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Industrial Electronics, IEEE Transactions on

Issue 10 • Date Oct. 2009

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Displaying Results 1 - 25 of 64
  • Table of contents

    Publication Year: 2009 , Page(s): C1 - 3786
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    Freely Available from IEEE
  • IEEE Transactions on Industrial Electronics publication information

    Publication Year: 2009 , Page(s): C2
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    Freely Available from IEEE
  • Guest Editorial

    Publication Year: 2009 , Page(s): 3787 - 3789
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    Freely Available from IEEE
  • Deadbeat Feedforward Compensation With Frequency Shaping in Fast and Precise Positioning

    Publication Year: 2009 , Page(s): 3790 - 3797
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (536 KB) |  | HTML iconHTML  

    This paper presents a novel deadbeat feedforward compensation technique for fast and precise positioning control in mechatronic systems. The proposed compensation provides the desired frequency shaping in control input to suppress the residual vibration, under the constraint of a specified step number in position reference. A 2-DOF positioning controller with the deadbeat feedforward compensation can ensure the required settling performance with the specified steps regardless of the positioning amplitude in reference. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype of a galvano scanner. View full abstract»

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  • Design and Performance Tuning of Sliding-Mode Controller for High-Speed and High-Accuracy Positioning Systems in Disturbance Observer Framework

    Publication Year: 2009 , Page(s): 3798 - 3809
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2412 KB) |  | HTML iconHTML  

    The tuning method of controllers can be used for effectively determining the overall performance of positioning systems. In particular, this method is highly effective in the case of high-speed and high-accuracy positioning systems. In this paper, a sliding-mode controller that uses one of the well-known approaches of robust control methodology is designed for high-speed positioning systems that require a high-accuracy performance. A performance-tuning method based on a disturbance observer (DOB) structure is also proposed. First, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced, and a sliding-mode controller based on a Lyapunov redesign is analyzed in the RIC framework. Then, the DOB properties of the sliding-mode controller are presented, and it is shown that the performance of the closed-loop system with a sliding-mode controller can be tuned up by using the structural characteristics of the DOB. These results make the design of an enhanced sliding-mode controller possible. Finally, the proposed algorithm is experimentally verified and discussed with two positioning systems. Experimental results show the effectiveness and the robustness of the proposed scheme. View full abstract»

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  • High Precision Motion Control of Servo Drives

    Publication Year: 2009 , Page(s): 3810 - 3816
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (602 KB) |  | HTML iconHTML  

    In this paper, we investigate the advantages and feasibility of motor control using very fast (in megahertz) switching in place of traditional amplifiers. We also propose integrated motion-control architecture based on discrete-event control approach to be implemented in digital logic at an equally high rate. A switching controller combines the current and motion feedback paths into a single loop. A model-based observer estimates the load torque. When compared to second-order controllers implemented with traditional amplifiers, the proposed design promises increased performance, better efficiency, and improved load estimation. Simple implementation makes concepts of switching control very attractive in motion-control systems like control of dc or ac servomotors. The control algorithm designed by the proposed approach can be easily implemented on field programmable gate array platforms. View full abstract»

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  • Servo Performance Enhancement of Motion System via a Quantization Error Estimation Method—Introduction to Nanoscale Servo Control

    Publication Year: 2009 , Page(s): 3817 - 3824
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (312 KB) |  | HTML iconHTML  

    When compared to the accuracy of nanoscale control, the resolution of current positioning sensors is relatively low. Because of this, the output from low-precision sensors normally includes quantization errors that could degrade control performance. As a result, in this paper, a method of quantization error estimation based on the least square method is examined. In the proposed method, estimation accuracy is improved by taking into account the effect of input disturbances. Furthermore, a bias adjustment method is proposed that is expected to satisfy the constraints on quantization error. The effectiveness of the proposed method is demonstrated by simulations and experiments. View full abstract»

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  • RRO Compensation of Hard Disk Drives With Multirate Repetitive Perfect Tracking Control

    Publication Year: 2009 , Page(s): 3825 - 3831
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (908 KB) |  | HTML iconHTML  

    In this paper, novel repetitive controllers are proposed based on perfect tracking control (PTC) in order to reject high-order repeatable runout (RRO) of hard disk drives. First, the feedback approach of the repetitive PTC (RPTC) is developed with internal model of periodic disturbance. Although this method has performance robustness against small plant variation, the internal model worsens the stability robustness for big modeling error. Then, the feedforward (FF) approach of RPTC is introduced with switching mechanism such that the high-order RRO can be rejected without any sacrifice of the closed-loop characteristics. In both approaches, multirate FF control is utilized to overcome the unstable zero problem of discrete-time plant. Finally, the advantages and disadvantages are demonstrated through simulations and experiments. View full abstract»

