IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE最新文献_第3页

Rotary inverted pendulum with real time control 旋转倒立摆与实时控制

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086851

Daniel Ignacio Barbosa, J. Castillo, L. F. Cómbita

引用次数: 14

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086822

J. Ruiz-Muñoz, M. Orozco-Alzate

引用次数: 0

Close-loop stabilization of a flexible wing aircraft 柔性翼飞机的闭环稳定

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086848

J. Sofrony, Claudia P. Moreno, P. Seiler, G. Balas

引用次数: 1

Constraints on human stereo vision for tele-operation 远距离操作中人体立体视觉的约束

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086805

Federico Camposeco, Cecilia Aviles, Benjamin Careaga, Leopoldo Spindola, R. Velázquez

引用次数: 7

Senor Maderita: A semi-omnidirectional mobile robot for training, development and research senmaderita:用于训练、开发和研究的半全向移动机器人

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086819

Joaquin Alder Silva-Faundez, Ana Fuentealba-Bustos, C. Duran-Faundez

引用次数: 0

Optimal H∞ controller on the adjustment of the steering angles of a two-track 4WD autonomous vehicle 双轨四驱自动驾驶汽车转向角调整的最优H∞控制器

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086806

R. C. Sampaio, Henry Guerrero Borrero, M. Becker

{"title":"Optimal H∞ controller on the adjustment of the steering angles of a two-track 4WD autonomous vehicle","authors":"R. C. Sampaio, Henry Guerrero Borrero, M. Becker","doi":"10.1109/LARC.2011.6086806","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086806","url":null,"abstract":"The precise control of actuators has been a major concern for control designers, especially for vehicular technology, which involves safety and the minimum error can cause hazardous consequences to human lives. This work presents the preliminary study of the control strategy for the steering system for the AGRIBOT project consist of a wheeled autonomous mobile robotic in real scale endowed with the four independent steering and driven wheels (4WSD) configuration. We applied the well-known Ackerman geometry to trace the four steering angles that allow the vehicle to correctly perform a given maneuver preserving the minimum level of stability and maneuverability. Our goal is to establish a relationship between the steering input commands and the control commands to the four actuators so that it is possible to adjust the attitude of the pneumatic over the movement axis, as the trajectory change. We present the synthesis and the analysis of an optimal H∞ controller based on the γ-iteration algorithm to adjust the steering angles by acting over the angular position of a motor shaft which is coupled directly to the pneumatics.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121762463","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

Intelligent approaches for effective feature selection in image pattern recognition 图像模式识别中有效特征选择的智能方法

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086826

Margarita Gamarra, Christian G. Quintero

引用次数: 2

Fault detection at a continuous hot dip galvanization line 连续热浸镀锌线故障检测

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086860

J. Posada, J. R. García, M. J. Torres, M. Sanjuan

引用次数: 2

A robust adaptive controller for bio-reactors with saturated input and uncertain varying plant parameters 具有饱和输入和不确定装置参数的生物反应器鲁棒自适应控制器

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086849

A. Rincón, C. Erazo, F. Angulo

{"title":"A robust adaptive controller for bio-reactors with saturated input and uncertain varying plant parameters","authors":"A. Rincón, C. Erazo, F. Angulo","doi":"10.1109/LARC.2011.6086849","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086849","url":null,"abstract":"In this paper an adaptive controller for bioreactors is developed, using a mass balance model based on an unique biological reaction pathway. The control scheme is constructed from Lyapunov-like function method and an extended Luenberger observer which allows handling the control input saturation. The measured methane flow rate is used to handle the uncertainty on the reaction rate and an update law to handle the uncertainty on the proportional coefficient of the reaction rate. Under the assumptions of the system model are considered: i) the control input is saturated, ii) the values of the kinetic parameters, the biomass concentration and upper or lower bounds are unknown and iii) the output methane flow rate is measured. The main controller characteristics are the following: i) the closed loop states are bounded, ii) the observer error converges to a residual set whose size is user-defined, iii) the tracking error converges to a residual set which is user-defined; provided, the control input does not reach the extreme values. The controller performance is evaluated via numerical simulations showing excellent results.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"10 18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124730304","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

Infinite Horizon MPC and model reduction applied to large scale chemical plant 应用于大型化工厂的无限地平线MPC和模型简化

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086842

A. Márquez, C. Gomez, P. Deossa, J. Espinosa

引用次数: 2