Journal articles: 'Automatic tracking. Feedback control systems'

1

Ciccotelli, Joseph, Michel Dufaut, and René Husson. "Control of tracking systems by image correlation." Robotica 5, no. 3 (July 1987): 201–6. http://dx.doi.org/10.1017/s0263574700015848.

Full text

Abstract:

SUMMARYOwing to advances in machine vision, it is now possible to study automatic gripping of moving parts. This complex task requires a precise knowledge of the displacements of objects in a camera field.In this paper, a method to analyse the motion of parts is presented; it is based on the correlation of numerical images. The treatment of data provided by the image background makes this method quite original.The utilization of this method, often considered as rather awkward, makes it possible, in this case, to develop a position feedback operation of the robot actuators controlled in an open loop (step by step motors).

APA, Harvard, Vancouver, ISO, and other styles

2

Kadalla, A. S., I. L. Samaila, and N. Z. Oriolowo. "Optimum Seeking Position Control of Solar Collectors." Advanced Materials Research 62-64 (February 2009): 537–42. http://dx.doi.org/10.4028/www.scientific.net/amr.62-64.537.

Full text

Abstract:

The main hindrance to the widespread of solar systems is the cost of the solar collectors. Researchers all over the world have been exploring different means of overcoming this limitation in order to make solar conversion more cost effective. This paper describes an experimental work on optimum seeking position of solar collectors using feedback control theory. Single axis tracking mode is employed together with sun seek sensor for automatic reset. The performance of the tracking collector compares favorably against a fixed collector.

APA, Harvard, Vancouver, ISO, and other styles

3

Zhang, Jianhua, and Junghui Chen. "Neural PID Control Strategy for Networked Process Control." Mathematical Problems in Engineering 2013 (2013): 1–11. http://dx.doi.org/10.1155/2013/752489.

Full text

Abstract:

A new method with a two-layer hierarchy is presented based on a neural proportional-integral-derivative (PID) iterative learning method over the communication network for the closed-loop automatic tuning of a PID controller. It can enhance the performance of the well-known simple PID feedback control loop in the local field when real networked process control applied to systems with uncertain factors, such as external disturbance or randomly delayed measurements. The proposed PID iterative learning method is implemented by backpropagation neural networks whose weights are updated via minimizing tracking error entropy of closed-loop systems. The convergence in the mean square sense is analysed for closed-loop networked control systems. To demonstrate the potential applications of the proposed strategies, a pressure-tank experiment is provided to show the usefulness and effectiveness of the proposed design method in network process control systems.

APA, Harvard, Vancouver, ISO, and other styles

4

Won, Mooncheol, and J. K. Hedrick. "Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control." Journal of Dynamic Systems, Measurement, and Control 123, no. 1 (March 16, 1998): 1–9. http://dx.doi.org/10.1115/1.1349884.

Full text

Abstract:

This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.

APA, Harvard, Vancouver, ISO, and other styles

5

Böyük, Mustafa, Yakup Eroğlu, Günyaz Ablay, and Kutay İçöz. "Feedback controller designs for an electromagnetic micromanipulator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 6 (September 9, 2019): 759–72. http://dx.doi.org/10.1177/0959651819871783.

Full text

Abstract:

Magnetic micromanipulators are capable of generating wide range of magnetic forces to manipulate magnetic microparticles for biomedical applications. In this study, a multipole magnetic micromanipulator system including electromagnets, driver circuitry and control unit is designed, modeled and implemented. The micromanipulator can produce a broad range of magnetic forces up to 25 pN on a single magnetic microparticle (1–10 µm diameter) that is 5 mm away from the electromagnet core tip. Both linear and nonlinear controllers are designed and implemented, and the proposed nonlinear controller produces smooth control currents to assure closed-loop stability of the system with 1 s non-overshoot transient response and zero steady-state tracking error. The maximum output current of the driver circuitry is set to 1 A. The single particle at the center is moved at a speed of 5 mm/s. The fully automatic system can be utilized in applications related to single cell or microparticle manipulations.

APA, Harvard, Vancouver, ISO, and other styles

6

Yesin, Kemal Berk, and Bradley J. Nelson. "A CAD model based tracking system for visually guided microassembly." Robotica 23, no. 4 (June 14, 2005): 409–18. http://dx.doi.org/10.1017/s0263574704000840.

Full text

Abstract:

We present a visual feedback method for closed loop control of automated microassembly. A CAD model based multi-camera visual tracking system that is well suited for flexible automation and assembly of complex 3D geometries was developed. The system is capable of providing six degree-of-freedom pose feedback on the observed micro-components in real-time (30 Hz). Using CAD models of the observed objects, a complete description of the observed scene, including the effect of occlusions, is available and dependence on distinctive visual features such as fudicial marks is avoided.

APA, Harvard, Vancouver, ISO, and other styles

7

Luaphol, B., J. Polpinij, and M. Kaneampornpan. "Automatic dependent bug reports assembly for bug tracking systems by threshold-based similarity." Indonesian Journal of Electrical Engineering and Computer Science 23, no. 3 (September 1, 2021): 1620. http://dx.doi.org/10.11591/ijeecs.v23.i3.pp1620-1633.

Full text

Abstract:

<p>Bug reports contain essential information for fixing problems that occur in software. Many studies have proposed methods for automatic analysis of bug reports. One such task could affect the completion of software bug fixing, known as “bug dependency”. Although this problem was mentioned by many researches, most of them discussed about the related bugs but not really dealt with dependency issue in bug reports. One possible solution used for addressing this issue is to assemble all relevant/dependent bug reports together before analysis of the next processing stages. This study presents a method of assembling dependent bug reports. The main mechanism is called “threshold-based similarity analysis”, and the three similarity techniques of cosine similarity (CS) multi aspect TF (MATF), and BM25 are compared with feedback, precision and likelihood value. As the BM25 with the threshold as 0.5 gives the best results, it was used to compare with the state of the art method. The results show that our method increases precision and likelihood values by 12% and 12.4% respectively. Therefore, our results can be used to encourage developers to recognize all dependent bugs in the same problem domain.</p>

APA, Harvard, Vancouver, ISO, and other styles

8

Peng, Tao, Xingliang Liu, Rui Fang, Ronghui Zhang, Yanwei Pang, Tao Wang, and Yike Tong. "Lane-change path planning and control method for self-driving articulated trucks." Journal of Intelligent and Connected Vehicles 3, no. 2 (September 7, 2020): 49–66. http://dx.doi.org/10.1108/jicv-10-2019-0013.