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  • Optimal Control Design for Robust Fuzzy Friction Compensation in a Robot Joint

    Publication Year: 2009 , Page(s): 3832 - 3839
    Cited by:  Papers (22)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (643 KB) |  | HTML iconHTML  

    This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals. View full abstract»

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  • Modeling and Identification of Elastic Robot Joints With Hysteresis and Backlash

    Publication Year: 2009 , Page(s): 3840 - 3847
    Cited by:  Papers (22)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (421 KB) |  | HTML iconHTML  

    This paper presents a novel approach to the modeling and identification of elastic robot joints with hysteresis and backlash. The model captures the dynamic behavior of a rigid robotic manipulator with elastic joints. The model includes electromechanical submodels of the motor and gear from which the relationship between the applied torque and the joint torsion is identified. The friction behavior in both presliding and sliding regimes is captured by generalized Maxwell-slip model. The hysteresis is described by a Preisach operator. The distributed model parameters are identified from experimental data obtained from internal system signals and external angular encoder mounted to the second joint of a 6-DOF industrial robot. The validity of the identified model is confirmed by the agreement of its prediction with independent experimental data not previously used for model identification. The obtained models open an avenue for future advanced high-precision control of robotic manipulator dynamics. View full abstract»

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  • Friction Compensation of an XY Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer

    Publication Year: 2009 , Page(s): 3848 - 3853
    Cited by:  Papers (40)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (611 KB) |  | HTML iconHTML  

    Uncompensated friction forces compromise the positioning and tracking accuracy of motion systems. A unique tracking error known as quadrant glitch is the result of complex nonlinear friction behavior at motion reversal or near-zero velocity. Linear-feedback control strategies such as PID, cascade P/PI, or state-feedback control have to be extended with model- and nonmodel-based friction-compensation strategies to acquire sufficiently high path and tracking accuracy. This paper analyzes and validates experimentally three different friction-compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: (1) friction-model-based feedforward; (2) an inverse-model-based disturbance observer; and (3) the combination of both techniques. The friction models considered are as follows: a simple static-friction model and the recently developed generalized Maxwell-slip (GMS) model. GMS friction-model-based feedforward combined with disturbance observer almost completely eliminates the radial tracking error and quadrant glitches. View full abstract»

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  • Iterative Design of the Reduced-Order Weight and Controller for the H_{\infty } Loop-Shaping Method Under Open-Loop Magnitude Constraints for SISO Systems

    Publication Year: 2009 , Page(s): 3854 - 3863
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (820 KB) |  | HTML iconHTML  

    The H infin loop-shaping method is known to be an effective control method. However, it has two drawbacks. The first is that it is difficult to select appropriate loop-shaping weights, and the second is that the resulting controller is very complex. For the first drawback, Lanzon has proposed a suboptimal loop-shaping weight design method. It is formulated as a generalized eigenvalue minimization problem (GEVP). This suboptimal loop-shaping weight design method provides high-order weights, exacerbating the second drawback. To resolve these two drawbacks, a reduced-order loop-shaping weight design method is proposed for SISO systems in this paper. In the proposed method, the weight structure is first fixed, and the weight is then decomposed into a frequency-dependent vector and parameter matrices characterizing the loop-shaping weight. Since the open-loop constraints are represented as linear matrix inequalities with respect to the parameter matrices, the proposed reduced-order loop-shaping weight design problem for SISO systems is formulated as a GEVP, as well as Lanzon's suboptimal loop-shaping weight design method. The proposed method can reduce the designer's burden, although it is only valid for SISO systems. The effectiveness of the proposed method is verified experimentally by velocity control of a belt-driven two-mass system. View full abstract»

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  • Adaptive Compensation for Reaction Force With Frequency Variation in Shaking Table Systems

    Publication Year: 2009 , Page(s): 3864 - 3871
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (700 KB) |  | HTML iconHTML  

    This paper presents an adaptive control methodology of a shaking table system for earthquake simulators. In the system, reaction forces generated by a specimen deteriorate the table motion performance, resulting in lower control accuracy in seismic tests. In particular, in cases of excitation tests for structures (power facilities, large vehicles, etc.) including motors with periodic rotation, the reaction force as a disturbance is excited with a specific frequency during their actual operations. In addition, the variation of the rotational frequency in the motor causes the variation of frequency in the disturbance. In order to compensate for the disturbance, therefore, an adaptive feedback compensator is designed to improve the disturbance suppression capability, by applying an adaptive notch filter to identify the frequency in an online manner. The proposed control approach has been verified by experiments using a prototype of a shaking table system. View full abstract»

