Communication and Control for Robotic Systems

✍ Scribed by Jason Gu

• Publisher: Springer Nature
• Year: 2021
• Tongue: English
• Leaves: 479
• Category: Library

✦ Table of Contents

Preface
Contents
Editors and Contributors
Control Theories for Robotic Systems
Performance Evaluation of Adaptive Dither Control Frameworks for Nonlinear Piezoactuator
1 Introduction
2 RMS Error Comparison
3 Parameter Sensitivity Test
4 Performance Against External Disturbances
4.1 Gaussian Noise as Process Noise Disturbance
4.2 Gaussian Noise as Measurement Noise Disturbance
5 Mixed-Amplitude, Mixed-Frequency Input Test
5.1 Performance of the Controllers to Different Input Wave Signals—of Alternating Frequency and Amplitude
5.2 Performance Evaluation of the Controllers to a Mixed-Amplitude, Mixed-Frequency Input Wave Signal
6 Closed-Loop Set Point Tracking with Impulse Disturbances (Delay 1 s, Sample Time 20 s)
7 Step Input with Impulse Disturbances
8 Zero Set Point Tracking with Gaussian Noise
9 Conclusion
References
Comparative Performance Study of Different Controllers for Nonlinear Piezoelectric Stack Actuator
1 Introduction
2 RMS Error Comparison
3 Parameter Sensitivity Test
4 Performance Against External Disturbances
4.1 Gaussian Noise as Process Noise Disturbance
4.2 Gaussian Noise as Measurement Noise Disturbance
5 Mixed-Amplitude, Mixed-Frequency Input Test
5.1 Performance of the Controllers to Different Input Wave Signals—of Alternating Frequency and Amplitude
5.2 Performance Evaluation of the Controllers to a Mixed-Amplitudes, Mixed-Frequency Input Wave Signal
6 Zero Path Tracking Conjunction with Impulse Disturbances (Delay 1 s, Sample Time 20 s)
7 Zero Path Tracking with Step Input Conjunction with Impulse Disturbances
8 Zero Set Point Tracking with Gaussian Noise
9 Conclusion
References
PID Controller Design for Reference Tracking of Single Link Manipulator
1 Introduction
2 Mathematical Modeling of Single-Link Manipulator
2.1 Transfer Function Model of the System
2.2 Uncertainty Modeling of the System
3 Controller Design
3.1 Block Diagram of Single-Link Manipulator Angular Position Closed-Loop System
3.2 Implementing PID Control to the Nominal Manipulator System
4 Implementation of Proposed Controller in Python
4.1 Flowchart of the Simulation Program
4.2 Programming for Simulating Uncertain Model
5 Stability Analysis of the Overall Closed Loop System
6 Simulation Results
6.1 Plot of Closed-Loop Step Response of the System (Without Any Controller)
6.2 Plot of PID Controlled Step Response of the Nominal System
6.3 Plot of Squared Error with Time of the Controlled Response
6.4 Plot of Angular Velocity with Time
6.5 Frequency Response of the Uncertain Model
7 Conclusion
References
Performance Comparison Between Higher-Order Sliding Mode and Fixed Boundary Layer Sliding Mode Controller for a 10-DoF Bipedal Robot
1 Introduction
2 Simulation
2.1 Dynamics Model
2.2 Controller Design
3 Results and Discussion
3.1 Position Tracking on 4-DoF Robotic Manipulator
3.2 Robustness Performance Comparison
3.3 Trajectory Tracking on 10-DOF Bipedal Robot
4 Conclusion
Appendix A: 4-DoF Robotic Manipulator Plant Parameters
Appendix B: 10-DoF Bipedal Robot Plant Parameters
References
Adaptive Backstepping-Based Non-singular Finite-Time Sliding Mode Controller for Suspension of Maglev Platforms
1 Introduction
2 Problem Definition
2.1 Dynamics of Maglev System
2.2 Challenges in Control
3 Controller Design
4 Stability Analysis
5 Numerical Simulations
6 Conclusion
References
Backstepping-Based Nonlinear Control of Underactuated 2-DoF Gyroscope for Robust Performance Analysis
1 Introduction
2 Problem Formulation
2.1 Dynamical Model of 2-DoF Gyroscope
2.2 Control Objective
3 Control Law Design
3.1 Proportional Controller
3.2 Backstepping-Based Sliding Mode Controller
3.3 Adaptive Estimation of Matched Disturbance
4 Stability Analysis
4.1 Without Disturbance Estimation
4.2 With Disturbance Estimation
4.3 Blue Gimbal Subsystem
5 Simulation Results
6 Conclusion
References
Communication and Control for Robotic Systems
Adaptive Backstepping Control of Multiple Mobile Robots Under Limited Communication; An Event-Triggered Approach
1 Introduction
2 Problem Formulation
3 Control Design
3.1 Adaptive Backstepping Controller
3.2 Event-Triggered Mechanism
4 Simulation Results
