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L₁ Adaptive control-Based Formation Tracking of Multiple Quadrotors Without Linear Velocity Feedback Under Unknown Disturbances

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ieee Transactions on automation Science and Engineering 2024年 22卷 5804-5815页

作者： Yang Hu Zhiqiang Miao Yaonan Wang Haoming Tang Xiangke Wang Wei He College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Changsha China College of Intelligence Science and Technology National University of Defense Technology Changsha China School of Intelligence Science and Technology and the Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China

This paper addresses the problem of formation control for a quadrotor swarm (QS) system with directed graph topology under external environmental disturbances and unreliable internal state acquisition. The proposed distributed robust control framework, based on a gemetric controller, incorporates ${\mathcal {L}}_control$ adaptive controllers and differentiator systems. First, the geometric formation controller is designed to implement the formation control of the nominal system. Then, ${\mathcal {L}}_control$ adaptive controllers are designed separately for each quadrotor’s position loop and attitude loop subsystems to address the effects of uncertainties such as external time-varying disturbances (matched and unmatched disturbances) and different mass variations of quadrotors. Furthermore, the differentiator system is devised to accurately estimate the higher-order derivatives of the non-directly-measurable velocity information and the virtual translation control signal, which enhances system accuracy while reducing computational complexity. The Lyapunov stability theory is employed to analyze the stability of the closed-loop system. Finally, the effectiveness and exceptional performance of this approach in QS formation control were validated through numerical simulation and experimental results. Note to Practitioners—The inspiration for this article comes from the issue of formation control in a cluster of quadrotor drones, which is also applicable to formation control in other types of drones. In this paper, a formation control algorithm based on ${\mathcal {L}}_control$ adaptive control strategy and arbitrary-order differentiation is designed. This algorithm can address not only the issue of time-varying wind disturbances frequently encountered during quadrotor drone flights but also the effects of unpredictable velocities and inconsistent masses of quadrotor drones. The disturbance rejection capability of this scheme enables quadrotor drones to be applied more safely and r

关键词： Quadrotors Formation control Adaptive control Topology Drones Autonomous aerial vehicles Uncertainty

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Design of control system for automatic steel sheet wrapping machine 3

Design of control system for automatic steel sheet wrapping ...

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3rd International symposium on Robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Mao, Yuxiang Xu, Song Dou, Fuping Wang, Lei Fu, Shuangning Machinery Technology Development Co. Ltd Beijing100044 China

ISBN: (纸本)9781665437189

According to the actual process requirements of steel sheet packaging in steel coil packaging process, this paper designs the control system of automatic steel sheet wrapping machine. And this control system includes pneumatic control system design, hydraulic control system design and electronic control system design. The control system takes PLC as the core to control the unwinding, conveying, cutting, glue spraying and wrapping of the steel sheet wrapping machine through the motor, solenoid valve, proximity switch and photoelectric switch. The field results show that the control system can better control the wrapping machine instead of manual, and realize the automation and intelligence of steel sheet wrapping, and greatly improve the packaging efficiency and quality. © 2021 ieee.

关键词： Quality control

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Multi-robot Implicit control of Herds

Multi-robot Implicit Control of Herds

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ieee International Conference on Robotics and automation (ICRA)

作者： Sebastian, Eduardo Montijano, Eduardo Univ Zaragoza RoPeRt Grp DIIS I3A Zaragoza Spain

ISBN: (纸本)9781728190778

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics, escaping from the herders. Many applications demand the herding of numerous and/or heterogeneous entities, making the development of flexible control solutions challenging. In this context, our main contribution is a control approach that finds suitable herding actions even when the nonlinearities in the evaders' dynamics yield to implicit equations. We resort to numerical analysis theory to characterise the existence conditions of such actions and propose two design methods to compute them, one transforming the continuous time implicit system into an expanded explicit system, and the other applying a numerical method to find the action in discrete time. Simulations and real experiments validate the proposal in different scenarios.

关键词： Jacobian matrices Numerical analysis Design methodology computational modeling Mathematical models Numerical models Nonlinear dynamical systems

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Gait Planning for Biped Robot Based on Variable Center-of-Mass Height Hybrid Strategy

Gait Planning for Biped Robot Based on Variable Center-of-Ma...

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ieee International Conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Jianjun Yu Ruihua Zhu Daoxiong Gong Miaoqiang Zhou Guoyu Zuo Beijing Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology Beijing China

In order to make the gait of a bipedal robot more human-like and to further improve the efficiency of energy utilisation, this paper combines preview control strategy and a knee extension strategy to design a bipedal robot gait planning method based on a variable centre-of-mass height hybrid strategy. The core idea is to achieve gait stability and coordination by controlling the robot's centre-of-mass height. Firstly, the horizontal centre-of-mass trajectory of the biped robot is generated based on Preview control strategy with a constant centre-of-mass height; secondly, the vertical centre-of-mass trajectory is generated based on the knee joint extension strategy by trajectory planning of the robot's knee joint; finally, the horizontal and vertical centre-of-mass trajectories and foot point positions are combined by the inverse kinematics of the bipedal robot to plan the offline gait of the bipedal robot with variable centre-of-mass height. The experimental results show that the bipedal robot is able to walk smoothly with the planned gait, with better human-like characteristics, and requires less knee torque than bent knee walking mode with a constant centre of mass height, which improves energy efficiency.

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Implementation of IR Lock on Poledrone (Polman Drone Education) for Precision Landing with ROS

Implementation of IR Lock on Poledrone (Polman Drone Educati...

