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Input shaper design using impulse-time perturbation method |
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Chang-Wan Ha(KIMM, Republic of Korea), Keun-Ho Rew(Hoseo University, Republic of Korea), Kyung-Soo Kim(KAIST, Republic of Korea) |
| In this paper, symmetric perturbation-based extra-insensitive input shaper(SPEI-IS) is newly proposed based on the impulse-time perturbation method. The proposed input shaper is devised by multiplying two input shapers in Laplace domain, of which the impulse-times are slightly perturbed from the ZV shaper, which results in a hump in its sensitivity curve. Different from the PEI-IS introduced by the same author, the SPEI-IS has symmetric notch points to enhance the robustness especially in low frequency range. For its usability, an explicit solution will be presented using Taylor approximation. |
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Posture Control Strategy of a Platform using a RP Manipulator |
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M. M. Gor, P. M. Pathak(Indian Institute of Technology Roorkee, India), A. K. Samantaray(Indian Institute of Technology Kharagpur, India), J.- M. Yang(Kyungpook National University, Republic of Korea), S. W. Kwak(Keimyung University, Republic of Korea) |
| This paper is an attempt to develop a posture control strategy for quadruped robot. Here, a concept of posture control is proposed, in which, a revolute and prismatic (RP) manipulator with payload at the end is used to control the body orientation. For the said analysis necessary model is developed in the bond graph and efficacy of the proposed strategies is validated through simulation results of the developed model. |
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Impedance Controlled Twisted String Actuators for Tensegrity Robots |
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In-Won Park, Vytas SunSpiral(NASA Ames Research Center, United States) |
| We are developing impedance controlled twisted string actuators (TSA) for use in tensegrity robots, as an alternative to traditional spooled cable actuation. The inherent variable compliance of impedance control is essential for tensegrity robots to move through and manipulate the environment, and is a natural match to the unique qualities of TSA. This paper briefly introduces the tensegrity robots in the NASA Ames Intelligent Robotics Group and an overview of their future application to space planetary exploration. Then the effectiveness and robustness of TSA are verified. |
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A Novel PID Controller Gain Tuning Method for a Quadrotor Landing on a Ship Deck using the Invariant Ellipsoid Technique |
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Chun Kiat Tan, Jianliang Wang(Nanyang Technological University, Singapore) |
| The control of a quadrotor is often achieved by PID controller due to its simplicity. Many methods are available to tune the gain with different objectives. However, few techniques are able to obtain an optimal controller gain for a system under persistent bounded disturbance. The invariant ellipsoid method is developed to formulate an optimization problem to obtain an optimal controller gain. This is applied to a ship deck landing of a quadrotor. Numerical simulation is performed to demonstrate the ability of the computed gain to reject disturbance as opposed to gain obtained by other method. |
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Wheel Angular Velocity Stabilization using Rough Encoder Data |
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Margarita V. Sotnikova, Evgeny I. Veremey, Natalia A. Zhabko(Saint-Petersburg State University, Russian Federation) |
| The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation of the algorithms for a particular differential drive robot are presented using Matlab and Arduino environment. |
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Consensus of Networked Multi-Agent Systems With Communication Delay Compensation |
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Xieyan Zhang, Jing Zhang(Hunan University, China) |
| This paper discusses the consensus problem of networked multi-agent systems subjected to communication delays. Different from the robust control design, the accessible delay information among agents are exploited to compensate the delay effect on consensus. Two delay compensation schemes are proposed to improve the convergence of consensus and delay-dependent sufficient conditions in terms of linear matrix inequality are obtained to verify the consensus. Finally, numerical simulations are provided to demonstrate the effectiveness of theoretical results. |
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