Communication and Control for Robotic Systems PDF
Preview Communication and Control for Robotic Systems
Smart Innovation, Systems and Technologies 229 Jason Gu Rajeeb Dey Nabanita Adhikary Editors Communication and Control for Robotic Systems 123 Smart Innovation, Systems and Technologies Volume 229 SeriesEditors RobertJ.Howlett,BournemouthUniversityandKESInternational, Shoreham-by-Sea,UK LakhmiC.Jain,KESInternational,Shoreham-by-Sea,UK TheSmartInnovation,SystemsandTechnologiesbookseriesencompassesthetopics ofknowledge,intelligence,innovationandsustainability.Theaimoftheseriesisto makeavailableaplatformforthepublicationofbooksonallaspectsofsingleand multi-disciplinaryresearchonthesethemesinordertomakethelatestresultsavail- ableinareadily-accessibleform.Volumesoninterdisciplinaryresearchcombining twoormoreoftheseareasisparticularlysought. Theseriescoverssystemsandparadigmsthatemployknowledgeandintelligence inabroadsense.Itsscopeissystemshavingembeddedknowledgeandintelligence, whichmaybeappliedtothesolutionofworldproblemsinindustry,theenvironment andthecommunity.Italsofocussesontheknowledge-transfermethodologiesand innovation strategies employed to make this happen effectively. The combination of intelligent systems tools and a broad range of applications introduces a need forasynergyofdisciplinesfromscience,technology,businessandthehumanities. The series will include conference proceedings, edited collections, monographs, handbooks,referencebooks,andotherrelevanttypesofbookinareasofscienceand technologywheresmartsystemsandtechnologiescanofferinnovativesolutions. Highqualitycontentisanessentialfeatureforallbookproposalsacceptedforthe series.Itisexpectedthateditorsofallacceptedvolumeswillensurethatcontributions aresubjectedtoanappropriatelevelofreviewingprocessandadheretoKESquality principles. Indexed by SCOPUS, EI Compendex, INSPEC, WTI Frankfurt eG, zbMATH, JapaneseScienceandTechnologyAgency(JST),SCImago,DBLP. AllbookspublishedintheseriesaresubmittedforconsiderationinWebofScience. Moreinformationaboutthisseriesathttp://www.springer.com/series/8767 · · Jason Gu Rajeeb Dey Nabanita Adhikary Editors Communication and Control for Robotic Systems Editors JasonGu RajeebDey DepartmentofElectricaland DepartmentofElectricalEngineering ComputerEngineering NationalInstituteofTechnologySilchar DalhousieUniversity Silchar,Assam,India Halifax,NS,Canada NabanitaAdhikary DepartmentofElectricalEngineering NationalInstituteofTechnologySilchar Silchar,Assam,India ISSN2190-3018 ISSN2190-3026 (electronic) SmartInnovation,SystemsandTechnologies ISBN978-981-16-1776-8 ISBN978-981-16-1777-5 (eBook) https://doi.org/10.1007/978-981-16-1777-5 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SingaporePteLtd.2022 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSingaporePteLtd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore Preface This monograph is a collection of high-quality research articles disseminated as a research outcome of multiple authors in the areas of communication, computation andcontrolofroboticsystems.Throughthismonographoneoftheobjectiveofthe projectgrantundertheSchemeforPromotionofAcademicandResearchCollabo- ration(SPARC)fundedbytheMinisterofHumanResourceDevelopment(MHRD) GovernmentofIndiahasbeenaccomplished.Thismonographhashelpededitorsto identifyandestablishresearchcollaborationwithinIndiaandabroad.TheEditorsof thebookacknowledgethankstotheMHRDforfundingthecollaborativeresearch between National Institute of Technology Silchar, India and Dalhousie University, Canada. The book includes topics specific to the theme of the symposium, viz. emergingcontrolforroboticsystems,wirelesscommunicationanddevelopmentof embeddedsystemsforroboticapplications.Robotcontroltechnologyiswidelyused forspace,surgery,rehabilitation,micro-machine,entertainment,underwaterexplo- ration, civil engineering, professional and domestic services, security, etc. Conse- quently, control will continue to play an increasing role in the areas of robotics includingrobot–robotandhuman–robotcooperationinvariousdynamicscenarios. Subsequently,duetochangingcommunicationinfrastructureandtechnologies,itis highlydesirablethesedaystopropagatecontrolcommandsthroughwirelesscommu- nication channels. Thus, the inclusion of wireless communication for control of