Frontiers in control engineering最新文献_第2页

Obstacle-avoidance trajectory planning and sliding mode-based tracking control of an omnidirectional mobile robot 全向移动机器人避障轨迹规划与滑模跟踪控制

Frontiers in control engineering Pub Date : 2023-03-16 DOI: 10.3389/fcteg.2023.1135258

Zhe Sun, Shujie Hu, Xinan Miao, Bo Chen, Jinchuan Zheng, Z. Man, T. Wang

{"title":"Obstacle-avoidance trajectory planning and sliding mode-based tracking control of an omnidirectional mobile robot","authors":"Zhe Sun, Shujie Hu, Xinan Miao, Bo Chen, Jinchuan Zheng, Z. Man, T. Wang","doi":"10.3389/fcteg.2023.1135258","DOIUrl":"https://doi.org/10.3389/fcteg.2023.1135258","url":null,"abstract":"Trajectory planning and tracking control play a vital role in the development of autonomous mobile robots. To fulfill the tasks of trajectory planning and tracking control of a Mecanum-wheeled omnidirectional mobile robot, this paper proposes an artificial potential field-based trajectory-planning scheme and a discrete integral terminal sliding mode-based trajectory-tracking control strategy. This paper proposes a trajectory-planning scheme and a trajectory-tracking control strategy for a Mecanum-wheeled omnidirectional mobile robot by using artificial potential field and discrete integral terminal sliding mode, respectively. First, a discrete kinematic-and-dynamic model is established for the Mecanum-wheeled omnidirectional mobile robot. Then, according to the positions of the robot, target, and obstacles, a reference an obstacle-avoidance trajectory is planned and updated iteratively by utilizing artificial potential field functions. Afterward, a discrete integral terminal sliding mode control algorithm is designed for the omnidirectional mobile robot such that the robot can track the planned trajectory accurately. Meanwhile, the stability of the control system is analyzed and guaranteed proved in the sense of Lyapunov. Last, simulations are executed in the scenarios of static obstacles and dynamic obstacles. The simulation results demonstrate the effectiveness and merits of the presented methods.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45994072","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

Self-paced heart rate control for treadmill exercise 跑步机运动的自定速心率控制

Frontiers in control engineering Pub Date : 2023-03-09 DOI: 10.3389/fcteg.2023.1158164

Hanjie Wang, K. Hunt

{"title":"Self-paced heart rate control for treadmill exercise","authors":"Hanjie Wang, K. Hunt","doi":"10.3389/fcteg.2023.1158164","DOIUrl":"https://doi.org/10.3389/fcteg.2023.1158164","url":null,"abstract":"Introduction: With conventional heart rate (HR) control systems, the exercising person is bound to walk or run at a pace determined by the feedback. This may be challenging for people with impairments that make it difficult for them to achieve a smooth, continuous pace. The aim of this work was to assess the technical feasibility of a novel self-paced heart rate control strategy and to compare its accuracy with conventional heart rate control. Methods: We propose a self-paced heart rate control system that embeds an automatic positioning controller within the heart rate control loop. The treadmill speed command is decoupled from the heart rate compensator, whereas speed is determined by the exerciser’s own volition: target speed is displayed visually to the person and, when they try to follow this target, the position controller sets the treadmill speed while keeping the person at a safe reference position on the track. A further novel contribution of this work is a new input-sensitivity-shaping, frequency-domain design strategy for feedback control of position. Results: Experimental evaluation with four participants showed that self-paced heart rate control is technically feasible: all participants were able to accurately follow the target running speed calculated by the HR compensator and presented to them visually; for all four participants, self-paced HR tracking accuracy was not substantially different from conventional HR control performance; on average, the self-paced heart rate controller gave slightly better performance than conventional HR control, with RMS tracking error of 2.98 beats per minute (bpm) vs 3.11 bpm and higher average control signal power. Conclusion: The proposed self-paced heart rate control strategy with embedded automatic position control is deemed feasible. This approach may be helpful for people with gait impairments or other limitations that make it difficult for them to follow an imposed treadmill speed.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48545610","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

