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Über dieses Buch

Featuring selected contributions from the 2nd International Conference on Mechatronics and Robotics Engineering, held in Nice, France, February 18–19, 2016, this book introduces recent advances and state-of-the-art technologies in the field of advanced intelligent manufacturing.

This systematic and carefully detailed collection provides a valuable reference source for mechanical engineering researchers who want to learn about the latest developments in advanced manufacturing and automation, readers from industry seeking potential solutions for their own applications, and those involved in the robotics and mechatronics industry.

Inhaltsverzeichnis

Frontmatter

Design and Manufacturing of the Robot

Frontmatter

Critical Review and Progress of Adaptive Controller Design for Robot Arms

Recent progress of adaptive control, particularly the model reference adaptive control (MRAC) for robotic arm is illustrated. The model reference adaptive controller design issues that researchers face nowadays are discussed, and its recent methodologies are summarized. This paper provides a guideline for future research in the direction of model reference adaptive control for robotic arms.

Dan Zhang, Bin Wei

Stiffness Analysis of a Planar 3-RPS Parallel Manipulator

This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM.

Bo Hu, Chunxiao Song, Bo Li

Overview of an Engineering Teaching Module on Robotics Safety

Robots are widely used in industry. They can perform unsafe, hazardous, highly repetitive and unpleasant tasks for humans. Safety is a very high priority in engineering and engineering education. In this paper, an overview is provided of engineering teaching module on robotic safety developed by the authors. The module covers types of robots, types and sources of robotics hazards, robot safety requirements, robot safeguards and robot safety standards. The importance of safety is highlighted throughout, especially for practical industrial applications. Some new emerging engineering trends and features safety are discussed.

Dan Zhang, Bin Wei, Marc Rosen

Mobile Robot Applied to QR Landmark Localization Based on the Keystone Effect

This paper proposes a method for the localization of QR (Quick Respond) landmark based on the Keystone Effect (KE) for real-time positioning applications. This is an important aspect, whose solution is still necessary for improving performance in autonomous landmark-based navigation tasks. The paper presents an experimental analysis of the localization of QR landmark and discuss the results which minimize the keystone distortion related to the precision of estimating the landmark’s position in a given environment. Through the experiment, the use of proposed algorithm in performing landmark-based robotics action tasks by a Seekur Jr mobile robot is demonstrated.

Vibekananda Dutta

A Collective Behaviour Framework for Multi-agent Systems

This paper addresses a novel framework that employs a decentralized strategy for collective behaviours of multi-agent systems. The framework proposes a new aggregation behaviour that focusses on letting agents on the swarm agree on attending a group and allocating a leader for each group. As the leader starts moving towards a specific goal in a particularly cluttered environment, other members are enabled to move while keeping themselves coordinated with the leader and the centre of gravity of the group.

Mehmet Serdar Güzel, Hakan Kayakökü

Kinematic Performance Analysis of a Hybrid-Driven Waist Rehabilitation Robot

A hybrid-driven waist rehabilitation robot (HWRR) is designed for human waist training. According to the analysis of human body structure, the structure of the rehabilitation robot that employs the double parallel mechanism is presented. The cable-driven parallel mechanism is chosen to drive the human lower limb, and pneumatic artificial muscle (PAM) is chosen to twist the human waist. Based on the synthesis of the two types of actuators, the adaptability and safety of the HWRR are enhanced. The inverse kinematics and statics are analyzed, and the Jacobian matrix is established to analyze the rehabilitation robotic features. In addition, on the basis of the Jacobian matrix and the statics equilibrium equation, the kinematic performances of the HWRR in terms of workspace, dexterity and stiffness are calculated and analyzed.