Full text

Abstract:

Purpose This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety. Design/methodology/approach The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles. A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads. With different steering and braking maneuvers, minimum safe distances were modeled and calculated. Considering safety and ergonomics, the authors invested multilevel self-driving modes that serve as the basis of decision-making for vehicle lane-change. Furthermore, a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability. Specialized hardware in the loop simulation platform was built to verify the effectiveness of the designed method. Findings The numerical simulation results demonstrated the path-planning model feasibility and controller-combined decision mechanism effectiveness to self-driving trucks. The proposed trajectory model could provide safety lane-change path planning, and the designed controller could ensure good tracking and robust stability for the closed-loop nonlinear system. Originality/value This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles. There are two main contributions: the first is a more quantifiable trajectory model for self-driving articulated vehicles, which provides the opportunity to adapt vehicle and scene changes. The second involves designing a feedback linearization controller, combined with a multi-objective decision-making mode, to improve the comprehensive performance of intelligent vehicles. This study provides a valuable reference to develop advanced driving assistant system and intelligent control systems for self-driving articulated vehicles.

APA, Harvard, Vancouver, ISO, and other styles

9

Katal, Nitish, and Shiv Narayan. "QFT Based Robust Positioning Control of the PMSM Using Automatic Loop Shaping with Teaching Learning Optimization." Modelling and Simulation in Engineering 2016 (2016): 1–18. http://dx.doi.org/10.1155/2016/9837058.

Full text

Abstract:

Automation of the robust control system synthesis for uncertain systems is of great practical interest. In this paper, the loop shaping step for synthesizing quantitative feedback theory (QFT) based controller for a two-phase permanent magnet stepper motor (PMSM) has been automated using teaching learning-based optimization (TLBO) algorithm. The QFT controller design problem has been posed as an optimization problem and TLBO algorithm has been used to minimize the proposed cost function. This facilitates designing low-order fixed-structure controller, eliminates the need of manual loop shaping step on the Nichols charts, and prevents the overdesign of the controller. A performance comparison of the designed controller has been made with the classical PID tuning method of Ziegler-Nichols and QFT controller tuned using other optimization algorithms. The simulation results show that the designed QFT controller using TLBO offers robust stability, disturbance rejection, and proper reference tracking over a range of PMSM’s parametric uncertainties as compared to the classical design techniques.

APA, Harvard, Vancouver, ISO, and other styles

10

Peng, Huei, and Masayoshi Tomizuka. "Preview Control for Vehicle Lateral Guidance in Highway Automation." Journal of Dynamic Systems, Measurement, and Control 115, no. 4 (December 1, 1993): 679–86. http://dx.doi.org/10.1115/1.2899196.

Full text

Abstract:

The continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway. In the lateral guidance problem, the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously. A preview control algorithm is obtained by minimizing a quadratic performance index which includes terms representing the passenger ride quality as well as the lateral tracking error, each of these terms is multiplied by a frequency dependent weight. This design method is known as a frequency shaped linear quadratic (FSLQ) optimal control approach. It permits incorporating frequency domain design specifications such as high frequency robustness and ride quality in the optimal controller design. It is shown that the optimal preview control law consists of a feedback control term and two feedforward control terms. The feedback term is exactly the same as that of traditional LQ control algorithm. The feedforward preview control action significantly improves the tracking performance and ride quality. Frequency-domain analyses, as well as numerical simulation results, show the improvements achieved by using the preview control algorithm in both the frequency and time domains.

APA, Harvard, Vancouver, ISO, and other styles

11

Vortnikov, V. V., I. V. Zimchuk, and R. V. Netrebko. "ALGORITHM FOR DIGITAL CONTROL OF THE ANTENNA OF THE GROUND CONTROL POINT OF THE UNMANNED AVIATION COMPLEX." Проблеми створення, випробування, застосування та експлуатації складних інформаційних систем, no. 17 (December 30, 2019): 144–51. http://dx.doi.org/10.46972/2076-1546.2019.17.13.

Full text

Abstract:

Every year, unmanned aircraft systems are increasingly used in both the civilian and military spheres. Stable communication with an unmanned aerial vehicle is provided by high-precision pointing of the antenna of the ground control point. In the automatic tracking mode of an unmanned aerial vehicle, the antenna guidance is carried out by the automatic tracking system in the direction. It is shown that the main requirement that is put forward in the direction of the auto tracking system is high dynamic accuracy under conditions of disturbances and noises of various kinds. The traditional directional tracking system is not able to provide high precision antenna pointing. It is proposed to improve the quality of the tracking system in both transient and steady-state operating modes by supplementing the existing analog system with a digital correction subsystem. That is why the work is devoted to the synthesis of the digital control algorithm for the electric drive of the antenna of the ground receiving and transmitting station of an unmanned aircraft complex. The digital control algorithm is synthesized as a result of solving difference equations determined by the discrete transfer function of the digital controller. In practice, preference is given to simple controls, the dimension of which is less than the dimension of the object. A simplification of the controller structure was achieved by using a reduced model of the antenna control system in the synthesis process. The reduction is implemented by a method that is based on the proximity of the transition characteristics of mathematical models of initial and reduced control objects covered by a single negative feedback. To assess the degree of proximity, indirect indicators of the quality of the transition process are used. The direct synthesis of the controller is performed by a method that is based on the theory of invariance and provides for the compensation of zeros and poles of the transfer function of the control object. A distinctive feature of the method used is the ability to take into account the stability requirements and the given dynamic accuracy of the control system at the stage of synthesis of the digital controller. The simulation results confirming the efficiency and effectiveness of the synthesized control algorithm are presented.