Competitive perimeter defense with a turret and a mobile vehicle 具有竞争力的外围防御与炮塔和机动车辆

Frontiers in control engineering Pub Date : 2023-02-27 DOI: 10.3389/fcteg.2023.1128597

Shivam Bajaj, S. D. Bopardikar, Alexander Von Moll, E. Torng, D. Casbeer

{"title":"Competitive perimeter defense with a turret and a mobile vehicle","authors":"Shivam Bajaj, S. D. Bopardikar, Alexander Von Moll, E. Torng, D. Casbeer","doi":"10.3389/fcteg.2023.1128597","DOIUrl":"https://doi.org/10.3389/fcteg.2023.1128597","url":null,"abstract":"We consider perimeter defense problem in a planar conical environment with two cooperative heterogeneous defenders, i.e., a turret and a mobile vehicle, that seek to defend a concentric perimeter against mobile intruders. Arbitrary numbers of intruders are released at the circumference of the environment at arbitrary time instants and locations. Upon release, they move radially inwards with fixed speed towards the perimeter. The defenders are heterogeneous in terms of their motion and capture capabilities. Specifically, the turret has a finite engagement range and can only turn (clockwise or anti-clockwise) in the environment with fixed angular rate whereas, the vehicle has a finite capture radius and can move in any direction with unit speed. We present a competitive analysis approach to this perimeter defense problem by measuring the performance of multiple cooperative online algorithms for the defenders against arbitrary inputs, relative to an optimal offline algorithm that has information about the entire input sequence in advance. Specifically, we establish necessary conditions on the parameter space to guarantee finite competitiveness of any online algorithm. We then design and analyze four cooperative online algorithms and characterize parameter regimes in which they have finite competitive ratios. In particular, our first two algorithms are 1-competitive in specific parameter regimes, our third algorithm exhibits different competitive ratios in different regimes of problem parameters, and our fourth algorithm is 1.5-competitive in specific parameter regimes. Finally, we provide multiple numerical plots in the parameter space to reveal additional insights into the relative performance of our algorithms.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44387120","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

Model-based shared control approach for a power wheelchair driving assistance system using a force feedback joystick 采用力反馈操纵杆的电动轮椅驾驶辅助系统基于模型的共享控制方法

Frontiers in control engineering Pub Date : 2023-02-13 DOI: 10.3389/fcteg.2023.1058802

V. T. Nguyen, C. Sentouh, P. Pudlo, J. Popieul

{"title":"Model-based shared control approach for a power wheelchair driving assistance system using a force feedback joystick","authors":"V. T. Nguyen, C. Sentouh, P. Pudlo, J. Popieul","doi":"10.3389/fcteg.2023.1058802","DOIUrl":"https://doi.org/10.3389/fcteg.2023.1058802","url":null,"abstract":"This paper presents a haptic-based assistance system (AS) for power wheelchair users designed using the model-based shared control approach. The idea is to combine robust control with a high-level driving supervisor in order to successfully share control authority between the wheelchair user and the assistance system. This shared control strategy is composed of two parts, namely an operational part and a tactical part. Through the haptic joystick interface, this assistance system aims to reduce user’s effort when manipulating the joystick, guide the user to avoid any potential collisions, and maintain the active participation of the user in driving the wheelchair. In the operational part, an optimal Takagi-Sugeno fuzzy control approach is proposed to deal with the time-varying user’s intention represented by his desired longitudinal and angular position errors and velocities and hand torques. The control design is formulated as an LMI optimization problem which can be easily solved with numerical solvers. Two unknown input observers for Takagi-Sugeno fuzzy model have been designed to estimate the user’s intention in order to generate an assistance torque via a haptic force feedback joystick. The control supervisor in the tactical part, aims to provide a decision-making signal which allows for the conflict management based on the user hand torque estimation. A specific algorithm has been developed to solve the conflict between the user’s desired actions and the suggestions from the assistance system to ensure the user remains the final decision-maker. Experimental results show the effectiveness and the validity of the proposed assistance system.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47292295","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