Bin Zi, Guangcai Yin, Yuan Li, Dan Zhang

Admittance Filter Parameter Adjustment of a Robot-Assisted Rehabilitation System (RehabRoby)

The goal of this study is to develop an adaptive adjustment system for robot-assisted rehabilitation system (RehabRoby) so that subjects can control the robot in an easy manner to complete a given rehabilitation task. A system that determines the proper admittance parameters for each subject has been integrated into RehabRoby. A survey is used to verify that executing the rehabilitation tasks under proper admittance parameters reduces the stress level of subjects, improves the controllability of the robot, and improves engagement of the subjects.

Fatih Ozkul, Duygun Erol Barkana, Engin Maşazade

Continuum Robot Surfaces: Smart Saddles and Seats

We introduce a novel form of human-robot interaction, based on an emerging new form of robot. Specifically, we analyze and discuss the ability of continuum surface robots to support the human posterior, adapting their shape to the changing needs of the human. We illustrate the concept via several examples, focusing on the application of horse riding, in which adaptive robot saddles could increase rider comfort, versatility, and safety.

Ian D. Walker

Structural Parameter Identification of a Small Robotic Underwater Vehicle

This paper deals with estimating structural parameters of robotic underwater vehicle (submarine) that cannot be easily measured and determined analytically. The robotic submarine was designed for visual inspection and ultrasonic testing of submerged technologies such as tanks with slowly flowing liquid. The identification procedure contains two strategies which are able to find the structural, especially hydrodynamic parameters of a given model. These parameters are then used for stability and motion control design. The validation of gained model parameters was verified in software Simulink/SimMechanics, where the outputs of the model were compared with vehicle prototype responses.

Martin Langmajer, Lukáš Bláha

Using Online Modelled Spatial Constraints for Pose Estimation in an Industrial Setting

We introduce a vision system that is able to on-line learn spatial constraints to improve pose estimation in terms of correct recognition as well as computational speed. By making use of a simulated industrial robot system performing various pick and place tasks, we show the effect of model building when making use of visual knowledge in terms of visually extracted pose hypotheses as well as action knowledge in terms of pose hypotheses verified by action execution. We show that the use of action knowledge significantly improves the pose estimation process.

Kenneth Korsgaard Meyer, Adam Wolniakowski, Frederik Hagelskjær, Lilita Kiforenko, Anders Glent Buch, Norbert Krüger, Jimmy Jørgensen, Leon Bodenhagen

Comparison Study of Industrial Robots for High-Speed Machining

The paper presents methodology for comparison of industrial robots used for high-speed machining. Particular attention is paid to the robot accuracy in milling operation and evaluation robot capacity to perform the task with desired precision. In contrast to other works, the robot performance is evaluated using an industrial standard that is based on the distortion of the circular shape. The developed approach is applied to four industrial robots of KUKA family, which have been compared with respect to the machining precision.

Alexandr Klimchik, Alexandre Ambiehl, Sebastien Garnier, Benoit Furet, Anatol Pashkevich

Adaptive Robust Control and Fuzzy-Based Optimization for Flexible Serial Robot

An adaptive robust control design for flexible joint serial robot is considered. The system contains uncertainty which is assumed to lie in fuzzy set. Since the overall system does not meet the matching condition, a virtual control is implanted and the system is transformed into fuzzy dynamical system. Then an adaptive robust controller can be designed to guarantee the uniform boundedness and uniform ultimate boundedness of the transformed system. No other knowledge of uncertainty is required other than the existence of its bound. The control is deterministic and is not IF-THEN heuristic rules-based. The optimization of control parameters is also considered by solving two quartic equations. The extreme minimum value of the equation is proven to be the optimal solution.

Fangfang Dong, Jiang Han, Lian Xia

Wired Autonomous Vacuum Cleaner

In this study, with the help of sensors and encoders, the modification of an existing vacuum cleaner into an autonomous robot is explained. The autonomous motion method proposed in this study is tested with a simulation program in MATLAB as well as on an existing vacuum cleaner. In an environment with unknown obstacle numbers, size, position and orientation, the distance to the robot is measured with the sensors and motion direction and the distance traveled is measured with the encoders. Inside the wire dispensing mechanism, another encoder is used to measure the maximum allowed distance to travel. The robot keeps the motion information on a digital map and completes the cleaning job autonomously.

