2023 IEEE International Conference on Mechatronics (ICM)最新文献_第7页

Active Reduction of Gear Mesh Vibrations by Drive Torque Control 利用驱动转矩控制主动减小齿轮啮合振动

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101958

Dominik Reitmeier, A. Mertens

引用次数: 0

Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration 基于增量值迭代的固定翼无人机自适应最优飞行控制

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101984

Yifei Li, E. Kampen

引用次数: 0

Q-learning-based feedback linearization method for unknown dynamics 基于q学习的未知动态反馈线性化方法

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101884

Yipu Sun, Xin Chen, Wenpeng He, Luo Wang, E. F. Fukushima, Jinhua She

引用次数: 0

Generation of Self-oscillation in a Flexible Rope using Boundary Two-Relay Controller 用边界双继电器控制柔性绳索产生自激振动

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102093

L. Aguilar, Y. Orlov

引用次数: 0

Computationally-efficient Motion Cueing Algorithm via Model Predictive Control 基于模型预测控制的高效计算运动线索算法

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101964

A. Chadha, Vishrut Jain, A. Lazcano, Barys Shyrokau

{"title":"Computationally-efficient Motion Cueing Algorithm via Model Predictive Control","authors":"A. Chadha, Vishrut Jain, A. Lazcano, Barys Shyrokau","doi":"10.1109/ICM54990.2023.10101964","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101964","url":null,"abstract":"Driving simulators have been used in the automotive industry for many years because of their ability to perform tests in a safe, reproducible and controlled immersive virtual environment. The improved performance of the simulator and its ability to recreate in-vehicle experience for the user is established through motion cueing algorithms (MCA). Such algorithms have constantly been developed with model predictive control (MPC) acting as the main control technique. Currently, available MPC-based methods either compute the optimal controller online or derive an explicit control law offline. These approaches limit the applicability of the MCA for real-time applications due to online computational costs and/or offline memory storage issues. This research presents a solution to deal with issues of offline and online solving through a hybrid approach. For this, an explicit MPC is used to generate a look-up table to provide an initial guess as a warm-start for the implicit MPC-based MCA. From the simulations, it is observed that the presented hybrid approach is able to reduce online computation load by shifting it offline using the explicit controller. Further, the algorithm demonstrates a good tracking performance with a significant reduction of computation time in a complex driving scenario using an emulator environment of a driving simulator.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"673 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":"115122240","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

Estimating friction coefficient using generative modelling 使用生成模型估计摩擦系数

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-10 DOI: 10.1109/ICM54990.2023.10101932

Mohammad Otoofi, William J. B. Midgley, L. Laine, Henderson Leon, L. Justham, James Fleming

引用次数: 0

Variable Stiffness Improves Safety and Performance in Soft Robotics 可变刚度提高软机器人的安全性和性能

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-02-06 DOI: 10.1109/ICM54990.2023.10102076

M. Aydin, E. Sariyildiz, Charbel D. Tawk, R. Mutlu, G. Alici

引用次数: 1

A Stability Analysis for the Reaction Torque Observer-based Sensorless Force Control Systems 基于反力力矩观测器的无传感器力控制系统稳定性分析

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-02-06 DOI: 10.1109/ICM54990.2023.10101940

E. Sariyildiz

{"title":"A Stability Analysis for the Reaction Torque Observer-based Sensorless Force Control Systems","authors":"E. Sariyildiz","doi":"10.1109/ICM54990.2023.10101940","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101940","url":null,"abstract":"This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to suppress disturbances, such as friction and hysteresis, in an innerloop and another disturbance observer, viz RTOb, to estimate contact forces without using a force sensor. Since the RTOb-based robust force controllers are always implemented using computers and/or microcontrollers, this paper proposes a stability analysis in the discrete-time domain. It is shown that the bandwidth of the DOb is limited not only by the noise of velocity measurement but also by the waterbed effect. It is also shown that the stability of the robust force controller may significantly deteriorate when the design parameters of the RTOb are not properly tuned. For example, the robust force controller may have a non-minimum phase zero(s) as the design parameter of the identified inertia (torque coefficient) of the RTOb is increased (decreased). This may lead to poor stability and performance in force control applications. The proposed stability analysis conducted in the discrete-time domain is verified by simulations and experiments.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122915347","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 Robust Model Predictive Control Framework for Ecological Adaptive Cruise Control Strategy of Electric Vehicles 电动汽车生态自适应巡航控制策略鲁棒模型预测控制框架

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2022-11-21 DOI: 10.1109/ICM54990.2023.10102013

Shengbin Yu, Xiao Pan, Anastasis Georgiou, Boli Chen, I. Jaimoukha, S. Evangelou

{"title":"A Robust Model Predictive Control Framework for Ecological Adaptive Cruise Control Strategy of Electric Vehicles","authors":"Shengbin Yu, Xiao Pan, Anastasis Georgiou, Boli Chen, I. Jaimoukha, S. Evangelou","doi":"10.1109/ICM54990.2023.10102013","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102013","url":null,"abstract":"The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is combined with a robust model predictive control (RMPC) scheme to safely, optimally and efficiently control a connected electric vehicle. In particular, the nonlinear dynamics are linearised through a feedback linearisation method to maintain an efficient computational speed and to guarantee global optimality. At the same time, the inevitable model mismatch is dealt with by the RMPC design. The control objective of the RMPC is to optimise the electric energy efficiency of the ego vehicle with consideration of a bounded model mismatch disturbance subject to satisfaction of physical and safety constraints. Numerical results first verify the validity and robustness through a comparison between the proposed RMPC and a nominal MPC. Further investigation into the performance of the proposed method reveals a higher energy efficiency and passenger comfort level as compared to a recently proposed benchmark method using the space-domain modelling approach.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121522585","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