A Real-Time State-Observer-Based Controller for a Stochastic Robotic Manipulator

Nagpal, Neelu; Agarwal, Vijyant; Bhushan, Bharat

doi:10.1109/tia.2017.2785339

Cited by 11 publications

(3 citation statements)

References 32 publications

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“…Therefore, the proposed method prevented the redundant generation of dangerous regions. Secondly, the proposed method added the velocity term in (10), which made the arrival time shorter than the conventional method.…”

Section: B Simulation Resultsmentioning

confidence: 99%

“…These robots find utility in various sectors, encompassing medical applications [2], [3], industrial settings [4], [5], disaster [6], [7], and food production [8], [9]. It is noteworthy that the functionality of these robots is predominantly composed of two essential elements: mobility and manipulation [10]- [12]. Within the service sector, the necessity of ensuring secure and efficient interaction between humans and robots underlines the importance of judicious management of these elements [13].…”

Section: Introductionmentioning

confidence: 99%

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Path Planning Method Considering Blind Spots Based on ROS Navigation Stack and Dynamic Window Approach for Wheeled Mobile Robot

Kobayashi

Motoi

2022

2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia)

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This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using a laser range finder (LRF) and RGB-D cameras. Blind spots occur when corners or obstacles are present in the environment, and may lead to collisions if a human or object moves toward the robot from these blind spots. To prevent such collisions, this paper proposes a navigation method considering blind spots based on the local cost map layer of the BSL for the wheeled mobile robot. Blind spots are estimated by utilizing environmental data collected through RGB-D cameras. The navigation method that takes these blind spots into account is achieved through the implementation of the BSL and a local path planning method that employs an enhanced cost function of dynamic window approach. The effectiveness of the proposed method was further demonstrated through simulations and experiments.

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Section: B Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path Planning Method Considering Blind Spots Based on ROS Navigation Stack and Dynamic Window Approach for Wheeled Mobile Robot

Kobayashi

Motoi

2022

2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia)

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“…Thus, there is a need to estimate the inaccessible or immeasurable states in order to overcome their implementation feasibility issues [16], [17]. For instance, in [18], [19], the control signal has been dynamically generated by the observer, i.e. the error feedback to a controller is based on the observer output rather than the actual state incorporating noise .…”

Section: B Literature Reviewmentioning

confidence: 99%

Decentralized Stochastic Disturbance Observer-Based Optimal Frequency Control Method for Interconnected Power Systems With High Renewable Shares

Haesalhelou

Parthasarathy

Nagpal³

et al. 2022

IEEE Trans. Ind. Inf.

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This paper proposes a novel, disturbance observerbased decentralized frequency control method for interconnected power systems. The method employs Extended Kalman Filter (EKF) as an observer to estimate inaccessible dynamic states of the system, including the total disturbance as one of the state variables. An optimal decentralized disturbance observer based controller (DOBC) is suggested for multi-area power systems that compensates the estimated disturbance and further based on minimizing the joint error energies of state estimation error and state tracking error provides its value to the controller for regulating the frequency variation. The proposed method is mathematically designed to be robust against parametric and non-parametric uncertainties. The efficacy and accuracy of the proposed control method is verified considering different types of practical operation scenarios. The results confirm the brilliant and superiority of the proposed method in controlling the frequency in power systems with high renewable shares.

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Tremor Observer Models and Tremor Rejection Methods for Robotic Surgery

Parthasarathy

Agarwal

2019

Lecture Notes in Electrical Engineering

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A Real-Time State-Observer-Based Controller for a Stochastic Robotic Manipulator

Cited by 11 publications

References 32 publications

Path Planning Method Considering Blind Spots Based on ROS Navigation Stack and Dynamic Window Approach for Wheeled Mobile Robot

Path Planning Method Considering Blind Spots Based on ROS Navigation Stack and Dynamic Window Approach for Wheeled Mobile Robot

Decentralized Stochastic Disturbance Observer-Based Optimal Frequency Control Method for Interconnected Power Systems With High Renewable Shares

Tremor Observer Models and Tremor Rejection Methods for Robotic Surgery

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