roboticsystemsposesseriouschallengestotheperformanceofthecontrolsystem, therebynecessitatingtheuseofcutting-edgetechnologiesforthedevelopmentand testingofcontrolalgorithmsforroboticsystemsundersuchacommunicationenvi- ronment. Moreover, real-time implementation of the control through present-day communicationnetworksrequiresrealizableandscalableembeddeddesign.Contri- butionsonbasicresearchofcontroloverthenetworkaswellasonrelevantrobotics applicationsarealsoincludedinthisbook. Thisbookuniquelyprovidesaunifiedframeworkforanalysis,designanddeploy- ment of the robotic applications across various engineering and non-engineering disciplinesincludingthethreeprimaryaspectsfocaltothesymposium,i.e.control, communication and embedded systems. The entire volume consists of thirty chapters divided into five parts dedicated respectively to Control Theories for Robotic Systems, Communication and Control for Robotic Systems, Computation v vi Preface Paradigm for Robotic Systems, Power Electronics Application for Transportation andInnovationsinRoboticSystems. The first part includes six chapters on emerging control strategies for robotic applications. The articles describe modelling aspects of the robots specific to the applicationenvironmentandtherebydiscussthechallengesinvolvedinthemodelling and the control theory. The validity of the developed theories is supported by the resultsobtainedfromthesoftwareorhardwareimplementationoftheroboticsystem underconsideration. Thesecondpartconsistsofsixchaptersonemergingcommunicationtechnology atthedifferentlevelsofroboticsandautomationsystems.Thesearticlesprovidean easyandstructuredexplanationontheneedofintegralcommunicationtechnology in an attempt to achieve the challenging control performance for various robotic applications.Thespecificchallengesintheinterfaceofcommunicationtechnology andcontrolwhichcannotbesolvedwithconventionalcontroltheoryareincludedin thearticles.Thissectionalsoincludesarticlesfromnetworkedcontrolsystemwith dueemphasisonroboticapplications. Thethirdpartincludeseightchaptersontheuseofintelligent-andknowledge- based computational techniques for solving highly complex, nonlinear and non- traditionalroboticenvironmentpertainingtocontrol,communicationorcombination ofboth.Thechaptersgiveacleartheoreticalintegrationofthecomputationaltech- niqueswiththecommunicationandcontroltheoriessuchthatthereaderscanhave a good comprehension of the theoretical and implementation basis for developing roboticapplications. Thefourthpartofthebookincludessixchaptersontherecentadvancesonpower suppliesandpowerelectronicspertainingtoautonomousandrobotictransportation systemswithafocusonelectricvehicles. Thefifthpartofthebookconsistsoffourchaptersdescribingrecentinnovations invariousareasofrobotics.Thesechaptersmostlydealwithapplicationanddevel- opment of robotic systems for agriculture, autonomous vehicles, launch vehicles, etc. Wearethankfultoalltheauthorswhohelpedinkeepingthequalityofthemono- graphatahighlevelbytheircontributedpapersaswellthereviewersforgivingtheir timetorigorouslyreviewthepapers. The book is addressed to the research community including professors and students in robotics, control systems as well as power electronics. We hope that thebookwillprovideusefulinformationandinspirationtoitsintendedreaders. Halifax,Canada JasonGu Silchar,India RajeebDey Silchar,India NabanitaAdhikary Contents ControlTheoriesforRoboticSystems PerformanceEvaluationofAdaptiveDitherControlFrameworks forNonlinearPiezoactuator ........................................ 3 SandipJana, SaikatKumarShome, ArpitaMukherjee, andParthaBhattacharjee Comparative Performance Study of Different Controllers forNonlinearPiezoelectricStackActuator ........................... 13 SandipJana, SaikatKumarShome, ArpitaMukherjee, andParthaBhattacharjee PIDController Design for Reference Tracking of Single Link Manipulator ...................................................... 25 SayanDasandNaiwritaDey PerformanceComparisonBetweenHigher-OrderSlidingMode andFixedBoundaryLayerSlidingModeControllerfora10-DoF BipedalRobot ..................................................... 45 KoceilaCherfouh,JasonGu,UmarFarooq,MuhammadUsmanAsad, RajeebDey,NabanitaAdhikary,andChunqiChang AdaptiveBackstepping-BasedNon-singularFinite-TimeSliding ModeControllerforSuspensionofMaglevPlatforms ................. 