APA, Harvard, Vancouver, ISO, and other styles

12

Yen, Jia-Yush, Kurt Hallamasek, and Roberto Horowitz. "Track-Following Controller Design for a Compound Disk Drive Actuator." Journal of Dynamic Systems, Measurement, and Control 112, no. 3 (September 1, 1990): 391–402. http://dx.doi.org/10.1115/1.2896156.

Full text

Abstract:

The use of compound actuators in both magnetic and optical disk files has become a means of achieving increased servo actuator bandwidths. A compound actuator, comprised of a fine actuator mounted “piggyback” on a coarse actuator, positions the read/write transducers above a radial track. This paper describes a design methodology for a discrete-time feedback control system for a compound actuator in which the dynamic interaction between the actuator stages is directly considered. The performance of the servosystem, including the range and bandwith limitations of each actuator, is specified in terms of the desired frequency response of the closed-loop transfer functions from the reference track position to the tracking error and to the relative position between the coarse and the fine actuator. Parameter uncertainties and structural resonances are quantified using singular value techniques to form a robustness criterion which sets limits on the attainable tracking performance. Compensator design techniques using linear-quadratic Gaussian optimal control combined with loop transfer recovery are described. The state feedback portion of the compensator is calculated using an automatic procedure, while the state estimator is calculated by solving an associated Kalman filtering problem with colored fictitious noise. The noise is colored to shape the frequency spectrum of the input energy to each actuator, the relative motion between the stages, and the position of the transducer.

APA, Harvard, Vancouver, ISO, and other styles

13

Lin, Chi Ying, and Yu Sheng Zeng. "Visual Servoing of Automatic Alignment System Using Model Predictive Control." Key Engineering Materials 625 (August 2014): 627–32. http://dx.doi.org/10.4028/www.scientific.net/kem.625.627.

Full text

Abstract:

Over the past few decades, vision based alignment has been accepted as an important technique to achieve higher economic benefits for precision manufacturing and measurement applications. Also referred to as visual servoing, this technique basically applies the vision feedback information and drives the moving parts to the desired target location using some appropriate control laws. Although recently rapid development of advanced image processing algorithms and hardware have made this alignment process an easier task, some fundamental issues including inevitable system constraints and singularities, still remain as a challenging research topic for further investigation. This paper aims to develop a visual servoing method for automatic alignment system using model predictive control (MPC). The reason for using this optimal control for visual servoing design is because of its capability of handling constraints such as motor and image constraints in precision alignment systems. In particular, a microassembly system for peg and hole alignment application is adopted to illustrate the design process. The goal is to perform visual tracking of two image feature points based on a XYθ motor-stage system. From the viewpoint of MPC, this is an optimization problem that minimizes feature errors under given constraints. Therefore, a dynamic model consisting of camera parameters and motion stage dynamics is first derived to build the prediction model and set up the cost function. At each sample step the control command is obtained by solving a quadratic programming optimization problem. Finally, simulation results with comparison to a conventional image based visual servoing method demonstrate the effectiveness and potential use of this method.

APA, Harvard, Vancouver, ISO, and other styles

14

Keymasi Khalaji, Ali, and Rasoul Zahedifar. "Lyapunov-Based Formation Control of Underwater Robots." Robotica 38, no. 6 (August 15, 2019): 1105–22. http://dx.doi.org/10.1017/s0263574719001279.

Full text

Abstract:

SUMMARYToday, automatic diving robots are used for research, inspection, and maintenance, extensively. Control of autonomous underwater robots (AUVs) is challenging due to their nonlinear dynamics, uncertain models, and the system underactuation. Data collection using underwater robots is increasing within the oceanographic research community. Also, the ability to navigate and cooperate in a group of robots has many advantages compared with individual navigations. Among them, the effectiveness of using resources, the possibility of robots’ collaboration, increasing reliability, and robustness to defects can be pointed out. In this paper, the formation control of underwater robots has been studied. First, the kinematic model of the AUV is presented. Next, a novel Lyapunov-based tracking control algorithm is investigated for the leader robot. Subsequently, a control law is designed using Lyapunov theory and feedback linearization techniques to navigate a group of follower robots in a desired formation associated with the leader and follow it simultaneously. In the obtained results for different reference paths and various formations, the effectiveness of the proposed algorithm is represented.

APA, Harvard, Vancouver, ISO, and other styles

15

Li, Fengling, Zhixiang Hou, and Juan Chen. "A self-learning propotional–integral–derivative control of grouting pressure using the back-propagation model." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 8 (May 19, 2018): 1090–99. http://dx.doi.org/10.1177/0959651818774485.

Full text

Abstract:

For the security of grouting process of dam foundation, grouting pressure control is one of the most important problems. In order to avoid dangerous grouting pressure fluctuation and improve the control precision, a feedback propotional–integral–derivative control method was presented for the whole grouting system. Because the grouting pressure is affected by many factors such as grouting flow, grouts density, and geological conditions, the parameters of propotional–integral–derivative must be tuned. In this article, the adaptive tuning method is presented. The back-propagation artificial neural networks model was proposed to simulate the grouting control process, and sensitivity analysis algorithm based on orthogonal test method was adopted for the selection of input variables. To obtain the optimal propotional–integral–derivative parameters, an iteration algorithm was used in each sampling interval time and the discrete Lyapunov function of the tracking error. The simulation results showed that self-learning propotional–integral–derivative tuning was robust and effective for the realization of the automatic control device in the grouting process.

APA, Harvard, Vancouver, ISO, and other styles

16

Zhogoleva, Nadiya, and Volodymyr Shcherbak. "Synchronization of oscillations for coupled Van der Pol oscillators by output." Proceedings of the Institute of Applied Mathematics and Mechanics NAS of Ukraine 32 (December 28, 2018): 56–66. http://dx.doi.org/10.37069/1683-4720-2018-32-7.

