model predictive control of a flexible robot

... D DeHaan and M Guay Adaptive robust mpc: A minimally-conservative approach In Proceedings of the American Control Conference, July 2007 D DeHaan and M Guay A real-time framework for model- predictive ... Notational and mathematical preliminaries 2.5 Brief review of optimal control 2.5.1 Variational approach: Euler, Lagrange & Pontryagin 2.5.2 Dynamic programming: Hamilton, Jacobi, & Bellman 2.5.3 ... continuous dynamical system: global exploration of the local minima of a real-valued function by asymptotic analysis of a dissipative dynamical system Communications in Contemporary Mathematics, 2:1–34,

Ngày tải lên: 14/05/2018, 13:24

... Yorihisa Yamamoto, “NXT Ballbot Model- Based Design -Control of selfbalancing robot on a ball built with LEGO Mindstorms NXT”, Apr 2009 [4] Peter Fankhauser and Corsin Gwerder, “Modeling and Control of ... department, ? ?A quick introduction to sliding mode control and its applications” [7] Dianwei Qian, Jianqiang Yi and Dongbin Zao, “Hierachical sliding mode control for a class of SIMO under-actuated ... Mouse-Ball Drive”, Carnegie Mellon University, USA 2006 [2] M Kumagai and T Ochiai, “Development of a robot balancing on a ball”, Control, Automation and System, International Conference, Oct

Ngày tải lên: 04/03/2021, 20:47

... pectoral fins and flexible body/caudal fin," International Journal of Advanced Robotic Systems, vol 15, no 1, p 1729881417749950, 2018 [153] M Ikeda, Y Yamamoto, K Yoshinaka, K Watanabe, and I Nagai, ... added mass and damping For two last fin types, the Lagrange approach was applied to build dynamic equations of motion Moreover, experimental works are carried out to validate and evaluate the ... to imitate the biological fish fin, the shape of snakehead fish was adopted Its mathematical model was established with the assistant of the Rayleigh-Ritz method in deflection modeling Finally,

Ngày tải lên: 08/05/2021, 15:42

... pectoral fins and flexible body/caudal fin," International Journal of Advanced Robotic Systems, vol 15, no 1, p 1729881417749950, 2018 [153] M Ikeda, Y Yamamoto, K Yoshinaka, K Watanabe, and I Nagai, ... added mass and damping For two last fin types, the Lagrange approach was applied to build dynamic equations of motion Moreover, experimental works are carried out to validate and evaluate the ... to imitate the biological fish fin, the shape of snakehead fish was adopted Its mathematical model was established with the assistant of the Rayleigh-Ritz method in deflection modeling Finally,

Ngày tải lên: 16/06/2021, 22:05

... considering a planar snake robot and if lateral constraints are assumed, which is an often-used assumption for a planar snake robot, the existence of a passive joint makes no problem in many cases Because ... gait and hyperredundancy of a rigid-link snake robot IEEE Trans Robot 24(2):348–360 13 512 Ariizumi R, Takahashi R, Tanaka M, Asai T (2019) Head trajectory tracking control of a snake robot and ... down, but can be calculated by a computer algebra system like Mathematica or Maple Because of the assumption of the cart approximation, time-derivative of pT can easily be calculated to give: ṗ

Ngày tải lên: 11/08/2021, 21:20

... have used a number of approaches to model PAM actuators Balasubramanian and Rattan (200 3a) applied the fuzzy model to identify the dynamic characteristics of PAM and later applied the nonlinear ... 199 4a) This is an advantage for robotic and exoskeleton applications in which heavy actuators can add significantly to the payload (Chou and Hannaford, 1994b; Tsagarakis and Darwin, 2000; Caldwell ... www.elsevier.com/locate/engappai Hybrid control of a pneumatic artificial muscle (PAM) robot arm using an inverse NARX fuzzy model Ho Pham Huy Anh b,1, Kyoung Kwan Ahn a, n a b School of Mechanical and Automotive