63 NabanitaAdhikaryandJobinMathew Backstepping-BasedNonlinearControlofUnderactuated2-DoF GyroscopeforRobustPerformanceAnalysis ......................... 89 ManishPatelandBhanuPratap CommunicationandControlforRoboticSystems AdaptiveBacksteppingControlofMultipleMobileRobotsUnder LimitedCommunication;AnEvent-TriggeredApproach .............. 107 SamiAlIssaandIndraniKar vii viii Contents Adaptive Robust Control of Tele-operated Master-Slave ManipulatorswithCommunicationDelay ........................... 123 NabanitaAdhikary,RajeebDey,MuhammadUsmanAsad,JasonGu, UmarFarooq,andRupakDutta A Multi-Master Single-Slave Teleoperation System Through CompositeStateConvergence ...................................... 141 MuhammadUsmanAsad, JasonGu, UmarFarooq, RajeebDey, NabanitaAdhikary,RupakDatta,andChunqiChang Event-TriggeredIntegralSlidingModeControlforanUncertain Euler–LagrangeSystemwithActuatorSaturation .................... 155 KrishanuNath,AsifaYesmin,andManasKumarBera AKIRA—AVoiceBasedVirtualAssistantwithAuthentication ........ 177 VishnuSaiBhonsle,SailajaThota,andSurekhaThota SurveyonInternetofThingsBasedIntelligentWirelessSensor NetworkforFireDetectionSysteminBuilding ....................... 193 ArpitaMukherjee,SaikatKumarShome,andParthaBhattacharjee ComputationParadigmforRoboticSystems Nonlinear State Estimation Using Adaptive Gaussian Filters withOne-StepRandomlyDelayedMeasurements .................... 203 PoluriSriMannarayanaandAritroDey Extended Kalman Filter-based Attitude Estimation using Magnetometer-andSunSensor-AidedMEMSGyros ................. 221 JiljoK.MoncyandKesavabrahmajiKaruturi CharacterisationofMulti-sensor6DPoseDeterminationSystem forUnderslungWingedBody ....................................... 237 K.L.N.SaiNitish,JiljoK.Moncy,M.DineshKumar,B.Karthik, V.T.Basker,andE.S.PadmaKumar TrackingandInterceptionofaBallisticTargetonReentryUsing AdaptiveGaussianSumQuadratureFilters .......................... 255 RahulRadhakrishnan, ManikaSaha, ShovanBhaumik, andNutanKumarTomar Three-DimensionalBearings-OnlyTargetTracking:Comparison ofFewSigmaPointKalmanFilters .................................. 273 U.Asfia,R.Radhakrishnan,andS.N.Sharma PerformanceComparisonofEKFandUKFforOffshoreBoom CraneSystem ..................................................... 291 ManashJyotiDeori,NabanitaAdhikary,andKrishnaJyothiPallacherla Contents ix PerformanceAnalysisofSpeechCommandRecognitionUsing SupportVectorMachineClassifiers ................................. 313 M.VenkataSubbarao, AkhendraKumarPadavala, andKudupudiDurgaHarika ParameterIdentificationofCoulombOscillatorfromNoisySensor Data .............................................................. 327 GudduKumar, VikashKumarMishra, R.Swaminathan, andAbhinoyKumarSingh PowerElectronicsApplicationforTransportation ParameterExtractionofDye-SensitizedSolarCell:Improved MethodandComparativeAnalysis .................................. 341 SoumikChakraborty,RanjithG.Nair,andLaluSeban Role of Battery Management System (BMS) in Sustainable Transportation .................................................... 355 B.S.Sagar, RajashekarP.Mandi, B.P.Divakar, andSantoshkumarHampannavar AFundamentalStudyonElectricVehicleModelforLongitudinal Control ........................................................... 367 K.InduandM.AswathaKumar Supercapacitor-Based Automated Fast Charging System forElectricVehicles ............................................... 377 SaswatiPattnaik,ManoRanjanKumar,andSunilKumarMishra DifferentControlMechanismsofaPMSMDriveforElectrified Transportation—ASurvey ......................................... 395 ChiranjitSain, AtanuBanerjee, PabitraKumarBiswas, SudhakarBabuThanikanti,andKarthikBalasubramanian DirectTorqueControlofBOOST-VSIFedInductionMotorUsing SVPWM-PAMTechnique .......................................... 407 SudharaniPotturiandRajashekarP.Mandi InnovationsinRoboticSystems Launch Vehicle Autopilot Design Using H-Infinity Control Technique ........................................................ 421 ChintapalliVaishnaviandM.V.Dhekane DesignandDevelopmentofthePineappleHarvestingRobotic Gripper .......................................................... 437 FrancisKurbah, ShemphangMarwein, TeiborlinMarngar, andBikashKumarSarkar
The list of books you might like