Emin Faruk Kececi, Fatih Kendir

Human Safety Index Based on Impact Severity and Human Behavior Estimation

With the increasing physical proximity of Human–Robot Interaction (HRI), ensuring that robots do not harm surrounding humans has become crucial. We propose to quantitatively evaluate human safety by modeling the human behavior so that it maximizes the potential injuries in a given situation. The potential injuries are rated using the impact severity of a collision. Therefore, we estimate the human motion that maximizes the impact severity, which is calculated considering a collision between the estimated state of the human and a future state of the robot given a control input. Through simulation experiments using two test cases and three HRI scenarios, we demonstrate that our method keeps human safety while achieving a competitive performance.

Gustavo Alfonso Garcia Ricardez, Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara

Swarm Robots’ Communication and Cooperation in Motion Planning

This paper focuses on swarm communication and how swarm robot individuals communicate with each other. By imitating swarms in nature, we can develop many features for swarm robots depending on the working environment, size of the robot, the number of individuals and the available budget. We researched on the development of our low budget swarm robot project’s communication solution using HM-10 Bluetooth modules. In addition, we also studied about several basic tasks in swarm robotics: synchronize information, calculate individuals’ position in the workspace, path planning and cooperate to solve many complicated tasks. To demonstrate swarm robot’s main tasks-space, we decided to use a group of two RP6 robots. Although they are completed built robots and cannot be minimized in the size or simplified in the structure, they still have various free ports and connections so that we can attach extensions or sensors to solve some basic swarm robotics problems.

Khiem N. Doan, An T. Le, Than D. Le, Nauth Peter

Indoor Localization for Swarm Robotics with Communication Metrics Without Initial Position Information

Swarm robotics is an emerging research field with many scientific and commercial application areas. Swarm robotic systems are composed of simple robots cooperatively accomplishing the given task. The cooperation and the organization of the robots require the location information of the robots; so that each robot will be able to achieve the task it is responsible. The main of this work is an indoor positioning for swarm robotic applications using standard metrics for Bluetooth or Wi Fi communication infrastructures. The main work includes fusion of several position estimation methods by setting a proper weight to each method; this paper presents the work on estimating the location by using TDoA and RSSI parameters.

Türker Türkoral, Özgür Tamer, Suat Yetiş, Levent Çetin

Multi-objective Optimization of a Parallel Fine-tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines

A new 6-DOF serial/parallel hybrid segment assembly robot that includes a 3-DOF redundant parallel orientation fine-tuning manipulator is developed. Redundancy can, in general, improve the ability and performance of parallel manipulators by implementing the redundant degree of freedom to optimize the objective function. A multi-objective optimization model of the proposed manipulator is likewise established with consideration of kinematic and dynamic dexterity, load-bearing capacity, stiffness, and actuating force equilibrium. To accomplish optimization, a new multi-objective optimization method is proposed using the application Isight, which integrates various engineering softwares. Results indicate that this method can automatically accomplish the calculation of the kinematic and dynamic performance index, modeling, and solving using Isight. Thus, decision makers can select the proper optimal solution based on the obtained Pareto plot and Pareto frontier. Finally, optimizing its design variables considerably improves the performance of the proposed parallel manipulator.