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  • PID-Like Neural Network Nonlinear Adaptive Control for Uncertain Multivariable Motion Control Systems

    Publication Year: 2009 , Page(s): 3872 - 3879
    Cited by:  Papers (38)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (252 KB) |  | HTML iconHTML  

    A mix locally recurrent neural network was used to create a proportional-integral-derivative (PID)-like neural network nonlinear adaptive controller for uncertain multivariable single-input/multi-output system. It is composed of a neural network with no more than three neural nodes in hidden layer, and there are included an activation feedback and an output feedback, respectively, in a hidden layer. Such a special structure makes the exterior feature of the neural network controller able to become a P, PI, PD, or PID controller as needed. The closed-loop error between directly measured output and expected value of the system is chosen to be the input of the controller. Only a group of initial weights values, which can run the controlled closed-loop system stably, are required to be determined. The proposed controller can update weights of the neural network online according to errors caused by uncertain factors of system such as modeling error and external disturbance, based on stable learning rate. The resilient back-propagation algorithm with sign instead of the gradient is used to update the network weights. The basic ideas, techniques, and system stability proof were presented in detail. Finally, actual experiments both of single and double inverted pendulums were implemented, and the comparison of effectiveness between the proposed controller and the linear optimal regulator were given. View full abstract»

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  • Automatic Mode Matching in MEMS Vibrating Gyroscopes Using Extremum-Seeking Control

    Publication Year: 2009 , Page(s): 3880 - 3891
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (852 KB) |  | HTML iconHTML  

    In order to enhance the sensitivity and to reduce the readout circuit complexity of any angular velocity microsensor (vibrating gyroscope), it is crucial to reduce the frequency mismatch of its resonant modes of vibration. Achieving a good matching accuracy during fabrication is rather difficult because of tolerances and process variations that detrimentally affect the manufacturing precision. Moreover, even assuming to achieve a good frequency matching through fabrication or postfabrication calibration, it is very likely that parametric variations induced by the external environment during the normal operation of the device disrupt any initial tuning. For these reasons, in this paper, an alternative way to accomplish the frequency-matching condition is suggested, which exploits a real-time adjusting mechanism based on an automatic mode-matching control loop. In particular, this paper describes the details of an adaptive controller capable of automatically matching the resonant frequencies of the two main modes of vibration of a single-axis vibrating microgyroscope, under the provision that there is an underlying mechanism through which the frequency mismatch can be controlled by adjusting a suitable tunable parameter. The controller is designed by considering the requirement of reducing its complexity, so that it can be easily implemented on cheap sensors. Owing to a key observation that allows the recast of the frequency-matching problem as a maximization problem, the proposed mode-matching controller is actually designed as a standard perturbation-based extremum-seeking controller, which can be implemented by using few analog electronic components. The proposed solution has been tested on the LISY300AL yaw-rate microelectromechanical system gyroscope manufactured by STMicroelectronics, showing that a mode matching of nearly 1 Hz or less can be easily attained. View full abstract»

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  • Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot

    Publication Year: 2009 , Page(s): 3892 - 3896
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (446 KB) |  | HTML iconHTML  

    Because the obstacle-avoidance function is indispensable for providing the safe and easy operation of human-operated robotic systems, this paper deals with the obstacle-avoidance control for a human-operated mobile robot in unknown environments. A general type of two-wheeled mobile robot with inexpensive distance sensors to detect obstacles is considered. Because the robot cannot move in arbitrary directions due to a nonholonomic constraint, we propose a model-reference control approach, in which a reference model generates the desired trajectory to satisfy the nonholonomic constraint, and the robot follows the desired trajectory. The reference model has the steering-like and brake-like functions that are adjusted according to the distance-sensor information. The stability of the proposed control system is analyzed with a linear model. The effectiveness of the proposed method is confirmed by experiments in which several operators handle the robot in an environment with obstacles. View full abstract»

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  • Kalman-Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation

    Publication Year: 2009 , Page(s): 3897 - 3905
    Cited by:  Papers (31)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1188 KB) |  | HTML iconHTML  