Full text

Abstract:

A number of automatic control tasks, in particular, the synchronization of trajectories, the tracking task, control by a reference system are associated with the synthesis of control algorithms for dynamic cascade systems, which are a set of interconnected active subsystems. In this paper, the oscillation synchronization problem is considered for two Van der Pol coupled oscillators. It is assumed that the driven subsystem depends on the external control action, in addition, the phase vector is not fully known. On the first step the solution of the problem of synchronization in the form of state feedback is written. The aim of the work is to find the synchronizing control in the form of feedback on the state estimation. Such a formulation is relevant, since for many practical applications of control theory, a typical situation is when the complete state vector of the system is unknown and only some of the functions of the state variables - the outputs of the system are accessible to measurement. One can try to use the control law obtained from feedback by replacing the state with its estimate obtained by observer - a special dynamical system whose state eventually approaches (asymptotically or exponentially) to the state of the original system. In this case a question arises whether such control will be solving the synchronization problem. In mathematical control theory, in particular for the stabilization problem of dynamical systems, similar questions constitute the content of the known principle of separation. For the observation problem solving the apparatus of the method of synthesis of auxiliary invariant relations for constructing a nonlinear observer was used. In accordance with this approach a nonlinear observer is constructed for the system under consideration, which ensures the exponential estimates of the phase vector. It is further shown that the use in the control law instead of the state of the system of its evaluation under simultaneously solving the problems of observation and synchronization leads to the local solution of the problem under consideration.

APA, Harvard, Vancouver, ISO, and other styles

17

Eschmann, Hannes, Henrik Ebel, and Peter Eberhard. "Trajectory tracking of an omnidirectional mobile robot using Gaussian process regression." at - Automatisierungstechnik 69, no. 8 (August 1, 2021): 656–66. http://dx.doi.org/10.1515/auto-2021-0019.

Full text

Abstract:

Abstract Mobile robots are enjoying increasing popularity in a number of different automation tasks. Omnidirectional mobile robots especially allow for a very flexible operation. They are able to accelerate in every direction, regardless of their orientation. In this context, we developed our own robot platform for research on said types of robots. It turns out that these mobile robots show interesting behaviour, which commonly used models for omnidirectional mobile robots fail to reproduce. As the exact sources and structures of mismatches are still unknown, non-parametric Gaussian process regression is used to develop a data-based model extension of the robot. A common control task for industrial applications is trajectory tracking, where a robot needs to follow a predefined path, for example in a warehouse, as close as possible in space and time. Appropriate feed-forward solutions for the data-based model are developed and finally leveraged in closed-loop control via nonlinear model predictive control. In real-world experiments, the results are compared to commonly used proportional position-based feedback. This novel contribution builds upon the preliminary work in [7] but, for the first time, includes also closed-loop (trajectory) tracking.

APA, Harvard, Vancouver, ISO, and other styles

18

Wang, Huaping, Kailun Bai, Juan Cui, Qing Shi, Tao Sun, Qiang Huang, Paolo Dario, and Toshio Fukuda. "Three-Dimensional Autofocusing Visual Feedback for Automated Rare Cells Sorting in Fluorescence Microscopy." Micromachines 10, no. 9 (August 27, 2019): 567. http://dx.doi.org/10.3390/mi10090567.

Full text

Abstract:

Sorting rare cells from heterogeneous mixtures makes a significant contribution to biological research and medical treatment. However, the performances of traditional methods are limited due to the time-consuming preparation, poor purity, and recovery rate. In this paper, we proposed a cell screening method based on the automated microrobotic aspirate-and-place strategy under fluorescence microscopy. A fast autofocusing visual feedback (FAVF) method is introduced for precise and real-time three-dimensional (3D) location. In the context of this method, the scalable correlation coefficient (SCC) matching is presented for planar locating cells with regions of interest (ROI) created for autofocusing. When the overlap occurs, target cells are separated by a segmentation algorithm. To meet the shallow depth of field (DOF) limitation of the microscope, the improved multiple depth from defocus (MDFD) algorithm is used for depth detection, taking 850 ms a time with an accuracy rate of 96.79%. The neighborhood search based algorithm is applied for the tracking of the micropipette. Finally, experiments of screening NIH/3T3 (mouse embryonic fibroblast) cells verifies the feasibility and validity of this method with an average speed of 5 cells/min, 95% purity, and 80% recovery rate. Moreover, such versatile functions as cell counting and injection, for example, could be achieved by this expandable system.

APA, Harvard, Vancouver, ISO, and other styles

19

Zhang, Y. M., and R. Kovacevic. "Real-Time Sensing of Sag Geometry During GTA Welding." Journal of Manufacturing Science and Engineering 119, no. 2 (May 1, 1997): 151–60. http://dx.doi.org/10.1115/1.2831090.

Full text

Abstract:

Seam tracking and weld penetration control are two fundamental issues in automated welding. Although the seam tracking technique has matured, the latter still remains a unique unsolved problem. It was found that the full penetration status during GTA welding can be determined with sufficient accuracy using the sag depression. To achieve a new full penetration sensing technique, a structured-light 3D vision system is developed to extract the sag geometry behind the pool. The laser stripe, which is the intersection of the structured-light and weldment, is thinned and then used to acquire the sag geometry. To reduce possible control delay, a small distance is selected between the pool rear and laser stripe. An adaptive dynamic search for rapid thinning of the stripe and the maximum principle of slope difference for unbiased recognition of sag border were proposed to develop an effective real-time image processing algorithm for sag geometry acquisition. Experiments have shown that the proposed sensor and image algorithm can provide reliable feedback information of sag geometry for the full penetration control system.

APA, Harvard, Vancouver, ISO, and other styles

20

Gordon, T. J., M. C. Best, and P. J. Dixon. "An automated driver based on convergent vector fields." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 216, no. 4 (April 1, 2002): 329–47. http://dx.doi.org/10.1243/0954407021529156.

