102091","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102091","url":null,"abstract":"Inspired by the recent work on dual control for exploration and exploitation (DCEE), this paper presents a solution to adaptive cruise control problems via a dual control approach. Different from other adaptive controllers, the proposed dual model predictive control not only uses the current and future inputs to keep a constant headway distance between the leading vehicle and the ego vehicle but also tries to reduce the uncertainty of state estimation by actively learning the surrounding environment as well, which leads to faster convergence of the estimated parameters and better reference tracking performance. The simulation results demonstrate that the proposed dual control framework outperforms a conventional model predictive controller with disturbance observer for adaptive cruise control with unknown road grade.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123636354","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
Energy-efficient automated driving: effect of a naturalistic eco-ACC on a following vehicle 节能自动驾驶:自然生态acc对后续车辆的影响
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102074
James Fleming, W. Midgley
{"title":"Energy-efficient automated driving: effect of a naturalistic eco-ACC on a following vehicle","authors":"James Fleming, W. Midgley","doi":"10.1109/ICM54990.2023.10102074","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102074","url":null,"abstract":"The optimal control problem of eco-driving, driving a vehicle using a minimal amount of fuel or electrical energy, has received much attention in the intelligent vehicles literature with many recent proposals for eco-driving adaptive cruise control systems (eco-ACC). In this paper, we consider a recentlyintroduced ‘naturalistic’ eco-ACC approach, which was designed to give human-like behaviour in vehicle following. For this eco-ACC, we show that in car following and start-stop traffic scenarios, the eco-ACC benefits not only the ego vehicle but also a further following vehicle. To see if further reductions to total energy consumption are possible, we extend the eco-ACC system with an optimal control formulation that also minimises energy losses of the following vehicle assuming it behaves according to the intelligent driver model (IDM). This gives some minor reductions in energy usage but surprisingly, for a follower that behaves according to the IDM, the naturalistic eco-ACC appears to be nearly optimal for the problem of minimising total energy loss of both the ego vehicle and its follower.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129914677","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
Robust two-degrees-of-freedom control of hydraulic drive with remote wireless operation 坚固的两自由度液压驱动控制与远程无线操作
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101993
Riccardo Checchin, Michael Ruderman, R. Oboe
{"title":"Robust two-degrees-of-freedom control of hydraulic drive with remote wireless operation","authors":"Riccardo Checchin, Michael Ruderman, R. Oboe","doi":"10.1109/ICM54990.2023.10101993","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101993","url":null,"abstract":"In this paper, a controller design targeting the remotely operated hydraulic drive system is presented. A twodegrees-of-freedom PID position controller is used, which is designed so that to maximize the integral action under robust constraint. A linearized model of the system plant, affected by the parameters uncertainties such as variable communication timedelay and overall system gain, is formulated and serves for the control design and analysis. The performed control synthesis and evaluation are targeting the remote operation where the wireless communication channel cannot secure a deterministic real-time of the control loop. The provided analysis of uncertainties makes it possible to ensure system stability under proper conditions. The theoretically expected results are confirmed through laboratory experiments on the standard industrial hydraulic components.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121250318","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 Velocity Estimation for Lagrangian Systems using Modulating Functions 基于调制函数的拉格朗日系统自适应速度估计
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101935
Matti Noack, J. Reger, J. Jouffroy
{"title":"Adaptive Velocity Estimation for Lagrangian Systems using Modulating Functions","authors":"Matti Noack, J. Reger, J. Jouffroy","doi":"10.1109/ICM54990.2023.10101935","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101935","url":null,"abstract":"Information about the internal position and velocity of a robotic system is crucial for its control. Especially, under uncertain models, changing dynamic parameters and noisy position measurement signals, an adaptive differentiation is needed combining structural knowledge of the model with adequate filtering of the sensor data. To this end, the Modulating Function Method is applied to the Lagrange formulation of the robotic system to preserve the structure while enabling to incorporate nonlinear terms into the integral transform methodology. Different types of Modulating Functions and the function projection approach are used to develop a simultaneous parameter and state estimation procedure for the general structure of open kinematic chains. The developed algorithm for an adaptive velocity estimation is capable of robustly reconstructing the generalized state and consists of an efficient Finite Impulse Response (FIR) filter type implementation. The resulting architecture is demonstrated on a two-link robot setup.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132587587","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