    In applications such as robot collaborating with human operators, the robot system must operate more slowly and be more compliant to safe user interaction. Moreover, a consideration of the dynamic properties of human operators is also important for the human application. According to such requirements, this paper presents a novel sensorless force control approach for the robot-assisted motion of the human arm. A twin direct-drive motor system with a wire rope has been developed to provide a precise force sensation and safety for human-robot interaction. In order to control the wire rope tension and human interaction force, two mode designs of the force control are realized. The common mode is utilized for the control of wire rope tension. In the differential mode, the Kalman-filter-based sensor integration for the interaction force observer is proposed in this paper. By combining two motor encoders and a commercial acceleration sensor together, white Gaussian noise is reduced, and high accurate feedback of the contact force is obtained. A variable power assist control method based on a real-time estimation of the stiffness of the human arm is also introduced. By considering the stiffness in human arm movements, this method increases the efficiency of the force control system and realizes comfortable force for human-robot interaction. The effectiveness of the method is verified by experimental results. View full abstract»

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  • Stability Analysis and Experimental Validation of a Motion-Copying System

    Publication Year: 2009 , Page(s): 3906 - 3913
    Cited by:  Papers (65)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1362 KB) |  | HTML iconHTML  

    This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering. View full abstract»

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  • Development of a Biofeedback Therapeutic-Exercise-Supporting Manipulator

    Publication Year: 2009 , Page(s): 3914 - 3920
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1386 KB) |  | HTML iconHTML  

    Although much equipment for physical therapy has been developed, equipment to improve the quality of physical therapy is scarce. We propose a robotic biofeedback exercise device that can display human joint torque and muscle force during training without a problematic electromyogram (EMG). The purpose is to increase the therapeutic value by understanding a person's condition during exercise and to provide an incentive to improve performance. The manipulator supports lower limb rehabilitation in the sagittal plane. With its ability to adjust the maximum speed and the time constant, the manipulator provides simultaneous and safe isokinetic exercise for the knee and hip joints. This paper describes the estimation of the human joint torque and muscle force. The display of the joint torque and the muscle force is realized during exercise of the knee joint using the developed manipulator. The estimation of the muscle force from Crowninshield's method and Hase's method generally agrees with the EMG. View full abstract»

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  • Nonlinear Variable Structure Filter for the Online Trajectory Scaling

    Publication Year: 2009 , Page(s): 3921 - 3930
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (276 KB) |  | HTML iconHTML  

    Time efficiency and accurate path tracking represent two conflicting demands typical of robotic applications: Time efficiency induces one to plan extremely fast trajectories which can easily collide with the manipulator kinematic and dynamic constraints, thus causing a reduction of accuracy. To deal with this problem, several approaches can be found in the literature mainly based on the synthesis of dynamic filters used for the online trajectory scaling: A possibly unfeasible input trajectory is automatically scaled to fulfill given dynamic bounds. In this way, an accurate path tracking is guaranteed. This paper can be collocated in such a framework. A new discrete-time filter, with novel capabilities, is designed. Differently from other proposals, not only torque constraints are considered but also kinematic constraints are easily handled. Moreover, to preserve time efficiency, the new filter always attempts to recover any delay caused by the constraints. View full abstract»

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  • Reinforcement Ant Optimized Fuzzy Controller for Mobile-Robot Wall-Following Control

    Publication Year: 2009 , Page(s): 3931 - 3940
    Cited by:  Papers (54)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1029 KB) |  | HTML iconHTML  

    This paper proposes a reinforcement ant optimized fuzzy controller (FC) design method, called RAOFC, and applies it to wheeled-mobile-robot wall-following control under reinforcement learning environments. The inputs to the designed FC are range-finding sonar sensors, and the controller output is a robot steering angle. The antecedent part in each fuzzy rule uses interval type-2 fuzzy sets in order to increase FC robustness. No a priori assignment of fuzzy rules is necessary in RAOFC. An online aligned interval type-2 fuzzy clustering (AIT2FC) method is proposed to generate rules automatically. The AIT2FC not only flexibly partitions the input space but also reduces the number of fuzzy sets in each input dimension, which improves controller interpretability. The consequent part of each fuzzy rule is designed using Q-value aided ant colony optimization (QACO). The QACO approach selects the consequent part from a set of candidate actions according to ant pheromone trails and Q-values, both of whose values are updated using reinforcement signals. Simulations and experiments on mobile-robot wall-following control show the effectiveness and efficiency of the proposed RAOFC. View full abstract»

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  • Safe Navigation of a Mobile Robot Considering Visibility of Environment