Global Versus Local Lyapunov Approach Used in Disturbance Observer-Based Wind Turbine Control 基于扰动观测器的风机控制中的全局与局部李雅普诺夫方法

Frontiers in control engineering Pub Date : 2023-02-06 DOI: 10.3389/fcteg.2022.787530

Eckhard Gauterin, F. Pöschke, H. Schulte

引用次数: 0

A review of shared control in automated vehicles: System evaluation 自动驾驶车辆共享控制综述:系统评估

Frontiers in control engineering Pub Date : 2023-02-03 DOI: 10.3389/fcteg.2022.1058923

Joseba Sarabia, M. Marcano, Joshué Pérez, A. Zubizarreta, Sergio E. Diaz

引用次数: 0

Graph neural networks for decentralized multi-agent perimeter defense 分布式多智能体周界防御的图神经网络

Frontiers in control engineering Pub Date : 2023-01-13 DOI: 10.3389/fcteg.2023.1104745

Elijah S. Lee, Lifeng Zhou, Alejandro Ribeiro, Vijay Kumar

引用次数: 5

Multiplayer reach-avoid differential games with simple motions: A review 用简单的动作避免多人触达的不同游戏

Frontiers in control engineering Pub Date : 2023-01-10 DOI: 10.3389/fcteg.2022.1093186

Rui Yan, Ruiliang Deng, Xiaoming Duan, Z. Shi, Yisheng Zhong

引用次数: 2

Tuning of P I D D 2 controllers for oscillatory systems with time delays 时滞振荡系统pd2控制器的整定

Frontiers in control engineering Pub Date : 2023-01-10 DOI: 10.3389/fcteg.2022.1083419

Hu Xingqi, Hou Guolian, T. Wen

引用次数: 0

Cooperative path-following control of a remotely operated underwater vehicle for human visual inspection task 遥控水下机器人的协同路径跟踪控制

Frontiers in control engineering Pub Date : 2022-12-08 DOI: 10.3389/fcteg.2022.1056937

Eito Sato, Hailong Liu, Yasuaki Orita, N. Sakagami, T. Wada

{"title":"Cooperative path-following control of a remotely operated underwater vehicle for human visual inspection task","authors":"Eito Sato, Hailong Liu, Yasuaki Orita, N. Sakagami, T. Wada","doi":"10.3389/fcteg.2022.1056937","DOIUrl":"https://doi.org/10.3389/fcteg.2022.1056937","url":null,"abstract":"In recent years, significant attention has been paid to remotely operated underwater vehicles (ROVs) in the performance of underwater tasks, such as the inspection and maintenance of the underwater infrastructure. The workload of ROV operators tends to be high, even for the skilled operators. Therefore, assistance methods for the operators are desired. This study focuses on a task in which a human operator controls an underwater robot to follow a certain path while visually inspecting objects in the vicinity of the path. In such a task, it is desirable to achieve the speed of trajectory control manually because the visual inspection is performed by a human operator. However, to allocate resources to visual inspection, it is desirable to minimize the workload on the path-following by assisting with the automatic control. Therefore, the objective of this study is to develop a cooperative path-following control method that achieves the above-mentioned task by expanding a robust path-following control law of non-holonomic wheeled vehicles. To simplify this problem, we considered a path-following and visual objects recognition task in a two-dimensional plane. We conducted an experiment with participants (n = 16) who completed the task using the proposed method and manual control. We compared results in terms of object recognition success rate, tracking error, completion time, attention distribution, and workload. The results showed that both the path-following errors and workload of the participants were significantly smaller with the proposed method than with manual control. In addition, subjective responses demonstrated that operator attention tended to be allocated to object recognition rather than robot operation tasks with the proposed method. These results demonstrate the effectiveness of the proposed cooperative path-following control method.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45445271","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