Guohua Cui, Haidong Zhou, Yanwei Zhang, Haibin Zhou

An Imitation Framework for Social Robots Based on Visual Input, Motion Sensation, and Instruction

In this paper a new framework with three classes of inputs, including “motion sensation”, “visual”, and “instruction” inputs is introduced. This framework provides a fluent platform for a safe Human Robot Interaction (HRI) thanks to imitation which can be used widely in social robotics. The proposed framework benefits from the ability of mutual communication between robot and the demonstrator which facilitates the interaction and cause in removing all ambiguities in complex, new, or unknown tasks. This framework considers both levels of imitation and can be trained with different teaching methods based on the inputs. For low-level imitation, OFTM is used which is a fast and accurate method for learning trajectories. For the high-level imitation, Kragic’s method is employed which enables the robot to infer based on seen sequences of actions. Moreover, feeding the framework by an instruction which is provided by demonstrator guides the robot to figure out how it can combine learnt actions in different imitation levels. It means that this framework enables the robot to combine different actions and concepts in both levels of imitation. To clarify how this framework can be used, a scenario of cooking is introduced and the role of all involved blocks is described in each section of learning and execution. This framework is implemented on a 6DoF robotic arm for experiments.

Mohsen Falahi, Faraz Shamshirdar, Mohammad Hosein Heydari, Taher Abbas Shangari

Mechanical Engineering and Power System

Frontmatter

New Reactionless Spatial Grasper Design and Analysis

A new reactionless spatial grasper is proposed and designed based on the principal vector linkage. In the literature, few dynamic balanced spatial grasp mechanisms can be found and here a new reactionless spatial grasper is designed. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point, and through symmetrical structure design of the four fingers, it is moment balanced. The advantages of the proposed reactionless grasper mechanism and the design process are discussed and the principal dimensions are derived.

Dan Zhang, Bin Wei

Tracking and Vibration Control of a Carbon Nanotube Reinforced Composite Robotic Arm

This research deals with a study of tracking and vibration control of a functionally graded carbon nanotube reinforced composite robotic arm which crosses pre-specified path. The Euler-Bernoulli beam theory and Lagrange-Rayleigh-Ritz technique are employed to derive the governing equations of CNTRC robotic arm. The robotic arm is subjected to a follower force; also, in order to control the vibration, the piezoelectric layers have been used beside the active control system. The robotic arm is simulated and the results show the effectiveness of the controller algorithm.

Mohammad Azadi, Behzad Hasanshahi

Synthesis and Analysis of Pneumatic Muscle Driven Parallel Platforms Imitating Human Shoulder

The shoulder joint typically refers to the glenohumeral joint, which is surrounded by the rotator cuff muscles. The muscles and joints allow the shoulder to move through a remarkable range of motion, making it one of the most mobile joints in the human body. In this paper, three pneumatic muscle driven parallel platforms are synthesized for imitating the human shoulder. A hybrid tension-stiffness index is carried out and utilized for dimensions optimization of the mechanisms. Based on the index, the kinematic characteristics of the three mechanisms are investigated and compared to one another. Overall, the mechanism III has the maximum wrench-closure workspace, as well as the best tension-stiffness factor among the wrench-closure workspace.

Xingwei Zhao, Bin Zi, Haitao Liu

Conceptual Design of Energy Efficient Lower Extremity Exoskeleton for Human Motion Enhancement and Medical Assistance

The paper describes conceptual design and control strategies for a new fully autonomous lower limb exoskeleton system. The main advantage of the system is its ability to decouple the weight/mass carrying function of the system from its forward motion function to reduce power consumption, weight and size of the propulsion motors. An efficient human machine interface has been achieved by means two sets of sensors: one (flexible sensors) to monitor subject leg’s shank and ankle movements and the second to monitor subject’s foot pressure. The weight is supported by a couple of passive pneumatic cylinders with electronically controlled ports. Joint motors of the exoskeleton then are only left to timely drive links of the exoskeleton when the legs take step. Therefore, motors consume less electrical energy and are small in size. In contrast to other existing exoskeleton designs, the motor batteries are able to sustain the energy supply for a longer travel distance before discharging.