    Publication Year: 2009 , Page(s): 3941 - 3950
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1196 KB) |  | HTML iconHTML  

    We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only ldquovisiblerdquo ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid collisions, it is desirable to exploit visibility information. This paper proposes a safe navigation scheme to reduce collision risk considering occluded dynamic obstacles. The robot's motion is controlled by the hybrid control scheme. The possibility of collision is dually reflected to path planning and speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The experimental results show that the robot moves along the safe path to obtain sufficient field of view. In addition, safe speed constraints are applied in motion control. It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme. View full abstract»

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  • Coordinated Path-Following Control for a Group of Underactuated Surface Vessels

    Publication Year: 2009 , Page(s): 3951 - 3963
    Cited by:  Papers (23)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (521 KB) |  | HTML iconHTML  

    This paper addresses the problem of coordinating a group of underactuated ships along given paths (path following) while holding a desired intership formation pattern. The solution to this problem unfolds into two basic subproblems. In the first step, a path-following controller is derived to force each underactuated ship to follow a reference path subject to constant disturbances induced by wave, wind, and ocean current. The controller is designed such that the ship moves on the path while its total velocity is maintained tangential to the path. In the second step, the speeds of the vehicles are adjusted so as to synchronize the positions of the corresponding virtual targets (or so-called coordination states), in the sense that the derivative of each path is left as a free input to synchronize the ships' motion. The proposed coordination controller uses a combination of Lyapunov direct method, backstepping, and concepts from graph theory. When dealing with the path-following coordination problem, it is considered that each ship transmits its coordination state to other ships with a varying time delay as determined by the communication topology. The coordination errors' convergence is achieved based on a proposed Lyapunov-Krasovskii function. Simulation results are provided to illustrate the effectiveness of the proposed approach. View full abstract»

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  • A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot

    Publication Year: 2009 , Page(s): 3964 - 3974
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (780 KB) |  | HTML iconHTML  

    In this paper, a method that makes biped robots track zero-moment-point (ZMP) reference trajectories is proposed. The biped robots have flat rectangular soles with force sensors at each corner. The sensors detect reaction force from the ground. Sensor information is transformed into useful structure, which is defined as ldquoenvironmental modes.rdquo The environmental modes represent contact states between the ground and the soles and are extracted by the information of four force sensors at each corner of the rectangular soles. The environmental modes consist of the following four modes: 1) heaving; 2) rolling; 3) pitching; and 4) twisting. These modes are related to the ZMP, by which walking stability is evaluated. Therefore, command values of the environmental modes can be derived by the ZMP reference trajectory. By tracking the command values, the walking motion becomes more stable. The conventional study on controlling the environmental modes takes only the rolling and pitching modes into account. However, it is not sufficient to stabilize the walking motion, because the heaving mode has been neglected. The heaving mode is also very important to stabilize the walking motion. Therefore, in this paper, we extend the conventional method for considering the heaving mode to track the ZMP reference trajectory. Validity of the proposed method was confirmed by experimental results. View full abstract»

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  • Door-Opening Control of a Service Robot Using the Multifingered Robot Hand

    Publication Year: 2009 , Page(s): 3975 - 3984
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1247 KB) |  | HTML iconHTML  

    Service robots are spreading their application areas to human coexisting real environments. However, it is still difficult to find an autonomous robot that is capable of manipulation services in a real environment. The three major difficulties of manipulation service can be summarized as follows: 1) unstructured human-centered environment; 2) limited resources in a robot; and 3) uncertainties in real environments. This paper deals with the autonomous manipulation task by a service robot in human coexisting environment. We focus on a door-opening problem. In this paper, we concentrate on three issues from the viewpoint of service-robot applications. The first issue is to estimate kinematic parameters by using an active-sensing strategy to overcome uncertainties in a real environment. The second issue is to provide an integrated strategy of motion coordination for door-opening control. This paper discusses the role assignment of each subsystem that depends on the physical characteristics. The third issue is to use the fingertip-contact forces to estimate the external force from a doorknob, instead of using an additional high-cost force sensor at the wrist. The proposed scheme is shown to be useful through experimental results. View full abstract»

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Aims & Scope

IEEE Transactions on Industrial Electronics encompasses the applications of electronics, controls and communications, instrumentation and computational intelligence for the enhancement of industrial and manufacturing systems and processes.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Carlo Cecati
DISIM - Univ. degli Studi dell'Aquila
67100 Aquila, Italy
c.cecati@ieee.org
Phone: +39 0862 434 450
Fax: +39 0862 1960 411