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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
Power system monitoring using subspace identification 利用子空间识别进行电力系统监控
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356624
A. Mohammadi, H. Khaloozadeh, R. Amjadifard
{"title":"Power system monitoring using subspace identification","authors":"A. Mohammadi, H. Khaloozadeh, R. Amjadifard","doi":"10.1109/ICCIAUTOM.2011.6356624","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356624","url":null,"abstract":"In this paper, we proposed a novel index for monitoring and prediction of oscillatory instability (Hopf Bifurcation) in power systems. Considering modern control techniques, the index uses damping information of the whole power system. Therefore, we call it as DMI (Damping Matrix Index). It easily uses power system available signals such as electro-mechanical torques, speeds and angles of synchronous machines to predict oscillatory instability. Since the values of each monitoring index hides behind its estimation method and the proposed index is based on state space model of power system, we use Subspace System Identification (SSI) algorithms to estimate the proposed index. Based on SSI techniques and the proposed index, we suggest an algorithm for power system monitoring. Tests and simulations have been conducted using the proposed index on simulated measurements of a two-area 4-machine power system. Results express good performance of DMI in comparison with other well-known oscillatory instability indices.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"68 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":"127074519","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
Parallel parking assistant system on car-like mobile robot 仿车移动机器人平行泊车辅助系统
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356796
Mahsa Lotfibonab, Mohammad Kiyanfar, M. Ghodsi, Parisa Lotfibonab
{"title":"Parallel parking assistant system on car-like mobile robot","authors":"Mahsa Lotfibonab, Mohammad Kiyanfar, M. Ghodsi, Parisa Lotfibonab","doi":"10.1109/ICCIAUTOM.2011.6356796","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356796","url":null,"abstract":"This paper presents an approach to solve semi-active non-holonomic vehicle parking assistant problem. This system can be automatically drive a vehicle and can be used during day or and night. A robust algorithm for this system is developed and embedded controller hardware is designed and programmed to parallel parking maneuver. For this purpose we used the kinematic model of car and then developed it on car-like mobile robot, then designed trajectory for parking maneuver path planning. The path planning includes simple geometric equations. In this approach, infrared distance sensor is mounted on the car to find parking space and used infrared distance sensor for localize the vehicle position and avoid obstacles. Experimental and simulation results show good performance in the algorithm for parking system under parallel parking. Parking maneuver is safer and efficient through using these advanced safety techniques for parking. Simulation results obtained with the presented system are applied for semi-active parking assistance system.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"58 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":"134470283","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
Genetic-PID control of elbow joint angle for functional electrical stimulation: A simulation study 功能性电刺激肘关节角度的遗传pid控制仿真研究
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356647
N. Shariati, A. Maleki, A. Fallah
{"title":"Genetic-PID control of elbow joint angle for functional electrical stimulation: A simulation study","authors":"N. Shariati, A. Maleki, A. Fallah","doi":"10.1109/ICCIAUTOM.2011.6356647","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356647","url":null,"abstract":"Functional electrical stimulation (FES) systems restore motor functions after spinal cord injury (SCI). In this study, we used a model consists of a joint, two links with one degree of freedom, and two muscles as flexor and extensor of the joint, which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon actuator and composed of a nonlinear recruitment curve, a nonlinear activation-frequency relationship, calcium dynamics, fatigue/recovery model, an additional constant time delay, force-length and force-velocity factors. In this study, we used a classic controller for regulating the elbow joint angle; a Proportional- Integral- Derivative controller. First, we tuned the PID coefficients with trial and error, and then a genetic algorithm was used to optimize them. This genetic-PID controller uses genetic algorithm to get the required pulse width for stimulating the biceps to reach the elbow joint to the desired angle. The fitness function was defined as sum square of error. The results for genetic-PID controller show faster response for reaching the range of the set point than the PID controller tuned by trial and error. However the genetic-PID is much better in terms of the rise time and the settling time, the PID tuned by trial and error has no overshoot. The time to reach the zero steady state error is half in genetic-PID in comparison to PID tuned by trial and error.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"84 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":"133463858","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
On the skew and sway control of container cranes 集装箱起重机斜摇控制研究
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356692
M. Mahrueyan, H. Khaloozadeh
{"title":"On the skew and sway control of container cranes","authors":"M. Mahrueyan, H. Khaloozadeh","doi":"10.1109/ICCIAUTOM.2011.6356692","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356692","url":null,"abstract":"It is conventional to control the sway of the container cranes based on a two dimensional model. Unfortunately, two dimensional models are not capable of controlling the skew of container cranes. Moreover, the anti-sway controllers make the skew intensified. In this paper, we add another degree of freedom to a three dimensional container crane model by installing two wagons in the trolley to impose a couple force for regulating both its sways and skew to zero using State Dependent Riccati equation (SDRE) controller. As the couple force only have rotational effect on the container platform, and is a free vector it will not change the dynamic of the system. Furthermore, SDRE controllers are the extended version of LQR, they will lead into an optimal result while being simple in controlling a system with three inputs and being loyal to nonlinear characteristics of the system. We will simulate the controller on a 3D model with the trolley acceleration of 0.8.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"24 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":"134112261","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
PI controller for quarter vehicle active suspension system with optimized gains using PSO algorithm 采用粒子群算法优化增益的四分之一车辆主动悬架系统PI控制器
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356687
J. Ghafouri, A. Sakhavati, R. Jovari, G. Gharehpetian
{"title":"PI controller for quarter vehicle active suspension system with optimized gains using PSO algorithm","authors":"J. Ghafouri, A. Sakhavati, R. Jovari, G. Gharehpetian","doi":"10.1109/ICCIAUTOM.2011.6356687","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356687","url":null,"abstract":"The active suspension is the main technology for vehicles to achieve both ride control and comfort performance. In this paper, a Proportional- Integral (PI) controller is applied on a quarter models to control the active suspension system. Also, the ride quality, travel suspension and handling is improved. The values of PI controller gain are tuned by using Particle Swarm Optimization (PSO) algorithm to achieve ride stability and comfort performance of vehicles. In order to design the proposed PI controller, a new cost function has been defined. PSO algorithm has been applied to optimize new cost function. The cost function is considered as a sum of peak response vector and settling time vector of body acceleration. The results demonstrate that the proposed PI controller improves the tradeoff between ride comfort and suspension travel and tire deflection compared to the PI controller tuned using Genetic Algorithm (GA) and passive suspension system.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"114 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":"133097837","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
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