Full text

Abstract:

This paper describes a new general framework for the action of an automated driver (or driver model) to provide the control of longitudinal and lateral dynamics of a road vehicle. The context of the problem is assumed to be in high-speed competitive driving, as in motor racing, where the requirement is for maximum possible speed along a track, making use of a reference path (racing line) but with the capacity for obstacle avoidance and recovery from large excursions. While not necessarily representative of a human driver, the analysis provides worthwhile insight into the nature of the driving task and offers a new approach for vehicle lateral and longitudinal control; it also has applications in less demanding applications such as Advanced Cruise Control systems. As is common in the literature, the driving task is broken down into two distinct subtasks: path planning and local feedback control. In the first of these tasks, an essentially geometric approach is taken here, which makes use of a vector field analysis. At each location x the automated driver is to prescribe a vector w for the desired vehicle mass centre velocity; the spatial distribution and global properties of w( x) provide essential information for stability analysis, as well as control reference. The resulting vector field is considered in the context of limited friction and limited mass centre accelerations, leading to constraints on ∇ w. Provided such constraints are satisfied, and using suitable adaptation of w( x) when required, it is shown that feedback control can be applied to guarantee stable asymptotic tracking of a reference path, even under limit handling conditions. A specific implementation of the method is included, using dual non-linear SISO (single-input single-output) controllers.

APA, Harvard, Vancouver, ISO, and other styles

21

Huang, Jianfeng, Jianlong Zhang, and Chengliang Yin. "Comparative study of motor speed synchronization control for an integrated motor–transmission powertrain system." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 4 (July 13, 2019): 1137–52. http://dx.doi.org/10.1177/0954407019862894.

Full text

Abstract:

This paper compares several kinds of methods for motor speed synchronization control, which plays an important role in gear shifting of emerging clutchless automated manual transmissions for battery electric vehicles and other powertrain systems for hybrid electric vehicles. Specifically, four controllers, namely, proportional-integral control, disturbance observer–based proportional control, integral sliding mode–based proportional control, and disturbance observer–based act-and-wait control, are compared in transient responses regarding settling time, overshoot, and steady-state error. Each is formulated by combining one nominal controller for speed tracking and another for disturbance compensation. For disturbance observer–based proportional control, model-based determination of the feedback gain and disturbance observer gain is discussed. Simulations and experiments are carried out to study effects of different controller parameter settings and evaluate performances of different methods under different operation conditions with disturbances and uncertainties like plant parameter drift, communication time delay, unknown load torques, and so on. Based on the results, it is advised that disturbance observer–based proportional control with the reference signal set as the nominal speed trajectory be used in practice, since it comes with merits of few controller parameters to be determined as well as robust, consistent, and satisfactory performances.

APA, Harvard, Vancouver, ISO, and other styles

22

Majeed, Tanveer, Mohd Atif Wahid, and Faizan Ali. "Applications of Robotics in Welding." International Journal of Emerging Research in Management and Technology 7, no. 3 (June 6, 2018): 30. http://dx.doi.org/10.23956/ijermt.v7i3.9.

Full text

Abstract:

An Industrial robot is reprogrammable, automatically controlled, multifunctional manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications. Technical innovations in robotic welding has facilitated manual welding processes in sever working conditions with enormous heat and fumes to be replaced with robotic welding. The robotic welding has greater capability to control robot motion, welding parameters and enhanced wrong detection and wrong correction. Major difficulties in robotic welding are joint edge inspection, weld penetration control, seam tracking of joints, and width or profile measurement of a joint. These problems can be more easily solved by use of sensory feedback signals from weld joint. Robotic welding system has intelligent and effective control system that can track the joint, monitor the joint in process and accounts for variation in joint location. Sensors play an important role in robotic welding systems with adaptive and intelligent control system features that can track the joint, account for variation in joint location and geometry monitor in-process quality of the weld. In this paper various aspects of robotic welding, robot programming, and problems associated with robot welding are undertaken.

APA, Harvard, Vancouver, ISO, and other styles

23

Nelson, Bradley J., and Hyung Suck Cho. "Introduction." Robotica 23, no. 4 (June 14, 2005): 399. http://dx.doi.org/10.1017/s0263574704000815.

Full text

Abstract:

This special issue on Micro/Nano Robotic Perception, Control and Manipulation describes several complementary research efforts from Asia, the United States, and Europe. The topic is timely and the work published in this special issue shows how traditional robotics research is contributing to the emerging micro and nano technologies that are already beginning to demonstrate a strong impact on our society. At milli to microscales, three research efforts in inspection and microassembly are presented. From the University of Minnesota, a force controlled microgripper for photonics microassembly applications is presented. Another important aspect of microassembly is the tracking and alignment of microparts using vision feedback. Work by Dr. Yesin at the Swiss Federal Institute of Technology-Zurich (ETHZ) is directed towards using CAD model-based full 3DOF tracking for closed-loop control of automated microassembly. Moving towards submicron and nano scales, work from the University of Oldenburg in Germany in developing a novel platform for nanohandling using mobile microrobots has given rise to interesting concepts in how systems that perform future nanomanipulation tasks may be configured. A paper co-authored by researchers at the University of California-Berkeley and Carnegie Mellon University considers the use of optical tweezers integrated with chemical linkages for manufacturing 2D and 3D structures at micro and nanoscales. A microbial separation system at the University of Nagoya uses a novel touch sensor and a micropipette, and demonstrates the interesting research problems that exist in the rapidly emerging field of BioMicroRobotics. It is clear that micro/nano robotics research efforts, like those presented in this special issue, represent a key component of robotics studies, and illustrate one direction where robotics must head in order to ensure that the field of robotics remains relevant to science, engineering and society as a whole.

APA, Harvard, Vancouver, ISO, and other styles

24

Abayazid, Momen, Pedro Moreira, Navid Shahriari, Anastasios Zompas, and Sarthak Misra. "Three-Dimensional Needle Steering Using Automated Breast Volume Scanner (ABVS)." Journal of Medical Robotics Research 01, no. 01 (March 2016): 1640005. http://dx.doi.org/10.1142/s2424905x16400055.