5 Conclusion
References
Adaptive Robust Control of Tele-operated Master-Slave Manipulators with Communication Delay
1 Introduction
2 Problem Formulation
2.1 System Dynamics
2.2 Objective
3 Controller Design
3.1 Sliding Surface Design
3.2 Control Law
3.3 Closed-Loop System
3.4 Gain Adaptation
3.5 Analysis
4 Simulation Results
5 Conclusion
References
A Multi-Master Single-Slave Teleoperation System Through Composite State Convergence
1 Introduction
2 Architecture
3 Design Procedure
4 Simulation Results
5 Conclusions
References
Event-Triggered Integral Sliding Mode Control for an Uncertain Euler–Lagrange System with Actuator Saturation
1 Introduction
2 Problem Statement
3 Main Results
4 Simulation
5 Conclusion
6 Appendix
References
AKIRA—A Voice Based Virtual Assistant with Authentication
1 Introduction
1.1 Different Names for Voice Assistant
2 Literature Survey
2.1 Survey on Various Voice Assistants
2.2 Survey on Security Aspects in Voice Assistants
3 Methodology
3.1 The Flow of Information in “Permission Less Commands”
3.2 The Flow of Information in “Permission Commands”
3.3 Task Execution Engine
3.4 Google Text to Speech
4 Results
4.1 Invoking AKIRA
4.2 Issuing Command
5 Conclusion
6 Future Scope
References
Survey on Internet of Things Based Intelligent Wireless Sensor Network for Fire Detection System in Building
1 Introduction
2 Application of Wireless Sensor Network for Detection of Fire Event
3 Fire Detection Algorithm
4 Use of Internet of Things in Building Fire Detection System
5 Schematic of IoT-Based Intelligent WSN for Fire Detection System
6 Conclusion
References
Computation Paradigm for Robotic Systems
Nonlinear State Estimation Using Adaptive Gaussian Filters with One-Step Randomly Delayed Measurements
1 Introduction
2 Problem Formulation
2.1 Gaussian Framework of Filtering with One-Step Randomly Delayed Measurements
3 Adaptive Cubature Kalman Filter Algorithm for One-Step Randomly Delayed Measurements
4 Simulation Procedure, Results, and Discussions
4.1 Simulation Procedure
4.2 Simulation Results and Discussion
5 Conclusion
References
Extended Kalman Filter-based Attitude Estimation using Magnetometer- and Sun Sensor-Aided MEMS Gyros
1 Introduction
2 Literature Review
2.1 Earth's Magnetic Field: IGRF Model
2.2 Sun Vector: VSOP87 Model
3 Estimation Algorithm
3.1 Kinematic Model
3.2 Sensor Models
3.3 Mechanization Equations
3.4 Error Models
3.5 Measurement Error Model
3.6 Attitude Error Dynamics
3.7 State Space Error Model
3.8 Filter Equations
4 Estimation Work-Flow
5 Performance Evaluation
6 Conclusion
References
Characterisation of Multi-sensor 6D Pose Determination System for Underslung Winged Body
1 Introduction
2 Preliminary Processing
2.1 Calibration
2.2 Noise Filtering
3 State Estimation
3.1 Measurement Fusion
3.2 Output Predictor
3.3 Corrector Algorithm
3.4 Initialization of States and Covariance
4 Testing and Characterisation
4.1 Constant Rate Test
4.2 Sine Tests
4.3 Validation with Reference INS
4.4 Electromagnetic Interference (EMI) Test
4.5 Drive Test
5 Results and Discussion
6 Conclusion
References
Tracking and Interception of a Ballistic Target on Reentry Using Adaptive Gaussian Sum Quadrature Filters
1 Introduction
2 Gaussian Sum Filtering
3 Adaptive Gaussian Sum Quadrature Filtering
3.1 Adaptive Filtering
4 Quadrature Filter Proposals
4.1 Cubature Quadrature Kalman Filter (CQKF)
4.2 Gauss–Hermite Filter
4.3 Proposed Algorithm
5 Ballistic Target Tracking Problem Formulation
5.1 Assumed Target Model
5.2 Seeker Measurement Model
5.3 Acceleration Model for the Target
6 Simulation Results
7 Conclusion
References
Three-Dimensional Bearings-Only Target Tracking: Comparison of Few Sigma Point Kalman Filters
1 Introduction
2 Problem Formulation
2.1 Process Model
2.2 Measurement Model
3 Recursive Bayesian Algorithms
3.1 Bayesian Approach to Filtering
3.2 Extended Kalman Filter
3.3 Unscented Kalman filter
3.4 New Sigma Point Kalman Filter
4 Simulation Results
4.1 Filter Initialisation
4.2 Performance Criteria
4.3 Performance Comparison
5 Conclusion
References
Performance Comparison of EKF and UKF for Offshore Boom Crane System
1 Introduction
2 Nonlinear Filters
2.1 Extended Kalman Filter (EKF)
2.2 Unscented Kalman Filter
3 Problem Formulation
3.1 Dynamic Development
4 Performance Comparison Using Simulated Results
