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IET Cyber-systems and Robotics
Number of Followers: 1  

  This is an Open Access Journal Open Access journal
ISSN (Online) 2631-6315
Published by IET Homepage  [46 journals]
  • Robust control approach for handling matched and/or unmatched
           uncertainties in port-controlled Hamiltonian systems

    • Authors: Tahereh Binazadeh;Mahsa Karimi;Ali Reza Tavakolpour-Saleh;
      Pages: 73 - 80
      Abstract: This study considers the problem of robust interconnection and damping assignment passivity-based control approach (IDA-PBC) for underactuated mechanical systems from two points of view. First, the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system. Second, the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC, such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled. Finally, the proposed robust controller is evaluated through simulations of two practical examples, i.e. an inertia wheel pendulum and a single-link elastic joint robot. The simulation outcomes clearly reveal the effectiveness of the presented robust controller.
      PubDate: 12 2019
      Issue No: Vol. 1, No. 3 (2019)
       
  • Mosaicing of multiplanar regions through autonomous navigation of
           off-the-shelf quadcopter

    • Authors: Meghshyam G. Prasad;Sona Praneeth Akula;Anirudh Vemula;Sharat Chandran;
      Pages: 81 - 92
      Abstract: The real world is made up of multiplanar and curved surfaces. Imaging such surfaces with an orthographic view using a handheld camera is tiring if the scene encompasses a view larger than the camera field of view. If the scene is geographically beyond the reach of humans, or access to the scene is denied, it is not possible to take such a frontal view of the scene from handheld devices. The advent of inexpensive flying vehicles such as quadcopters enables the orthographic imaging of large surfaces for later analysis either for leisure or serious scientific purposes. However, manual navigation of the quadcopter around such surfaces is tedious and results are not satisfactory. In this paper, the authors present a method for autonomous navigation of a quadcopter for imaging multiplanar surfaces. The proposed method builds on the existing parallel tracking and mapping based approach to create an approximate sparse three-dimensional map of the input scene. Next, the authors determine precise locations for obtaining videos for each bounded plane, and then autonomously manoeuver the quadcopter at these waypoints. This results in an end-to-end application for visualising scenes with an off-the-shelf quadcopter.
      PubDate: 12 2019
      Issue No: Vol. 1, No. 3 (2019)
       
  • Genetic algorithm-based multiple moving target reaching using a fleet of
           sailboats

    • Authors: Viel Christophe;Vaultier Ulysse;Wan Jian;Jaulin Luc;
      Pages: 93 - 100
      Abstract: This study addresses the problem of Dynamic Travelling Salesman Problem for a multi-agent system using a fleet of sailboats. A genetic algorithm (GA) is proposed, which attributes to each agent a varying number of targets to be collected. GA allows obtaining a suboptimal solution in the shortest time possible. Moreover, this study adapts it to the specific problem involving a fleet of sailboats, which is a challenging task with comparison to autonomous underwater vehicles or motorised vehicles in terms of the propulsion. Therein motors can be flexibly controlled while sailboat movements are constrained by available wind direction and speed. Thus the method takes into account wind conditions at various locations of the sailboat. Simulation results demonstrate the effectiveness of the proposed approach.
      PubDate: 12 2019
      Issue No: Vol. 1, No. 3 (2019)
       
 
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