Full text

Abstract:

Robot-assisted and ultrasound-guided needle insertion systems assist in achieving high targeting accuracy for different applications. In this paper, we introduce the use of Automated Breast Volume Scanner (ABVS) for scanning different soft tissue phantoms. The ABVS is a commercial ultrasound transducer used for clinical breast scanning. A preoperative scan is performed for three-dimensional (3D) target localization and shape reconstruction. The ultrasound transducer is also adapted to be used for tracking the needle tip during steering toward the localized targets. The system uses the tracked needle tip position as a feedback to the needle control algorithm. The bevel-tipped flexible needle is steered under ABVS guidance toward a target while avoiding an obstacle embedded in soft tissue phantom. We present experimental results for 3D reconstruction of different convex and non-convex objects with different sizes. Mean Absolute Distance (MAD) and Dice’s coefficient methods are used to evaluate the 3D shape reconstruction algorithm. The results show that the mean MAD values are 0.30[Formula: see text][Formula: see text]0.13[Formula: see text]mm and 0.34[Formula: see text][Formula: see text]0.17[Formula: see text]mm for convex and non-convex shapes, respectively, while mean Dice values are 0.87[Formula: see text]0.06 (convex) and 0.85[Formula: see text]0.06 (non-convex). Three experimental cases are performed to validate the steering system. Mean targeting errors of 0.54[Formula: see text][Formula: see text]0.24, 1.50[Formula: see text][Formula: see text]0.82 and 1.82[Formula: see text][Formula: see text]0.40[Formula: see text]mm are obtained for steering in gelatin phantom, biological tissue and a human breast phantom, respectively. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3[Formula: see text]mm radius that can be detected using clinical ultrasound imaging systems.

APA, Harvard, Vancouver, ISO, and other styles

25

Jangid, Hitesh, Subham Jain, Beteley Teka, Rekha Raja, and Ashish Dutta. "Kinematics-based end-effector path control of a mobile manipulator system on an uneven terrain using a two-stage Support Vector Machine." Robotica 38, no. 8 (November 22, 2019): 1415–33. http://dx.doi.org/10.1017/s0263574719001541.

Full text

Abstract:

SUMMARYA mobile manipulator system (MMS) consists of a robotic arm mounted on a mobile platform that is used in rescue and relief, space exploration, warehouse automation, etc. As the total system has 14 Degrees of Freedom (DOF), it does not have a closed-form inverse kinematics (IK) solution. A learning-based method is proposed, which uses the forward kinematics data to learn the IK relation for motion of an MMS on a rough terrain, using a one-class support vector machine (SVM) framework. Once trained, the model estimates the joint probability distribution of the MMS configuration and end-effector position. This distribution is used to find the MMS configuration for a given desired end-effector path. Past research using a Kohonen Self organizing map (KSOM) neural network-based open-loop control method has shown that the MMS deviates from its desired path while moving on an uneven terrain due to unknown disturbances such as wheel slip, slide, and terrain deformation. Therefore, a new sequential two-stage SVM-based end-effector path-tracking control scheme is proposed to control the end-effector path. In this scheme, the error in the end-effector path is continuously tracked with the help of a Microsoft Kinect 2.0 (Microsoft Regional Sales, Singapore 119968) and is sent as a feedback to the controller. Once the error reaches a threshold value, the error correction step of the controller gets activated to correct the error until the desired accuracy is reached. The effectiveness of the proposed approach is proved through extensive simulations and experiments conducted on 3D terrain in which it is shown that the end effector can follow the desired path with an average experimental error of around 2 cm between the desired and final corrected path.

APA, Harvard, Vancouver, ISO, and other styles

26

Dawson, Jeremy, Anna Rigby-Brown, Lee Adams, Richard Baker, Julia Fernando, Amanda Forrest, Anna Kirkwood, et al. "Developing and evaluating a tool to measure general practice productivity: a multimethod study." Health Services and Delivery Research 7, no. 13 (March 2019): 1–184. http://dx.doi.org/10.3310/hsdr07130.

Full text

Abstract:

Background Systems for measuring the performance of general practices are extremely limited. Objectives The aim was to develop, pilot test and evaluate a measure of productivity that can be applied across all typical general practices in England, and that may result in improvements in practice, thereby leading to better patient outcomes. Methods Stage 1 – the approach used was based on the Productivity Measurement and Enhancement System (ProMES). Through 16 workshops with 80 general practice staff and 72 patient representatives, the objectives of general practices were identified, as were indicators that could measure these objectives and systems to convert the indicators into an effectiveness score and a productivity index. This was followed by a consensus exercise involving a face-to-face meeting with 16 stakeholders and an online survey with 27 respondents. An online version of the tool [termed the General Practice Effectiveness Tool (GPET)] and detailed guidance were created. Stage 2 – 51 practices were trained to use the GPET for up to 6 months, entering data on each indicator monthly and getting automated feedback on changes in effectiveness over time. The feasibility and acceptability of the GPET were examined via 38 telephone interviews with practice representatives, an online survey of practice managers and two focus groups with patient representatives. Results The workshops resulted in 11 objectives across four performance areas: (1) clinical care, (2) practice management, (3) patient focus and (4) external focus. These were measured by 52 indicators, gathered from clinical information systems, practice records, checklists, a short patient questionnaire and a short staff questionnaire. The consensus exercise suggested that this model was appropriate, but that the tool would be of more benefit in tracking productivity within practices than in performance management. Thirty-eight out of 51 practices provided monthly data, but only 28 practices did so for the full period. Limited time and personnel changes made participation difficult for some. Over the pilot period, practice effectiveness increased significantly. Perceptions of the GPET were varied. Usefulness was given an average rating of 4.5 out of 10.0. Ease of use was more positive, scoring 5.6 out of 10.0. Five indicators were highlighted as problematic to gather, and 27% of practices had difficulties entering data. Feedback from interviews suggested difficulties using the online system and finding time to make use of feedback. Most practices could not provide sufficient monthly financial data to calculate a conventional productivity index. Limitations It was not possible to create a measure that provides comparability between all practices, and most practices could not provide sufficient financial data to create a productivity index, leaving an effectiveness measure instead. Having a relatively small number of practices, with no control group, limited this study, and there was a limited timescale for the testing and evaluation. Implications The GPET has demonstrated some viability as a tool to aid practice improvement. The model devised could serve as a basis for measuring effectiveness in general practice more widely. Future work Some additional research is needed to refine the GPET. Enhanced testing with a control sample would evaluate whether or not it is the use of the GPET that leads to improved performance. Funding The National Institute for Health Research Health Services and Delivery Research programme.