Nazim Mir-Nasiri

A New Algorithm for Analyzing Method of Electrical Faults of Three-Phase Induction Motors Using Duty Ratios of Half-Period Frequencies According to Phase Angle Changes

A stator fault of induction motor occurs due to the breakdown of insulation, meaning the stator is directly connected with the power supply, and the direct connection is a direct cause of a major accident. For this reason, many studies are being performed to detect the faults. As for the existing studies on stator fault detection, they are being performed considering the possibility of stator fault only, excluding the possibility of rotor fault. It is necessary to identify and detect whether a stator (or rotor) fault is the cause of the electrical fault. This paper suggested a new algorithm that identifies the causes of stator faults with the use of the change in the duty ratio of the half-period frequency of the frequency when a phase angle change occurs at that moment. Also, by applying the algorithm to the fault of the rotor, it was also possible to grasp their fault state and to identify accurately whether a stator (or rotor) fault is the cause of an electrical fault.

YoungJin Go, Myoung-Hyun Song, Jun-Young Kim, Wangrim Choi, Buhm Lee, Kyoung-Min Kim

Mathematical Foundations and Software Simulation of Stress-Strain State of the Plate Container Ship

The article is devoted to construction of mathematical models for analysis of stress-strain state of the ship’s plate. The model is based on the theory of plates pocket on the basis of mathematical models created a complex software, which together allow us to speak about building a handy tool both for research and for practical use, which allows to quickly calculate and evaluate the fatigue-stress state of the ship’s deck. As a practical example taken container for which it was solve stress-strain state of its hatches, taking into account load containers on deck.

Anatoliy Nyrkov, Sergei Sokolov, Valery Maltsev, Sergei Chernyi

Kalman Filtering for Precise Mass Flow Estimation on a Conveyor Belt Weigh System

Conveyor belt weigh systems are widely used worldwide in industry for mass flow estimation. This paper investigates the application of Kalman filtering for tachometer response correction and thus accurate flowrate measurement. The tachometer is a sensor with a pulse-train output with a frequency proportional to the conveyor belt rpm. Under harsh conditions, as are generally found in the industry, the pulse-width of the tachometer output is susceptible to noise, thus corrupting the conveyor belt’s speed measurement. Thus, a Kalman filter has been employed for accurate estimation of the conveyor belt speed, and thus, the mass-flow estimate. To facilitate this investigation, the belt conveyor system (plant) and the Kalman filter were initially modeled and simulated in MATLAB Simulink. This was followed by development of the Kalman filter based mass flow estimator on a Zynq-7000 based Digilent Zedboard, and interfacing it with a Speedgoat Realtime Target Machine (RTM) on which the plant model ran in real-time. The results are presented at the end, demonstrating the effectiveness of the proposed estimation technique implemented on actual hardware.

Tauseef Rehman, Waleed Tahir, Wansoo Lim

Automation and Control Engineering

Frontmatter

Stiffness Analysis and Optimization for a Bio-inspired 3-DOF Hybrid Manipulator

This paper mainly studies the maximum stiffness, minimum stiffness and global stiffness of a three-degree-of-freedom 4UPS-PU hybrid mechanism that can be used as the head section of a biologically inspired groundhog-like rescue robot. First of all, the kinematic and Jacobian matrix of the hybrid mechanism are derived; secondly, the maximum and minimum stiffness distribution trend of the 4UPS-PU manipulator are investigated and analyzed; and finally the global stiffness and its optimization are studied.

Dan Zhang, Bin Wei

Robust Gust Rejection on a Micro-air Vehicle Using Bio-inspired Sensing

Growing demand for robust, low-computation sensing and control of micro-air vehicles motivates development of new technology. A MEMS wind flow sensor was previously developed at the University of Maryland, drawing inspiration from setae structures seen in biology. In this work this sensor is integrated onto a quadrotor platform and utilized for sensing a gust perturbation. Suitable signal processing methods were used to isolate the gust-related perturbation from other ambient fluctuations affecting the sensor. The problem of gust rejection is then formulated using standard tools from robust control theory and a controller is obtained using μ–synthesis. Theoretical analysis of the μ controller’s performance improvement is carried out with simulations. A robustly stable controller was implemented on a quadrotor micro-air vehicle to improve lateral state regulation in the presence of a lateral gust stream. Flight testing revealed attenuation of the lateral velocity and perturbation from the projected path.

William A. Dean, Badri N. Ranganathan, Ivan Penskiy, Sarah Bergbreiter, J. Sean Humbert

Development of Guidance, Navigation and Control System Using FPGA Technology for an UAV Tricopter

This paper presents the development of a Guidance, Navigation and Control (GNC) system for a rotorcraft unmanned aerial vehicle (UAV). The airframe and its associated mathematical model are explained. The vehicle electronics system is based on a FPGA development board with its peripherals. The GNC routines were coded using hardware description language VHDL with 32 bits floating point arithmetic and CORDIC algorithms. An Inertial Navigation System (INS) complemented by GPS, implemented by an Extended Kalman Filter is included. A hybrid approach using PID and Fuzzy controllers is proposed for GNC system design. System identification and calibration was done using a test stand that includes a gimbal mechanism where the vehicle is fixed and a LabVIEW application for control parameters tuning and data visualization purposes. Results derived from flights tests using the proposed system support our approach for FPGA based GNC system for the UAV tricopter.

Arturo Cadena, Ronald Ponguillo, Daniel Ochoa

Fault Recoverability Analysis via Cross-Gramian

Engineering systems are vulnerable to different kinds of faults. Faults may compromise safety, cause sub-optimal operation and decline in performance if not preventing the whole system from functioning. Fault tolerant control (FTC) methods ensure that the system performance maintains within an acceptable level at the occurrence of the faults. These techniques cannot be successful if the necessary redundancy does not exist in the system. Fault recoverability which is also known as control reconfigurability is a mathematical measure which quantifies the level of redundancy in connection with feedback control. Fault recoverability provides important and useful information which could be used in analysis and design. However, computing fault recoverability is numerically expensive. In this paper, a new approach for computation of fault recoverability for bilinear systems is proposed. This approach uses cross-gramian and reduces the computations significantly. The contribution of this paper is twofold. Firstly the concept of cross-gramian is extended to support discrete-time bilinear systems and an iterative algorithm for cross-gramian computation is proposed. Secondly a cross-gramian based approach for computation of fault recoverability is proposed which reduces the computational burden significantly. The proposed results are used for an electro-hydraulic drive to reveal the redundant actuating capabilities in the system.

Hamid Reza Shaker

Implementation of RFID-Based Car Ignition System (CIS) in Kazakhstan

Car Ignition System (CIS) based on Radio frequency identification technology (RFID) will allow complete ignition access via RFID card, controlling the start system of the car and securing cars from autostealings. The proposed system is based on UHF RFID readers, Arduino microcontrollers, and identification cards containing RFID-transponders that are able to electronically store data that can be read/written even without the physical contact with the help of radio medium. This system is an innovative system, which describes the benefits of applying RFID-technology in the car security process. This paper presents the experiments conducted to set up RFID based CIS in Kazakhstan.

Nurbek Saparkhojayev, Askar Kurymbayev, Azret Akhmetov

Design and Development of a Self-adaptive, Reconfigurable and Low-Cost Robotic Arm

This study presents the design, development and control of a low-cost, self-adaptive robotic arm with the advantages of being modular and reconfigurable to perform a variety of tasks in different applications such as education, medicine and assistance for daily living activities. Particularly for educational purposes, the robot arms can be differently assembled to fulfill various tasks and its mechanical and control scenarios can be studied in the courses.

