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A sensitivity-based approach for the control of repetitive processes 用于控制重复过程的基于灵敏度的方法
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518510
A. Rauh, Luise Senkel, Christina Dittrich, H. Aschemann, K. Gałkowski, P. Dabkowski
{"title":"A sensitivity-based approach for the control of repetitive processes","authors":"A. Rauh, Luise Senkel, Christina Dittrich, H. Aschemann, K. Gałkowski, P. Dabkowski","doi":"10.1109/ICMECH.2013.6518510","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518510","url":null,"abstract":"For a large number of technical processes, it is desirable to design control strategies which allow for tracking desired state or output profiles which are repeated periodically. Such tasks are commonly solved by means of iterative learning control strategies as well as by the concept of repetitive control. Most of these before-mentioned techniques are designed in such a way that the linearity of the underlying system model is exploited. If a dynamic system is nonlinear, techniques for gain scheduling, corresponding to an online adaptation of a quasi-linear system model, are commonly applied. However, such adaptation strategies, depending on state measurements or estimated variables, have to be derived specifically for each problem at hand. Therefore, a sensitivity-based control approach is presented in this paper that can be employed for tracking control of both linear and nonlinear dynamic systems in spite of non-modeled disturbances. This control strategy makes use of a real-time capable sensitivity analysis of dynamic system models and comprises aspects of model-predictive and iterative learning control. The applicability of the corresponding algorithm is demonstrated in simulation and experiment for a distributed heating system.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126406227","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
Spiking Neural Networks for the control of a servo system 用于伺服系统控制的脉冲神经网络
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518517
Y. Oniz, O. Kaynak, R. Abiyev
{"title":"Spiking Neural Networks for the control of a servo system","authors":"Y. Oniz, O. Kaynak, R. Abiyev","doi":"10.1109/ICMECH.2013.6518517","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518517","url":null,"abstract":"This paper presents the design of a Spiking Neural Network (SNN) structure for control applications and evaluates its performance on a servo system. The design of SNN is performed using Spike Response Model (SRM). A gradient algorithm is applied for learning of SNN. The coding and decoding is applied for converting real numbers into spikes. A number of different load conditions including nonlinear and time-varying ones are used to investigate the performance of the proposed control algorithm on a laboratory setup that regulates the speed of a DC motor. It is seen that the control structure proposed has the ability to regulate the servo system around the set point signal in the presence of load disturbances.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130038027","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: 9
Dry friction modeling in dynamic identification for robot manipulators: Theory and experiments 干摩擦建模在机械臂动力学辨识中的应用:理论与实验
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518574
N. Kammerer, P. Garrec
{"title":"Dry friction modeling in dynamic identification for robot manipulators: Theory and experiments","authors":"N. Kammerer, P. Garrec","doi":"10.1109/ICMECH.2013.6518574","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518574","url":null,"abstract":"Nowadays, many robotic applications require an accurate model to perform tasks where dynamics is significant. The friction model discussed in this paper aims at improving the existing rigid robot model. The losses in joint transmission originate in friction between moving parts in contact or between moving parts and the ambient fluid. Commonly, robotic identification models represent joint transmission friction force as a viscous friction force, depending on the velocity, added to a constant dry friction force. However, the tribology science field teaches that friction in general depends on load (reaction force normal to the contact surface). It is important to consider this dependence when variable loads are applied on the joint transmission (external payloads, inertial load and gravity forces). Since these mechanisms are lubricated, it is appropriate to refer to the Stribeck curve (rather than Coulomb). This curve describes the friction coefficient as being dependent on a parameter (Hershey) combining the velocity and the load. This paper proposes a new expression of the load-velocity friction model, in order to identify a serial n degrees of freedom (DOF) robot. The friction force of this new inverse dynamic identification model is a linear function of both inertial and external forces. An experimental validation on an industrial manipulator used as a force feedback telerobot in nuclear plant concludes this paper.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125668075","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: 20
A design of an overhead crane tele-operation control system 一种桥式起重机遥控系统的设计
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519155
Hiroto Kato, S. Ueki, A. Kaneshige, T. Miyoshi, K. Terashima
{"title":"A design of an overhead crane tele-operation control system","authors":"Hiroto Kato, S. Ueki, A. Kaneshige, T. Miyoshi, K. Terashima","doi":"10.1109/ICMECH.2013.6519155","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519155","url":null,"abstract":"This paper presents a design method for a tele-operation controller for an overhead crane system that allows the operator to control the speed of the overhead crane freely and to feel the swing of the rod instinctively through the reaction force. Feeling the reaction force makes it easier for the operator to know about the swing of the rod than simply seeing the rod's movement through cameras. This system can be used via the internet and can be controlled from everywhere. For example, operating in a place such as a nuclear power plant, where it could be dangerous for humans to be in the case of an accident, this tele-control system using the internet as its communication line can be useful, since it allows the operator to control the crane from a safer place. The use of our system is demonstrated by an experiment run jointly by Toyohashi and Toyota.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125685886","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
Quadrupedal trotting with active compliance 主动顺从的四足小跑
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519112
I. Havoutis, C. Semini, J. Buchli, D. Caldwell