APA, Harvard, Vancouver, ISO, and other styles

27

Kim, Sung Hyun. "H∞Output-Feedback Tracking Control for Networked Control Systems." Mathematical Problems in Engineering 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/724389.

Full text

Abstract:

This paper investigates the observer-basedH∞tracking problem of networked output-feedback control systems with consideration of data transmission delays, data-packet dropouts, and sampling effects. Different from other approaches, this paper offers a single-step procedure to handle nonconvex terms that appear in the process of designing observer-based output-feedback control, and then establishes a set of linear matrix inequality conditions for the solvability of the tracking problem. Finally, two numerical examples are given to illustrate the effectiveness of our result.

APA, Harvard, Vancouver, ISO, and other styles

28

Xue, Shibei, Michael R. Hush, and Ian R. Petersen. "Feedback Tracking Control of Non-Markovian Quantum Systems." IEEE Transactions on Control Systems Technology 25, no. 5 (September 2017): 1552–63. http://dx.doi.org/10.1109/tcst.2016.2614834.

Full text

APA, Harvard, Vancouver, ISO, and other styles

29

Li, Li, and Xiao Yu. "Robust preview control for polytopic nonlinear control systems." Transactions of the Institute of Measurement and Control 43, no. 10 (February 26, 2021): 2159–68. http://dx.doi.org/10.1177/0142331221992171.

Full text

Abstract:

In this paper, the preview tracking control problem for Lipschitz nonlinear system, where future reference signals over a finite horizon can be previewed. First, an augmented error system including previewed information is constructed, which transforms a preview tracking control problem into a regulation problem. Furthermore, sufficient conditions on polytopic nonlinear systems, which guarantee the corresponding closed-loop system to be asymptotically stable, are derived by employing parameter-dependent Lyapunov function. A linear matrix inequality approach for designing preview controllers in state feedback and output feedback settings is presented. Finally, two numerical examples are provided to demonstrate the effectiveness of the proposed approach.

APA, Harvard, Vancouver, ISO, and other styles

30

Wu, Shang-Teh. "Two-Stage Tracking Control Via Output Feedback." Asian Journal of Control 4, no. 3 (October 22, 2008): 311–20. http://dx.doi.org/10.1111/j.1934-6093.2002.tb00358.x.

Full text

APA, Harvard, Vancouver, ISO, and other styles

31

Bu, Ni, and Mingcong Deng. "Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems." Journal of Robotics and Mechatronics 28, no. 6 (December 20, 2016): 837–41. http://dx.doi.org/10.20965/jrm.2016.p0837.

Full text

Abstract:

[abstFig src='/00280006/07.jpg' width='300' text='The asymptotic tracking performance and the passivity property' ] The tracking control problem for the uncertain nonlinear feedback systems is considered in this paper by using passivity-based robust right coprime factorization method. Concerned with the passivity for the nonlinear feedback system, two stable controllers are designed such that the nonlinear feedback system is robust stable and the plant output asymptotically tracks to the reference output. A numerical example is given to show the validity of the control scheme as well as the tracking performance.

APA, Harvard, Vancouver, ISO, and other styles

32

Stamnes, Øyvind Nistad, Ole Morten Aamo, and Glenn-Ole Kaasa. "Global Output Feedback Tracking Control of Euler-Lagrange Systems." IFAC Proceedings Volumes 44, no. 1 (January 2011): 215–20. http://dx.doi.org/10.3182/20110828-6-it-1002.00678.

Full text

APA, Harvard, Vancouver, ISO, and other styles

33

BAKHTIAR, T. "OPTIMAL TRACKING AND REGULATION ACCURACY OF FEEDBACK CONTROL SYSTEMS." Journal of Mathematics and Its Applications 4, no. 1 (July 1, 2005): 41. http://dx.doi.org/10.29244/jmap.4.1.41-50.

Full text

Abstract:

This paper deals with intrinsic performance limits achievable by feedback control. We give analytical expressions of the optimal tracking and regulation problems for linear shift- invariant single-input and multiple-output (SIMO) discrete-time systems. For the former, we modify the existing results by means of the delta operator and show that the continuous-time counter- part results can be properly recovered from this point. For the latter, we derive a discrete-time result ﬁrst and show the conver- gence property.

APA, Harvard, Vancouver, ISO, and other styles

34

Hui HU, and Peng GUO. "Output Feedback Neural Network Adaptive Tracking Control for Pure- Feedback Nonlinear Systems." International Journal of Advancements in Computing Technology 4, no. 18 (October 31, 2012): 655–63. http://dx.doi.org/10.4156/ijact.vol4.issue18.78.

Full text

APA, Harvard, Vancouver, ISO, and other styles

35

Lam, H. K., and Hongyi Li. "Output-Feedback Tracking Control for Polynomial Fuzzy-Model-Based Control Systems." IEEE Transactions on Industrial Electronics 60, no. 12 (December 2013): 5830–40. http://dx.doi.org/10.1109/tie.2012.2229679.

Full text

APA, Harvard, Vancouver, ISO, and other styles

36

Huang, Yu-Mei, and Jing Lei. "Predictive Feedback Linearization Tracking Control for WMR Systems with Control Delay." Integrated Ferroelectrics 217, no. 1 (June 13, 2021): 279–88. http://dx.doi.org/10.1080/10584587.2021.1911329.

Full text

APA, Harvard, Vancouver, ISO, and other styles

37

Cui, Sheng Min, Chao Zhang, Jian Feng Wang, and Kun Zhang. "Research on Path Tracking Control for Vision Based Intelligent Vehicle." Applied Mechanics and Materials 63-64 (June 2011): 305–8. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.305.