Kemal Oltun Evliyaoğlu, Meltem Elitaş

Workplace Emotion Monitoring—An Emotion-Oriented System Hidden Behind a Receptionist Robot

Systems capable of recognizing and analyzing humans emotions can play an important role in many domains, especially for commercial or productivity purposes. Emotion-oriented systems are widely used in commercial area, but there is still a lack of them being applied as automatic tool in companies. One challenge is to highlight the impact these systems might have on employee satisfaction due to privacy issues and the sense of being monitored. In this work we propose a workplace emotion monitoring system capable of recognizing workers emotions, quantifying them and to provide data for productivity analysis. The system is able to capture the average office humor without using individual and private information. To validate the solution, the system was set up at a R&D Center during 10 workdays. The system was able to capture the emotions providing data for worker’s productivity and job satisfaction analysis.

Paulo Gurgel Pinheiro, Josue J. G. Ramos, Vander L. Donizete, Pedro Picanço, Gustavo H. De Oliveira

Optimum Control for the Vehicle Semi-active Suspension System

This paper presents a novel approach in optimization of semi-active suspension system based on ride comfort and road handling characteristics. Semi-active suspension is capable of providing both ride comfort and road handling of the vehicle by optimization of various parameters. The model used for study is quarter car semi-active model. The entire analysis part of the paper has been carried out using Heat Transfer Search and Teaching-Learning based optimization algorithm. It also throws some light on comparison of semi-active and passive suspension based on their performance on similar road conditions by plotting graph of linear acceleration of sprung mass with respect to time.

Ayush Garg, Akshay Arvind, Bhargav Gadhvi

Depth Control of AUV Using a Buoyancy Control Device

A new method for depth control was developed for a spilled oil and blow out gas tracking autonomous buoy robot called SOTAB-I by adjusting its buoyancy control device. It is aimed to work for any target depth. The new method relies on buoyancy variation model with depth that was established based on experimental data. The depth controller was verified at sea experiments in Toyama bay in Japan and showed good performance. The method could further be adapted to altitude control by combining the altitude data measured from bottom tracking through a progressive depth control. The method was verified by a simulating program and showed that the algorithm succeeded to bring the robot to the target altitude.

Mahdi Choyekh, Naomi Kato, Yasuaki Yamaguchi, Ryan Dewantara, Hidetaka Senga, Hajime Chiba, Muneo Yoshie, Toshinari Tanaka, Eiichi Kobayashi

DOB Tracking Control for Systems with Input Saturation and Exogenous Disturbances via T-S Disturbance Modelling

In this paper, the anti-disturbance dynamical tracking problem is investigated for a class of systems subject to input saturation and unknown disturbances under the framework of disturbance-observer-based-control (DOBC). In order to expand the application scope of exogenous disturbances, T-S fuzzy models are employed to describe those complex nonlinear disturbances, and the corresponding disturbance observer is also well designed. The PI-type composite controller with the estimates of disturbance is designed to ensure the system stability and the convergence of tracking error to zero. Meanwhile, an estimation of domain of attraction can also be described by the level set of the Lyapunov function. Finally, a simulation example for flight control systems with nonlinear disturbances is given to verify the effectiveness of the proposed schemes.

Xiangxiang Fan, Yang Yi, Yangfei Ye

Application of H-Infinity Output-Feedback Control with Analysis of Weight Functions and LMI to Nonlinear Nuclear Reactor Cores

This research is to deal with the nonlinear control issue for power regulations of the pressurized water reactor core in nuclear power plants. Based on modeling a nonlinear pressurized water reactor core using the lumped parameter method, its linearized model is achieved through the small perturbation linearization way. The H output-feedback control with analysis of weight functions and linear matrix inequalities solving method is used to contrive a robust controller of the linearized core model. Besides, general laws of selecting weight functions in H control are summarized. The solved H output-feedback controller is applied to the nonlinear core model. The nonlinear core model and the H controller construct the nonlinear core power H control system. Eventually, the nonlinear core power H control system is simulated, and simulation results show that the nonlinear control system is effective.

Gang Li, Bin Liang, Xueqian Wang, Xiu Li, Bo Xia
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