{"title":"Quadrupedal trotting with active compliance","authors":"I. Havoutis, C. Semini, J. Buchli, D. Caldwell","doi":"10.1109/ICMECH.2013.6519112","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519112","url":null,"abstract":"We present a trotting controller for a torque controlled quadruped robot. Our approach uses active compliance to overcome difficulties that are crucial for the realisation of symmetric gaits, i.e. force equalization, disturbance rejection and impact absorption. We present a scheme for the compliant control of each leg that is based on a virtual spring abstraction. This active compliance scheme allows us to greatly vary the dynamical behaviour of the system on-the-fly, without altering the physical characteristics of the robot, by changing the parameters of the virtual springs. This way we are able to evaluate a wide range of trotting gaits with varying parametrizations. We report results of robust trotting in various speeds and push recovery in simulation, and continue with results of actively compliant trotting on the real quadruped robot. We further discuss difficulties and limitations with the implementation of such dynamic gait controllers on the real system.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126308876","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: 50
Optimization of the centre of mass position of a racing motorcycle in dry and wet track by means of the “Optimal Maneuver Method” 用“最优机动法”优化赛车干、湿赛道质心位置
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518572
V. Cossalter, R. Lot, D. Tavernini
{"title":"Optimization of the centre of mass position of a racing motorcycle in dry and wet track by means of the “Optimal Maneuver Method”","authors":"V. Cossalter, R. Lot, D. Tavernini","doi":"10.1109/ICMECH.2013.6518572","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518572","url":null,"abstract":"The “Optimal Maneuver Method” is an application of the optimal control theory that basically simulates an ideal driver and computes the actions and the trajectory to complete a maneuver in the minimum time. As an application of this method a 125 cc motorcycle and a real race circuit, in both dry and wet conditions, have been simulated, and the validation of the results by means of a comparison with real telemetry data is discussed. Afterwards two significant quantities, the height and the longitudinal position of the centre of mass of the vehicle, have been considered. The influence of variation on the minimum lap time, in the two track conditions discussed above, is presented.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132373856","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: 10
Closed-loop position control of artificial muscles with a single integral action: Application to robust positioning of McKibben artificial muscle 单积分动作人工肌肉的闭环位置控制:在McKibben人工肌肉鲁棒定位中的应用
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519130
B. Tondu
{"title":"Closed-loop position control of artificial muscles with a single integral action: Application to robust positioning of McKibben artificial muscle","authors":"B. Tondu","doi":"10.1109/ICMECH.2013.6519130","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519130","url":null,"abstract":"Artificial muscles constitute a large class of non-linear actuators characterized by their own stiffness and damping. We analyze in the case of an axial contraction artificial muscle the relevance of a single integral action closed-loop controller. The basic idea of our approach consists in taking advantage of artificial muscle own stiffness and damping in order to substitute for a classic PID-controller an I-controller with as a consequence only one parameter to tune. Step and tracking responses performed with a pneumatic textile-braided McKibben muscle are reported showing the practical efficiency of the method to combine accuracy and load robustness performances.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116742875","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: 12
Robust and optimal tracking control for manipulator arm driven by pneumatic muscle actuators 气动肌肉驱动机械臂鲁棒最优跟踪控制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519148
F. Amato, Domenico Colacino, C. Cosentino, A. Merola
{"title":"Robust and optimal tracking control for manipulator arm driven by pneumatic muscle actuators","authors":"F. Amato, Domenico Colacino, C. Cosentino, A. Merola","doi":"10.1109/ICMECH.2013.6519148","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519148","url":null,"abstract":"In this paper, a robust and optimal control problem for uncertain bilinear systems is formulated via a guaranteed-cost approach and then applied to tracking control design of a robotic arm actuated by Pneumatic Artificial Muscles (PAMs). Taking into account the nonlinear dynamics of the pneumatic actuators, the tracking error dynamics has been described as an uncertain bilinear systems, whereas unknown perturbations on robot dynamics and modelling mismatch are regarded as an external disturbance to be attenuated. Some numerical simulations are also given to demonstrate both robustness and optimality of the control performance in tracking desired trajectories with the required accuracy.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116810335","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: 12
Robust motion control of MR-fluid actuator based on disturbance observer 基于扰动观测器的磁流变液作动器鲁棒运动控制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518586
K. Miura, S. Katsura
{"title":"Robust motion control of MR-fluid actuator based on disturbance observer","authors":"K. Miura, S. Katsura","doi":"10.1109/ICMECH.2013.6518586","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518586","url":null,"abstract":"Recently, interactions between humans and robots have been changed in order to solve the problems of the aged society. Opportunities that robots touch directly on humans have been increasing. However, active actuators are often used in order to generate force and perform their tasks and they have possibility of hurting people around. Then, stable passive actuators would be substituted for active ones. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate resisitive force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would be little risks for humans when they are loss of control. In this paper, the passive actuator is constructed using magnethorheological (MR) fluids and is nominalized based on disturbance observer in order to become robust for inner state of MR fluid and to be regarded as an active actuator. By experiments, the validity of the proposed method is verified.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128914350","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
Algorithm for three-dimensional control of needle steering via duty-cycled rotation 基于占空比旋转的针转向三维控制算法
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518542
N. A. Wood, C. Lehocky, C. Riviere
{"title":"Algorithm for three-dimensional control of needle steering via duty-cycled rotation","authors":"N. A. Wood, C. Lehocky, C. Riviere","doi":"10.1109/ICMECH.2013.6518542","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518542","url":null,"abstract":"Proportional control of curvature of a flexible bevel-tipped needle can be accomplished by rotating the needle shaft with a duty cycle. Using this technique, an algorithm for image-guided path-following control in two dimensions, based on an autonomous vehicle controller, has been previously demonstrated. This paper describes a computationally simple algorithm that extends the path-following control to three dimensions. Results from simulation are presented.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128966579","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: 12
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