Full text

Abstract:

This paper proposes an optimal control method to achieve the path tracking mission for the vision based intelligent vehicle. After the access of road trajectory, path tracking task is achieved by the intelligent vehicle automatic steering devices. The angle deviation and lateral deviation relative to the target path can be controlled in the smaller range by state feedback optimal control. A car model contained road information is established for the achievement of intelligent vehicle path tracking and automatic steering. Some values of the variables needed for the control system are obtained by sensors mounted on the car, and achieve the path tracking by the optimal state feedback controller. The algorithm proposed has been validated by simulations. It can make the lateral deviation within the expected range stability. And also the lateral acceleration meets the ride comfort requirements.

APA, Harvard, Vancouver, ISO, and other styles

38

Tang, Choon Yik, and Eduardo A. Misawa. "Discrete Variable Structure Control for Linear Multivariable Systems." Journal of Dynamic Systems, Measurement, and Control 122, no. 4 (April 29, 1998): 783–92. http://dx.doi.org/10.1115/1.1318944.

Full text

Abstract:

This paper presents a state feedback discrete variable structure controller for robust tracking of linear multivariable systems with unmatched, additive uncertainties. Extension of the controller to output feedback using a prediction observer with bias estimation is also given. It is shown that the state feedback controller guarantees attractiveness and invariance of a boundary layer, while the output feedback controller does so after a transient. Unlike existing schemes, the controllers utilize a single sliding hyperplane regardless of the number of inputs. This attribute enables the development of a procedure that admits, under minor restrictions, direct application of well-established linear control strategies in the design of tracking error dynamics. A numerical example is used to illustrate the proposed controllers. [S0022-0434(00)01904-3]

APA, Harvard, Vancouver, ISO, and other styles

39

Bartolini, G., and T. Zolezzi. "Discontinuous feedback in nonlinear tracking problems." Dynamics and Control 6, no. 4 (October 1996): 323–32. http://dx.doi.org/10.1007/bf02169811.

Full text

APA, Harvard, Vancouver, ISO, and other styles

40

Chang, Yi, Yuanqing Wang, Fuad E. Alsaadi, and Guangdeng Zong. "Adaptive fuzzy output‐feedback tracking control for switched stochastic pure‐feedback nonlinear systems." International Journal of Adaptive Control and Signal Processing 33, no. 10 (September 16, 2019): 1567–82. http://dx.doi.org/10.1002/acs.3052.

Full text

APA, Harvard, Vancouver, ISO, and other styles

41

Zhang, Jin-Xi, and Guang-Hong Yang. "Low-Complexity Tracking Control of Strict-Feedback Systems With Unknown Control Directions." IEEE Transactions on Automatic Control 64, no. 12 (December 2019): 5175–82. http://dx.doi.org/10.1109/tac.2019.2910738.

Full text

APA, Harvard, Vancouver, ISO, and other styles

42

Zhang, Hui, and Junmin Wang. "Combined feedback–feedforward tracking control for networked control systems with probabilistic delays." Journal of the Franklin Institute 351, no. 6 (June 2014): 3477–89. http://dx.doi.org/10.1016/j.jfranklin.2014.02.012.

Full text

APA, Harvard, Vancouver, ISO, and other styles

43

Georgiou, Anastasis, Simos A. Evangelou, Imad M. Jaimoukha, and Geoff Downton. "Tracking Control for Directional Drilling Systems Using Robust Feedback Model Predictive Control." IFAC-PapersOnLine 53, no. 2 (2020): 11974–81. http://dx.doi.org/10.1016/j.ifacol.2020.12.723.

Full text

APA, Harvard, Vancouver, ISO, and other styles

44

Levi, I., N. Berman, and A. Ailon. "Nonlinear Adaptive H∞ Output Feedback Tracking Control for Robotic Systems." IFAC Proceedings Volumes 41, no. 2 (2008): 11696–701. http://dx.doi.org/10.3182/20080706-5-kr-1001.01982.

Full text

APA, Harvard, Vancouver, ISO, and other styles

45

Huang, Jeng-Tze, and Ming-Lei Tseng. "Global Robust Adaptive Neural Tracking Control of Strict-Feedback Systems." International Journal of Computer Science and Artificial Intelligence 3, no. 2 (June 7, 2013): 59–69. http://dx.doi.org/10.5963/ijcsai03002004.

Full text

APA, Harvard, Vancouver, ISO, and other styles

46

Byun, Jijoon, Nam H. Jo, Hyungbo Shim, and Jin H. Seo. "Robust Tracking Control of Nonlinear Systems with Pure Feedback Uncertainties." IFAC Proceedings Volumes 31, no. 18 (July 1998): 345–50. http://dx.doi.org/10.1016/s1474-6670(17)42016-7.

Full text

APA, Harvard, Vancouver, ISO, and other styles

47

Oh, Seungrohk, and Hassan K. Khalil. "Output Feedback Tracking for Nonlinear Systems Using Variable Structure Control *." IFAC Proceedings Volumes 28, no. 14 (June 1995): 583–88. http://dx.doi.org/10.1016/s1474-6670(17)46891-1.

Full text

APA, Harvard, Vancouver, ISO, and other styles

48

Caccavale, F., and L. Villani. "Output feedback tracking control for a class of mechanical systems." IFAC Proceedings Volumes 32, no. 2 (July 1999): 731–36. http://dx.doi.org/10.1016/s1474-6670(17)56124-8.

Full text

APA, Harvard, Vancouver, ISO, and other styles

49

Jeng-Tze Huang. "Global Tracking Control of Strict-Feedback Systems Using Neural Networks." IEEE Transactions on Neural Networks and Learning Systems 23, no. 11 (November 2012): 1714–25. http://dx.doi.org/10.1109/tnnls.2012.2213305.

Full text

APA, Harvard, Vancouver, ISO, and other styles

50

Lian, K. Y., and J. J. Liou. "Output Tracking Control for Fuzzy Systems Via Output Feedback Design." IEEE Transactions on Fuzzy Systems 14, no. 5 (October 2006): 628–39. http://dx.doi.org/10.1109/tfuzz.2006.876725.

Full text

APA, Harvard, Vancouver, ISO, and other styles

Journal articles on the topic 'Automatic tracking. Feedback control systems'

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles