|
Parameter Tuning of Active Disturbance Rejection Controller for Altitude Based on Particle Swarm Optimization |
|
Jingxian Liao, Hyochoong Bang(KAIST, Korea) |
| Instead of introducing other method to determine the suitable parameters of PSO algorithm, the main contribution of the research is by analyzing the effects of weight inertia and iteration, which are two main parameters of PSO algorithm, the PSO-based parameter tuning of LADRC process can be more reasonable and time-saving. The simulation results revealed that small inertia weight causes underactive particles initially, that can converge within shorter iteration; while larger inertia weight would cost longer time to locate the optimal point with higher accuracy. |
|
|
Direct Tuning of PID Controller and Reference Model with Input Constraint |
|
Shuichi Yahagi(ISUZU Advanced Engineering Center Ltd., Japan) |
| In this study, we propose a direct tuning method for the PID controller and reference model parameters based on a fictitious reference signal to obtain a fast response under model matching and input constraints without repeating experiments. A simulation was performed to verify the effectiveness of the proposed method. |
|
|
Development of an Automatic Picking System for Assistive Robots using MR |
|
Naoki Miyamura(Kumamoto University, Japan), Nobutomo Matsunaga(kumamoto University, Japan) |
| Mixed Reality (MR) devices attract attention to support picking tasks. Users will give instructions for the robot intuitively by using an HMD with MR. In this paper, an assist robot in which a robot arm automatically sucks the package is proposed by indicating the rough position using HMD. We have developed a system in which the user commands an assist robot to handle packages from a distance location using an HMD and an assist robot picks packages automatically using AR markers. |
|
|
A Model-Free and Chattering-Suppression Approach with Time-Delay Estimation and Fuzzy Logic for Robot Manipulators |
|
Junyoung Lee, Dong-Gwan Shin(Korea Institute of Robotics and Technology Convergence, Korea), Kap-Ho Seo, Maolin Jin(Korea Institute of Robot and Convergence, Korea) |
| This paper provides a practical solution for robot manipulators that include nonlinearities and uncertainties. The proposed controller consists of three parts: the time-delay estimation (TDE) term to generate the estimated value of complex robot dynamics effectively; a Fuzzy inference system (FIS) term to compensate for the discrepancy between the actual model and its estimate; the equivalent control term to assign the equation of motion. Compared with existing TDE-based control approaches, the new contribution lies in the FIS, which improves tracking accuracy and eliminates inappropriate control input chattering by using the sigmoid membership functions and simple rules. |
|
|
Lateral Driving Envelope Protection Using Cascade Control |
|
Denis Efremov(FEE, Czech Republic), Tomáš Haniš, Bohdan Kashel, Yehor Zhyliaiev(Czech Technical University in Prague, Czech Republic) |
| This work proposes a control structure that keeps the lateral vehicle dynamics in predefined stability boundaries and prevents the dominant sliding motion. We intentionally employed a cascade control law design suited for embedded platforms, often with low computational capacity. The proposed control hierarchical architecture is heavily inspired by aerospace domain solution, the flight envelope protection algorithms still used in modern civil aircraft. The vehicle lateral acceleration is selected as the control system reference signal, commanded by a driver. The controller tracks such reference signal while respecting the driving envelope and vehicle operation safety limits. |
| |