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Optimal control of legless piezo capsubot 无腿压电胶囊机器人的优化控制
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356742
A. A. Farahani, A. Suratgar, A. Talebi
{"title":"Optimal control of legless piezo capsubot","authors":"A. A. Farahani, A. Suratgar, A. Talebi","doi":"10.1109/ICCIAUTOM.2011.6356742","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356742","url":null,"abstract":"This paper presents an optimal control method based on control effort minimization for a legless piezo capsubot. The capsubot is an underactuated nonlinear dynamics system which is driven by an internal impact force and friction. Here, motion mechanism of the capsubot is divided into two stages. In the first stage, the aim is to design an optimal controller minimizing energy consumption. In the second one, optimization is not an objective and instead a four-step strategy for inner mass of the capsubot is proposed. Then based on the proposed motion strategy, a trajectory profile is given. Using this trajectory profile, the capsubot moves in a desired direction. To evaluate the performance of the proposed control scheme, a comparative study has been performed by means of simulation. Simulation results show that the proposed approach is promising as compared to the Open-Loop Control (OLC) approach which widely used in the literature for control of the capsubot.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126850881","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
Artificial neural network classifier based on kinetic parameters of human motion 基于人体运动动力学参数的人工神经网络分类器
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356699
M. Mostafavizadeh, F. Eslam, M. Zekri
{"title":"Artificial neural network classifier based on kinetic parameters of human motion","authors":"M. Mostafavizadeh, F. Eslam, M. Zekri","doi":"10.1109/ICCIAUTOM.2011.6356699","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356699","url":null,"abstract":"As most of elderly encounter osteoporosis, falling can cause serious fractures in them. Kinetic signals contain useful information about the balance impairment of human during walking, however these details cannot be directly recognized by the observer The aim of this paper is to investigate artificial neural network model for classifying the kinetic pattern in to two groups: faller and non-faller. The kinetic parameters obtained by a six-channel force plate for 3 groups of volunteer as healthy young, healthy elderly and faller elderly. Data space is then normalized and rearranged as input data matrixes for a 3-layer feed forward neural network to classify the patterns. Neural network classifier is seen to be corrected in about 85% of the test cases.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"11 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126102143","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
Adaptive backstepping control of rigid-link electrically driven robots with uncertain kinematics and dynamics 具有不确定运动学和动力学的电驱动刚杆机器人自适应反步控制
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356783
M. Ahmadipour, A. Khayatian, M. Dehghani
{"title":"Adaptive backstepping control of rigid-link electrically driven robots with uncertain kinematics and dynamics","authors":"M. Ahmadipour, A. Khayatian, M. Dehghani","doi":"10.1109/ICCIAUTOM.2011.6356783","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356783","url":null,"abstract":"In this paper, backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of uncertainties in kinematics, manipulator dynamics and actuator dynamics. First, the armature current vector is regarded as the control variable for the manipulator subsystem and a desired armature current is designed based on the inverse manipulator dynamics. Then, an input control voltage is designed so that armature current tracks the desired armature current. Simulation results of applying the proposed controller on a two link RLED robot are presented to show the effectiveness of the proposed control scheme.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126210996","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: 4
Distributed model predictive control and virtual force obstacle avoidance for formation of nonholonomic agents 非完整智能体形成的分布式模型预测控制与虚拟力避障
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356698
Adeleh Mohammadi, M. Menhaj, A. Doustmohammadi
{"title":"Distributed model predictive control and virtual force obstacle avoidance for formation of nonholonomic agents","authors":"Adeleh Mohammadi, M. Menhaj, A. Doustmohammadi","doi":"10.1109/ICCIAUTOM.2011.6356698","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356698","url":null,"abstract":"In this paper, the problem of formation control for a group of nonholonomic mobile robots is presented. Obstacle avoidance is also included in the problem formulation using virtual force method. An objective function is minimized to develop a distributed constrained model predictive control law for a formation of unicycle mobile robots. In the leader-follower formation under consideration, a desired trajectory is given to the leader. The followers keep a specified distance and orientation while following the leader to keep a certain formation. All the agents in the formation avoid obstacles by producing a local virtual force with respect to their distance from the obstacle. Simulations for nonholonomic mobile robots formation with obstacle avoidance are performed to test the effectiveness of the proposed distributed predictive control.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121619232","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
Single phase induction motor speed control using frog-jumping algorithm technique 采用跳蛙算法控制单相异步电动机的转速
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356664
A. Ahmad, A. Abbawi
{"title":"Single phase induction motor speed control using frog-jumping algorithm technique","authors":"A. Ahmad, A. Abbawi","doi":"10.1109/ICCIAUTOM.2011.6356664","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356664","url":null,"abstract":"An adjustable speed single phase induction motors are widely used in domestic applications and industries. It is difficult to get such a single phase induction motor practically. The present work deals with the analysis and design of a speed control for a single phase induction motor. There are several methods which may be used to control the speed such a motor: voltage control, frequency control and a voltage to frequency control, which is widely used in this application. Most of the previous methods are suffering from certain problems, e.g narrow speed range, starting problems, the low efficiency of the motor. Here a novel method is suggested to use for controller design. the suggested method computed the best values for the frequency and the voltage for any desired reference speed. The simulated open-loop system as well as the closed-loop one are analyzed and the result show that the actual speed is tracking the desired speed and the deference between the reference speed and actual is acceptable (less than 2%).","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125232431","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
Dynamic modeling and robust passivity-based control of a cable-suspended robot 悬索机器人的动态建模与鲁棒无源控制
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356785
M. Zarebidoki, A. Lotfavar, H. Fahham
{"title":"Dynamic modeling and robust passivity-based control of a cable-suspended robot","authors":"M. Zarebidoki, A. Lotfavar, H. Fahham","doi":"10.1109/ICCIAUTOM.2011.6356785","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356785","url":null,"abstract":"The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties and disturbances exist in the adjustment process. This paper presents application of a robust passivity-based control scheme for a cable suspended robot to handle disturbances and uncertainties in mass and moments of inertia of end effecter. In section II dynamic equations of motion are derived by using Newton-Euler method and the constraints are utilized to obtain the complete required equations. In section III inverse dynamic and robust passivity-based controllers are presented. Lyapunov function presented in this section defines additional control input and shows the stability of robust passivity-based controller. Simulation results presented in section IV for non-redundant cable-based robots show the effectiveness of the robust passivity-based controller when there is no enough knowledge about system parameters and in the presence of a sinusoidal disturbance.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122180486","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: 3
A multi-step Genetic Algorithm to solve the inverse kinematics problem of the redundant open chain manipulators 一种多步遗传算法求解冗余开链机械手的运动学逆问题
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356802
A. Mehrafsa, A. Sokhandan, A. Ghanbari, V. Azimirad
{"title":"A multi-step Genetic Algorithm to solve the inverse kinematics problem of the redundant open chain manipulators","authors":"A. Mehrafsa, A. Sokhandan, A. Ghanbari, V. Azimirad","doi":"10.1109/ICCIAUTOM.2011.6356802","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356802","url":null,"abstract":"This paper presents a new algorithm regarding the inverse kinematics problem of the redundant open-chain manipulators, based on Simple Genetic Algorithm (SGA). The proposed method could be applied for any kind of manipulator configuration independent from number of joints. This method formulates the inverse kinematics problem as an optimization algorithm, solves it using the SGA in two steps and can be extended further. The advantage of splitting the procedure can be beneficial when procedures execute in parallel. At the first step, the SGA looks for successive joint values set for a given manipulator as candidate joints set, and at the second one, SGA would find the optimum joint values. Therefore, the manipulator's end-effector would be smoothly moved from an initial location to its target with minimum joints displacement while avoiding singularity. Simulation studies show that the proposed method represents an efficient approach to solve the inverse kinematics problem of open-chain manipulators with any degree of redundancy.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"23 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123787607","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: 4
A new approach in Anti-lock Braking System (ABS) based on adaptive neuro-fuzzy self-tuning PID controller 基于自适应神经模糊自整定PID控制器的防抱死制动系统(ABS)新方法
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356714
N. Raesian, N. Khajehpour, M. Yaghoobi
{"title":"A new approach in Anti-lock Braking System (ABS) based on adaptive neuro-fuzzy self-tuning PID controller","authors":"N. Raesian, N. Khajehpour, M. Yaghoobi","doi":"10.1109/ICCIAUTOM.2011.6356714","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356714","url":null,"abstract":"Anti-lock Braking Systems (ABS) have been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking especially on slippery road surfaces. Variations in the values of weight, the friction coefficient of the road, road inclination and other nonlinear dynamics may highly affect the performance of antilock braking systems (ABS). This system which is a nonlinear system may not be easily controlled by classical control methods. An intelligent fuzzy control method is very useful for this kind of nonlinear system. Also, a self-tuning scheme seems necessary to overcome these problems. We develop an adaptive neuro-fuzzy self-tuning PID control scheme for ABS. In this paper, fuzzy self-tuning PID controllers with using ANFIS have been improved in antilock braking system. This controller designed with three control objectives consist of reduce stopping time, limit slip ratio and improve the performance controlling system (reducing rise time and overshoot) on the ABS brake. Results of simulation showed that our aims are achieved.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122236543","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: 22
A new impedance control structure for leg Rehabilitation Robot 一种新的腿部康复机器人阻抗控制结构
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356790
A. Mirzaei, S. Ozgoli
{"title":"A new impedance control structure for leg Rehabilitation Robot","authors":"A. Mirzaei, S. Ozgoli","doi":"10.1109/ICCIAUTOM.2011.6356790","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356790","url":null,"abstract":"Gait Rehabilitation Robot is an important and useful machine collaboration robot, which can operate the limbs that affected by a stroke or disorder like paraplegic to improve their normal operation. The control algorithms that are applied to set up should have good flexibility and safety to guarantee the effectiveness and comfort of the physiotherapies. The impedance control algorithm is one of these algorithms that can satisfy this flexibility. In this study a new improved impedance control structure is applied to rehabilitation robot. A new configuration is proposed in which the ground normal force is also taken into account. Moreover by means of this new structure the inverse dynamic's complexity is reduced. In this impedance control structure the stability's range is better than other similar works, and it is very important and useful result for physiotherapists. Via simulation and the results show good flexibility and tracking both hip and knee angle behavior.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"298 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121321682","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
Active Queue Management in TCP networks based on Nonlinear Generalized Minimum Variance control 基于非线性广义最小方差控制的TCP网络主动队列管理
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356644
Atieh Keshavarz-Mohammadiyan, H. Khaloozadeh
{"title":"Active Queue Management in TCP networks based on Nonlinear Generalized Minimum Variance control","authors":"Atieh Keshavarz-Mohammadiyan, H. Khaloozadeh","doi":"10.1109/ICCIAUTOM.2011.6356644","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356644","url":null,"abstract":"In this paper a new Active Queue Management (AQM) strategy based on Nonlinear Generalized Minimum Variance (NGMV) control is proposed for TCP/AQM networks. The NGMV control is a model free method which only requires output of the system. Cost function of this method involves weighted output error and weighted control signal terms. The NGMV controller is implemented in order to minimize the cost function which results in a decrease in the jitter (the variance of delay). The numerical simulation results confirm the effectiveness of the proposed method.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132446385","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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