Ngày tải lên: 16/12/2017, 09:53

... ✭✶✮ • sar ✿ sin ar✱ car ✿ cos ar✳ ❇❛s❡❞ ♦♥ ❊q✳ ✭✶✮ ❛♥❞ ❊q✳ ✭✷✮✱ ✇❡ ♦❜t❛✐♥ t❤❡ ❡q✉❛t✐♦♥ ♦❢ ♣✐♣❡ R2 ❛❢t❡r t✉r♥✐♥❣ ar◦ ❛s ❊q✳ ✭✸✮✿ x22 + (y2 car − z2 sar )2 = R22 , − 21 L2 ≤ y2 sar + z2 car ≤ 12 ... θ3 = arctan2(s3 , c3 ) ✭✹✼✮ θi+1 ✐♥ ❞✉r❛t✐♦♥s tk ❛♥❞ tk+1 r❡s♣❡❝t✐✈❡❧②✱ t❤❡ ❝✉❜✐❝ ♣♦❧②♥♦♠✐❛❧ ♦❢ t❤❡ ❢♦r♠ ♦❢ nth ❥♦✐♥t✿ ❙❡t✿ θi (t) = ai3 t3 + ai2 t2 + ai1 t + ai0 k1 = a3 c3 + a2 , k2 = a3 s3 ... s234 + a4 s1 c234 + a3 s1 c23 + a2 s1 c2 , ✭✸✺✮ pz = −d5 c234 + a4 s234 + a3 s23 + a2 s2 + d1 , ✭✸✻✮ θ234 = arctan2(c1 ax + s1 ay , −az ) ✭✹✷✮ ❆❢t❡r ✇❡ ❤❛✈❡ θ1 ❛♥❞ θ5 ✱ ✇❡ ❝❛❧❝✉❧❛t❡ t❤❡ ✈❛❧✉❡ ♦❢

Ngày tải lên: 10/02/2020, 00:47

... parameter values of a fish robot He then developed a control law that satisfies the Lyapunov function in the heading control of a BAUV [6] J Guo et al also used a combination of Fuzzy logic and ... Robotics & Automation, Seoul, Korea, May 21-26, 20013 [14] M R Rafimanzelat and M J Yazdanpanah A Novel Low Chattering Sliding Mode Controller The 5th Asian Control Conference ASCC, Grand Hyatt ... angle of a fish robot at each sampling time of operation Therefore, in our dynamic analysis approach, we consider the heading angle of the fish robot? ??s head-body part With this method, we can easily

Ngày tải lên: 10/02/2020, 03:31

... Industrial Electronics Magazine, IEEE Transactions on, pp 16 - 31, March 2014 [10] Almaktoof, A. M.; Raji, A. K.; Kahn, M.T.E., Finite-Set Model Predictive Control and DClink Capacitor Voltages Balancing ... that are non-linear and have many constraints, fast responds with changing of the system, sustainable when compared to the classic control uses the proportional - integral controller (PI) and ... - 2015 of the mid-point “O” of dc-link capacitor, making the unbalanced DC-link capacitors [5], [6] The voltage oscillations of the mid-point of dc-link capacitor voltage causes the voltage stress

Ngày tải lên: 12/02/2020, 19:25

... fast change of temperature at surfaces of walls • Solar radiation coming in through a window: We estimate diffuse and direct radiation from sensor data and calculate through a window separately ... rectangular rooms adjacent to each other and each room contains a number of walls and windows The module reads parameters related to thermal characteristics of walls and windows from a number of ... radiation as training data from sensor data files • Thermal simulation module: The module calculates the change of room temperature by calculating conduction heat, solar radiation, radiation heat

Ngày tải lên: 04/02/2021, 02:32

... Corresponding author Abstract: This paper presents a parameter identification of a flexible beam attached to a translating hub A dynamic model of the beam-hub system is obtained by applying the Euler-Bernoulli ... translating beam, where the particle swarm optimization algorithm was employed to obtain modal parameters of the beam Thus far, there has not been a research on parameter identification of a translating ... Qiu, J Han, X Zhang, Y Wang and Z Wu, "Active vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patch actuator," Journal of Sound and Vibration,

Ngày tải lên: 03/03/2021, 20:55

... cases to find an appropriate approach yielding a satisfactory balance between computational complexity, and conservatism of the error calculations For example, the framework of min-max feedback-MPC ... 462 – 471 Tang, Y (1996) Simple robust adaptive control for a class of non-linear systems: an adaptive signal synthesis approach, International Journal of Adaptive Control and Signal Processing ... infinite tail of the cost accumulation using a penalty surface derived from either a local solution of the Dynamic Programming surface, or an appropriate approximation of that surface As such,...