Direct Yaw Moment Control for Electric Vehicles with Variable-Rate-Slip-Ratio-Limiter Based Driving Force Control 基于变速率-滑移比限幅器的电动汽车直接偏航力矩控制
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102086
Takumi Ueno, B. Nguyen, H. Fujimoto
{"title":"Direct Yaw Moment Control for Electric Vehicles with Variable-Rate-Slip-Ratio-Limiter Based Driving Force Control","authors":"Takumi Ueno, B. Nguyen, H. Fujimoto","doi":"10.1109/ICM54990.2023.10102086","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102086","url":null,"abstract":"Yaw-rate control by direct yaw moment control (DYC) for in-wheel motor electric vehicles has been studied for years. However, how to properly treat the difference between the wheels’ friction limit circles is still an open issue. For instance, in conventional methods, the yaw-rate might not follow the reference value due to the utilization of a fixed-slip-ratio-limiter regardless of the cornering operation. To deal with this problem, this paper proposes a new DYC method, which is based on driving force control with variable-rate-slip-ratio-limiter. To evaluate the effectiveness of the proposed method, simulation and experiment were conducted using a four-wheel vehicle under a low-friction surface condition. Experimental results show that, in comparison with the conventional method, the proposed method can reduce the root mean square deviation of the yaw-rate tracking error by 62.7%.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128517518","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
Energy Localization in Spring-Motor Coupling System by Switching Mass Control 开关质量控制在弹簧-电机耦合系统中的能量定位
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101963
Ken Miyahara, S. Katsura
{"title":"Energy Localization in Spring-Motor Coupling System by Switching Mass Control","authors":"Ken Miyahara, S. Katsura","doi":"10.1109/ICM54990.2023.10101963","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101963","url":null,"abstract":"The purpose of this research is to control energy localization in spring-motor coupling system. Effective use of springs is important for robots to achieve high speed motion. In particular, by localizing the energy to the part where the robot acts on environment (for example, hands and feet), tasks can be efficiently performed. Therefore, we propose an energy ratio control to achieve energy localization in spring-motor coupling system. For clarity and practicality, the energy ratio control is based on mass control that has robust acceleration control system with disturbance observer. In addition, incorporating energy control into the entire control system allows for energy regulation. For verification, simulation and experiments of the proposed method was conducted.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114904839","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
Frequency-domain Analysis for Infinite Resets Systems* 无限复位系统的频域分析*
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101919
Xinxin Zhang, S. Hosseinnia
{"title":"Frequency-domain Analysis for Infinite Resets Systems*","authors":"Xinxin Zhang, S. Hosseinnia","doi":"10.1109/ICM54990.2023.10101919","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101919","url":null,"abstract":"Reset control systems have possessed the potential to meet the demands of machines, such as faster response times, improved disturbance rejection and enhanced tracking performance. However, prior research on the analysis and design of reset controllers has been restricted to the assumption of two resets per period, neglecting multiple-reset scenarios. In light of this, we focus on the frequency-domain analysis of Infinite-reset Control Systems, which serve as the limit case of multiple-reset control systems, and propose a new model for their analysis. Through this model, the sensitivity functions of Infinite-reset Control Systems are characterised, linking their frequency-domain and time-domain behaviour. The effectiveness of the infinite-reset system is evaluated through simulation of a reset control system case. The results reveal that the infinitereset system demonstrates improved accuracy in prediction in multiple-reset systems compared to the previous analysis methods. Furthermore, this study provides a deeper understanding of the reset systems.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"220 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114671519","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
Improved Intersample Behaviour of Non-Minimum Phase Systems using State-Tracking Iterative Learning Control 用状态跟踪迭代学习控制改进非最小相位系统的样本间行为
2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102029
Liang Oei, Kentaro Tsurumoto, W. Ohnishi
{"title":"Improved Intersample Behaviour of Non-Minimum Phase Systems using State-Tracking Iterative Learning Control","authors":"Liang Oei, Kentaro Tsurumoto, W. Ohnishi","doi":"10.1109/ICM54990.2023.10102029","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102029","url":null,"abstract":"Iterative learning control is well-proven technique to achieve perfect tracking performance for repetitive motion tasks. However, traditional output-tracking ILC focuses on perfect on-sample tracking, while oscillations often occur between the sampling instances. The aim of this paper is to reduce the intersample oscillations for the tracking control of minimum and non-minimum phase systems. A new ILC framework called statetracking ILC is successfully applied to a motion system. The state-tracking ILC achieves perfect state-tracking and is shown to reduce the intersample oscillations on fourth-order minimum and non-minimum phase motion systems compared to the outputtracking ILC.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130514660","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
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