5 Conclusion
References
Performance Analysis of Speech Command Recognition Using Support Vector Machine Classifiers
1 Introduction
2 Frame Work
3 Support Vector Machine Classifiers
4 Simulation Results
5 Conclusion
References
Parameter Identification of Coulomb Oscillator from Noisy Sensor Data
1 Introduction
2 Problem Formulation
3 Bayesian Filtering Framework
3.1 Prediction
3.2 Update
4 CKF: Multidimensional Integral Approximation
4.1 Decomposition on Intractable Integral
4.2 Third-Degree Spherical Cubature Rule
4.3 First-Degree Gauss-Laguerre Quadrature Rule:
4.4 Third-Degree Spherical Radial Rule
5 Simulation and Results
6 Discussions and Conclusions
References
Power Electronics Application for Transportation
Parameter Extraction of Dye-Sensitized Solar Cell: Improved Method and Comparative Analysis
1 Introduction
2 Electrical Equivalent Model
3 Description of Algorithms
3.1 Particle Swarm Optimization
3.2 Artificial Bee Colony
3.3 Genetic Algorithm
4 Results and Discussion
5 Conclusion
References
Role of Battery Management System (BMS) in Sustainable Transportation
1 Introduction
2 Sate of Charge Estimators
3 Battery Equalization
3.1 Charge Control of Batteries and Its Importance
3.2 SOC-Based Charge Equalizer
3.3 Experimental Setup and Methodology
4 Results and Discussion
5 Conclusion
References
A Fundamental Study on Electric Vehicle Model for Longitudinal Control
1 Introduction
1.1 Few Notable Contributions
2 Modeling Approach
3 Simulation Outcome
4 Conclusion
References
Supercapacitor-Based Automated Fast Charging System for Electric Vehicles
1 Introduction
2 A Brief on Automated Charging System
2.1 Automated Charging System by Volkswagen
2.2 V2X Communication
3 Supercapacitor-Based Fast Charging Method
4 Simulation Results
5 Conclusion
References
Different Control Mechanisms of a PMSM Drive for Electrified Transportation—A Survey
1 Introduction
2 Types of Permanent Magnet Rotor
2.1 Surface-Mounted PMSM
2.2 Surface-Inset PMSM
2.3 Interior PMSM
2.4 Line-Start PMSM
3 PMSM Machine Configuration
3.1 Flux Switching PMSM
3.2 Concentrated Coil Wound PMSM
4 Comparative Analysis of Different Permanent Magnet Materials
4.1 Current Sensing
4.2 Position Estimation
5 Different Control Strategies for PMSM Drive
5.1 Vector Control
5.2 Constant Torque Angle Control
5.3 Power Factor Control
5.4 Current Control Per Unit Optimum Torque
5.5 Control of Power Loss
6 Conclusion
References
Direct Torque Control of BOOST-VSI Fed Induction Motor Using SVPWM-PAM Technique
1 Introduction
2 Methodology
2.1 Boost-VSI with PAM Technique
2.2 DTC Control
3 Simulation Results
3.1 Torque Response
3.2 DC Link Voltage
3.3 Rotor Speed Response
3.4 Stator Current Components (Direct and Quadrature Axis)
3.5 Performance Comparison
4 Conclusion
References
Innovations in Robotic Systems
Launch Vehicle Autopilot Design Using H-Infinity Control Technique
1 Introduction
2 Dynamics Involved in the Launch Vehicle
2.1 Rigid Body Dynamics:
2.2 Actuator Dynamics
2.3 Bending Mode Dynamics
2.4 Slosh Dynamics
3 H-infty Control Technique
3.1 Problem Statement
3.2 Methodology
3.3 Model Used for the Analysis
3.4 Selection of Weight Functions
3.5 Plant Augmentation and State-Space Model
3.6 Derivation of State-Space Model of Augmented Plant
4 Results
4.1 Nominal Plant : Rigid Body Dynamics
4.2 Nominal Plant : Rigid Body + Actuator + 2 Bending Modes + 1 Slosh Dynamics
5 Simulink Model
6 Conclusion and Future Work
References
Design and Development of the Pineapple Harvesting Robotic Gripper
1 Introduction
2 System Description and Modeling
3 Design and Development of the Pineapple Harvesting Gripper
4 Result and Discussion
5 Conclusions
References
Three-Axis Wireless Gesture-Controlled Car
1 Introduction
2 Methodology
3 Hardware Prototype of the System
3.1 Data Glove
3.2 Data Transmission Through Wi-Fi Using MQTT Protocol
3.3 MQTT Broker
3.4 Cart /Car Controller by Hand Gesture Using Raspberry Pi
3.5 Experimental Data
4 Conclusion
References
Design of Robust Controller for Enhanced Performance of 2-DOF Torsion System
1 Introduction
2 Problem Formulation and Preliminaries
2.1 System Modelling
2.2 State-Space Model
2.3 Desired Control Requirement
3 Various Controllers Applied
3.1 Hierarchical Sliding Mode Control
3.2 LQR Controller
4 Simulation Results
5 Conclusions
References