Ngày tải lên: 27/07/2014, 23:44

... Force–feedback interaction with a neural oscillator model: for shared human robot control of a virtual percussion instrument Edgar Berdahl∗ (edgar.berdahl@imag.fr), Claude Cadoz (claude.cadoz@imag.fr) and ... Using a mechanical analog parameterization, we derive a force–feedback model structure that enables a human to share con- trol of a virtual percussion instrument with a “robotic” neural oscillator ... For example, Ajay Kapur has designed a robotic drummer that automatically plays along with real human performers, such as sitar players [4] Similarly, researchers at the Georgia Institute of Technology...

Ngày tải lên: 21/06/2014, 17:20

... for variable x j at time t − in the driving function of variable xi If variable x j is an activator of variable xi , then a ji = 1; if variable x j is an inhibitor of variable x j , then a ji ... with what is observed in nature Axiom (iv) means that the system has a main trajectory, that is, one that is much more probable than the others Axiom (v) means that genes act as a nonlinear gate ... that is, in time intervals Axiom (ii) imposes that all states are reachable, that is, noise may lead the system to any state It is a quite general model that reflects our lack of knowledge about...

Ngày tải lên: 22/06/2014, 19:20

... (1993, May) Structural properties and classification of kinematic and dynamic models of wheeled mobile robots In Proc IEEE International Conference on Robotics and Automation, Atlanta, GA, pp 462–469 ... work of all the individuals stable platform for mobile manipulation there, especially Anthony del Balso, Rich Legrand, We have also described a new approach for a mod- Jim Slater and John Slater ... and Asada 1994) More recently, a velocity controlled, powered caster prototype robot was demonstrated (Wada and Mori 1996) A dynamically-controlled, holonomic mobile robot is particularly desirable...

Ngày tải lên: 26/10/2014, 14:32

... However, most of the approaches make the assumption that state variables are measurable, while only output variables are measurable in practice Thus the application of all above state feedback controllers ... The analysis and control of physical systems are often centered around mathematical models State space model has become the most popular framework under which system theory and various control ... dead time models, such as FOPDT, IPDT and SOPDT, are often adopted as system models for monovariable plants in process industry[85] Practical applications demonstrate that they are simple and accurate...

Ngày tải lên: 09/09/2015, 10:18

... introduced by Sharon and Hogan [2] as a general means of improving a robot s controlled dynamic behavior The Macro manipulator carries the Micro manipulator to the nearby area of a task, where the ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control of Macro and Mini manipulators ... appropriate controller design, offers a possible solution to a wide range of applications that require fast, and precise manipulation over a large workspace [2] There are several advantages offered...

Ngày tải lên: 03/10/2015, 21:56

... introduced by Sharon and Hogan [2] as a general means of improving a robot s controlled dynamic behavior The Macro manipulator carries the Micro manipulator to the nearby area of a task, where the ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control of Macro and Mini manipulators ... appropriate controller design, offers a possible solution to a wide range of applications that require fast, and precise manipulation over a large workspace [2] There are several advantages offered...

Ngày tải lên: 04/10/2015, 07:58

... the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of many actuators, instead of going down to plan the paths of ... learning and (5) divide-and-conquer 2.2.1 Model- based approach In model- based approach, mathematical models derived from laws of physics are used to generate control algorithm Approximations are ... complexity of a humanoid robot, walking stably is a challenging task Even human beings need months to learn how to walk Bipedal walking control has been the focus for many researchers And many approaches...

Ngày tải lên: 04/10/2015, 10:25

... repetitive and hazardous tasks can be dated back to the era of ancient Greek and Egyptian with their automata More recently, Leonardo da Vinci, a talented and famous Italian artist and engineer ... humanoid robot, which is capable of walking stably and performing some basic soccer playing skills such as approaching a ball and kicking it toward a goal, defending a goal, avoiding obstacles ... commercial robots such as ASIMO, Qrio, HOAP, HRP, and H7 However, it is still far away from the final goal that aims at making humanoid robot a companion of human in factory, outdoor, at home...

Ngày tải lên: 04/10/2015, 10:25