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Pedestrians evacuation is key to improve the traffic efficiency and guarantee the safety of pedestrians in high density area, which have been widely concerned by scholars. This paper establishes a macroscopic model for T-shaped channel consisting of some corridors and nodes, which is very common in real traffic system. Then, with the goal of avoiding congestion and maximizing the pedestrian flow of...
Iterative learning control can be applied to systems that execute the same finite duration task over and over again. This method control has been applied to many engineering systems, such as gantry robots and electrical motors. This paper gives further results on the design of dynamic iterative learning control laws using the repetitive process setting using a model of a 3D crane. Of particular interest...
This study is aimed to find low order, stable and proper controllers for the linearized models of two well known underactuated robots i.e. Acrobot and Pendubot around their upright equilibrium points in order to maximize the robustness of the feedback loop to uncertainties. The proposed method makes use of the robust stabilization of finite dimensional plants by Nevanlinna-Pick interpolation problem...
The behaviour of fractional-order systems with two agents is considered. In the paper, interactions between agents are defined like in Cucker-Smale models, where equations related to the position are the ordinary differential equations and velocities of agents are described by fractional differential equations. It allows us to take into account the memory that is included by taking the fractional-order,...
This paper presents the performance analysis of visual feedback leader-following pose synchronization, where the leader motion is supposed to contain stochastic factors. Then, the problem is reformulated in stochastic system form and stochastic stability analyses are provided. Here, time evolution of the control error system produced by the present visual feedback control is given by stochastic differential...
Teleoperation is a human control system enabling humans to interact with the remote environment through a dual robot system which includes a master robot and a slave robot operating in two different places. Wave variables and scattering approaches were proposed in [1],[2] with constant time delay, [3],[4] with varying time delays. This paper develops them based on different wave variables and new...
This paper presents a novel method— asymmetric dual-user shared control method and makes a proof of the stability conditions of the novel method with time delay. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors, considering the influence between the slave and masters respectively. Then, the system is divided into three paralleling subsystems, and the system...
Most bilateral teleoperation researches focus on the system stability within time-delays. However, practical teleoperation tasks require high transient performance, such as convergence rate and precision, besides system stability. This paper investigates bilateral teleoperation controller design with transient performances. To ensure the transient performances and system stability simultaneously,...
This paper discusses the learning of robot point-to-point motions via non-linear dynamical systems and Gaussian Mixture Regression (GMR). The novelty of the proposed approach consists in guaranteeing the stability of a learned dynamical system via Contraction theory. A contraction analysis is performed to derive sufficient conditions for the global stability of a dynamical system represented by GMR...
In this paper, A simple method for estimating the impedance of a human hand is proposed. In a physical human-robot interaction situation, safety is a very important issue because humans are in contact with robots. Since robots become unstable when they contact a stiff external environment or when there is a difference between human motion intention and robot motion, knowing the dynamics of a human...
In physical human-robot interaction (pHRI), the cognitive skill of a human is combined with the accuracy, repeatability and strength of a robot. While the promises and potential outcomes of pHRI are glamorous, the control of such coupled systems is challenging in many aspects. In this paper, we propose a new controller, fractional order admittance controller, for pHRI systems. The stability analysis...
This work proposes an adaptive dynamic controller for an unmanned aerial vehicle (UAV) to track a desired trajectory. Initially, reference velocities are generated by a controller that is based only on the kinematic model of the UAV. Subsequently, new control actions are calculated to compensate for the internal dynamics of the robot. Then the model parameters that characterize the robot dynamics...
Low back pain is one of the world's most serious health problems. Conservative methods are recommended for back pain, and stabilization exercise as one of these methods has been proven to be effective. The “big 3” exercises are proven stabilization exercises, and it is able to train most of the muscles associated with low back stability. However, they are hard to be performed by some patients because...
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental psychology has shown that such skills are acquired by infants from observations at a very early stage. In this paper, we contrast a more traditional approach of taking a...
In robotics, it is often practically and theoretically convenient to design motion planners for approximate low-order (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate high-order (e.g., force/torque-controlled) robot models. In this paper, we introduce a novel provably correct approach to extend the applicability of low-order feedback...
This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compHant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system...
The ACC will offer workshops addressing current and future topics in automatic control from experts in academia, national laboratories, and industry. The workshops at ACC 2017 will take place prior to the conference on Monday, May 22 and Tuesday, May 23, 2017.
This paper addresses the assist-as-needed (AAN) control problem for robotic orthoses. The objective is to design a stable AAN controller with an adjustable assistance level. The controller aims to follow a desired trajectory while allowing an adjustable tracking error with low control effort to provide a freedom zone for the user. By ensuring the stability of the system and providing the freedom zone,...
This paper describes the design and implementation of a repetitive controller (RC) for tracking periodic trajectories in aerial robots, such as unmanned aerial vehicles (UAVs). The RC is ideally suited for situations where the robot is required to execute a defined flight pattern, over and over again in a periodic fashion. Applications include precision agriculture, and search and rescue, where the...
When controlling mechanical systems to sustain oscillatory movements, a resonance, or a natural oscillation, may be exploited to achieve high energy efficiency. Such mechanisms are observed in animal movements, and the idea can be adopted for control of robotic locomotion systems. In this article, we consider the problem of designing a nonlinear adaptive feedback controller for uncertain linear mechanical...
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