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This research proposes a motion training system based on motion-copying system with the space and time domain admittance control. In order to apply a motion-copying system to the motion training system, a structure of dual motion reproduction system is introduced in which a motion reproduction system is constructed not only at a slave system but also a master system. Not only the slave system but...
This paper proposes data-driven Model-Free Control (MFC) algorithms for Multi Input-Multi Output (MIMO) twin rotor aerodynamic systems. A discrete-time formulation of the algorithms is given in the framework of a MIMO control system structure with azimuth and pitch position control loops. An optimal design approach of the MIMO MFC algorithms is proposed using a Linear Quadratic Regulator formulation...
High performance interior permanent magnet synchronous machines show nonlinear magnetics due to saturation and cross-coupling. Nonlinear differential equations describe these phenomena and make feedback control challenging. This paper presents a predictive control method to precisely control the dynamics of these machines. Four real-time capable strategies to online identify transient trajectories...
In this paper, we present an algorithm for fully autonomous exploration and mapping of an unknown indoor robot environment. This algorithm is based on the active SLAM (simultaneous localization and mapping) approach. The mobile robot equipped with laser sensor builds a map of an environment, while keeping track of its current location. Autonomy is introduced to this system by automatically setting...
This paper investigates feasibility of using a flywheel based energy recovery and storage system for a robotic manipulator. The incentive is supported by ever growing necessity for efficient systems and optimisation of power consumption of industrial processes. Previous work has shown that robotic manipulators can benefit from incorporation of energy recovery and temporary energy storage system which...
This paper suggests an optimal behavior prediction mechanism for a control system, using previously learned solutions to simple tasks called primitives. The optimality of the behavior is formulated as a reference trajectory tracking problem. The primitives are stored in a library of pairs of reference input/controlled output signals. The reference input primitives are optimized in a Model-Free Iterative...
In this paper, a new adaptive controller is proposed for ultra-local model based control. The concept is based on the algebraic derivation techniques to estimate the two ultra-local model parameters. A comparison study with the control method of Fliess-Join which is based on some elementary differential algebra is developed. The robustness of the ultra-local model controllers with respect to noises,...
This paper presents a novel method to trajectory planning for waypoint tracking. The direction for heading waypoint with considering kinematic constraints has been defined. It has advantages in smoothness and robustness. Simulation shows the validity of the proposed method.
This paper discusses flatness-based control approaches to reduce oscillations on the load side of mechanical motion systems. Choosing a suitable trajectory is one essential step in implementing a flatness-based control. Existing approaches use slow polynomials or mathematically complex Gevrey-functions to achieve the necessary differentiability. Our approach combines the oscillation reduction of flatness-based...
Vehicles which operate in agricultural row crops, need to strictly follow the established wheel tracks. Errors in navigation where the robot sways of its path with one or more wheels may damage the crop plants. The specific focus of this paper is on an agricultural robot operation in row cultures. The robot performs machine vision detecting weeds within the crop rows and treats the weeds by high precision...
The ionizing radiation is used in the nuclear medicine field during the execution of diagnosis exams. The continuous exposure of humans to the radiation may cause organs and tissues damage, being its severity dependent of the quantity of the radiation and the exposure time. The main objective of this work is to design a virtual environment to carry out the simulation of the several stages for the...
For redundant fixed or mobile manipulators in shared human-robot workspaces, control algorithms are necessary that allow the robot to perform a task defined in the Cartesian space and that simultaneously realize additionally desired robot behaviors like avoiding collisions with humans or other obstacles. In this contribution, a Nonlinear Model Predictive Control (NMPC) approach is proposed to move...
This work aims to design an optimal dynamic controller to stabilize the walk of a biped robot even in the presence of input and output constraints. In a first time, the robot's trajectory is generated via the Zero Moment Point criterion based on the resolution of a convex optimization problem with Linear Matrix Inequalities. In a second time, the tracking of a reference trajectory is insured by the...
MMC Passivity-based PI Controller: A novel nonlinear global tracking controller was proposed by extending the regulation case. It consists in a linear PI that regulates two constructed signals with respect to which the incremental model of the MMC becomes passive. Estimation of xk: A closed-loop estimator was proposed to estimate the MMC variables in steady state needed as input for the non-linear...
This paper focuses on determining the optimum placement of a given number of sensors for estimating the position of a moving target using range-difference measurements. We define a region of interest and generate several random trajectories with the dynamic white noise acceleration model. After obtaining those trajectories that populate the area we compute the posterior Cramér-Rao lower bound iteratively...
This paper presents the different levels of signal processing applied to an extensive Ultrasonic Local Positioning System (ULPS) intended for mobile robot (MR) indoor navigation. The working area is covered using several single LPSs, each of them composed of a set of closely arranged ultrasonic beacons. Low-level signal processing deals with the simultaneous encoded emission of the beacons that compose...
This paper describes a 3D reference trajectory generation and tracking control method for a quadcopter. The flying trajectory is a piecewise curve that passes through viapoints at specified times or speeds and has constant acceleration within each interval. The path is first represented as the third degree polynomials, and to overcome demerits of the C-splines, a numeric algorithm is suggested and...
This paper proposes a non-parametric method to detect grid voltage dip in a Wind Turbine Generator. The method is based on the analysis of the grid currents vector trajectory in the stationary reference frame. Two features (amplitude variation and angle deviation) are extracted for Fault Detection and Isolation. The approach is validated through simulation results of a Doubly Fed Induction Generator...
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