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International Conference on computational intelligence and Communication Networks (CICN)

作者： Hilda Khoirunnisa Fajar Setio Adi Anggraeni Mulyadewi Setyawan Ajie Sukarno Yuliadi Erdani Pipit Anggraeni Department of Manufacturing Automation and Mechatronics Engineering Bandung Polytechnic for Manufacturing Bandung Indonesia Geotronix Pratama Indonesia Company Jakarta Indonesia

Poledrone or known as quadcopter constitutes an Unmanned Aerial Vehicle (UAV) system that has four symmetrical landing rotors and has the same heights of each corner. Apart from that, Poledrone must have a good stability and be able to minimize distraction on every motion by optimizing the parameter of controller system. However, as a 6 DoF system, Poledrone has a dynamic complex with high non-linear, strong clutch and underactuated that makes it difficult to change into control algorithm. Poledrone with PID controller often suffers from overshoot causing it to be unstable which results is precision landing failure without any damage. By taking into account several strong points of PID methods, the researcher forms the implementation IR Lock with PID control on Poledrone by using ROS as the middleware. The result of result of test with IR Lock is the precision of the landing are good and the average of landing travel time is 11.073 s. But without IR-Lock The precision of the landing is quite good and the average of landing travel time is 5.84 s. This research is that the result can be used as learning aid in order to obtain accurate point more precision Poledrone landing system. So, for future work the research will combine camera with IR-Lock for making the result more accurate.

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Multi-Objective Bayesian Optimization using Deep Gaussian Processes with Applications to Copper Smelting Optimization

Multi-Objective Bayesian Optimization using Deep Gaussian Pr...

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ieee symposium Series on computational intelligence (SSCI)

作者： Liwen Kang Xuelei Wang Zhiheng Wu Ruihua Wang Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665487696

Copper smelting is a complex industrial process that involves a lot of long procedures and inter-process connections. Moreover, there are non-stationary, noisy, and multi-objective challenges in copper smelting optimization. The traditional methods of process optimization rely on experience to adjust repeatedly, which is time-consuming and laborious, as well as difficult to find the optimal point. Bayesian optimization is an effective method to discover the optimal point of an expensive black-box function using few samples. In this paper, Bayesian optimization is introduced to solve the copper smelting optimization problem. The surrogate model is constructed based on noisy deep Gaussian processes to cope with the non-stationary process and observational noise of copper smelting. Then, the expected hypervolume improvement is used as the acquisition function, considering multiple objectives when selecting the new sampling point. We conduct experiments on standard test functions and a simulation model of copper flash smelting. The experimental results demonstrate that the proposed method performs well in terms of convergence and diversity.

关键词： Smelting Gaussian processes Linear programming Bayes methods Copper Noise measurement Optimization

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A Compaction Method for STLs for GPU in-field test

A Compaction Method for STLs for GPU in-field test

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2022 Design, automation and Test in Europe Conference and Exhibition, DATE 2022

作者： Guerrero-Balaguera, Juan-David Rodriguez Condia, Josie E. Reorda, Matteo Sonza Department of Control and Computer Engineering Politecnico di Torino Torino Italy

ISBN: (纸本)9783981926361

Nowadays, Graphics Processing Units (GPUs) are effective platforms for implementing complex algorithms (e.g., for Artificial intelligence) in different domains (e.g., automotive and robotics), where massive parallelism and high computational effort are required. In some domains, strict safety-critical requirements exist, mandating the adoption of mechanisms to detect faults during the operational phases of a device. An effective test solution is based on Self-Test Libraries (STLs) aiming at testing devices functionally. This solution is frequently adopted for CPUs, but can also be used with GPUs. Nevertheless, the in-field constraints restrict the size and duration of acceptable STLs. This work proposes a method to automatically compact the test programs of a given STL targeting GPUs. The proposed method combines a multi-level abstraction analysis resorting to logic simulation to extract the microarchitectural operations triggered by the test program and the information about the thread-level activity of each instruction and to fault simulation to know its ability to propagate faults to an observable point. The main advantage of the proposed method is that it requires a single fault simulation to perform the compaction. The effectiveness of the proposed approach was evaluated, resorting to several test programs developed for an open-source GPU model (FlexGripPlus) compatible with NVIDIA GPUs. The results show that the method can compact test programs by up to 98.64% in code size and by up to 98.42% in terms of duration, with minimum effects on the achieved fault coverage. © 2022 EDAA.

关键词： Graphics processing unit

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Model-Based Shape Estimation and Closed-Loop control of Magnetic Continuum Robot Based on Monocular Vision

Model-Based Shape Estimation and Closed-Loop Control of Magn...

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ieee International Conference on Robotics and Biomimetics

作者： Junfeng Zhu Yuanrui Huang Jian Chen Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre of AI and Robotics Hong Kong Institute of Science Innovation Chinese Academy of Sciences School of Biomedical Engineering and Imaging Sciences King's College London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgeries. However, the submillimeter dimensions of MCRs poses significant challenges for integrating additional sensors. An alternative approach is shape estimation from images, yet the lack of precise MCR kinematics can make this process time-consuming. In this work, we propose a novel MCR design featuring a rectangular tip capable of specific planar bending, along with a corresponding kinematic model and a mechanical model. Additionally, we introduce a model-based shape estimation method that enables the estimation of the MCR's shape from a single-view image without the need for external markers. Experimental results demonstrate that our method can estimate an MCR's shape with a mean absolute error (MAE) of $\mathbf{0.58}\pm \mathbf{0.41}\mathbf{mm}$ within 85ms, facilitating real-time application. Furthermore, closed-loop control based on this method has achieved an end position error below 11% of the tip's total length, highlighting the accuracy and practicality of our approach for surgical interventions.

关键词： Solid modeling Shape computational modeling Magnetic resonance imaging Estimation Kinematics Robot sensing systems Real-time systems Continuum robots Magnetosphere

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PCMPC: Perception-Constrained Model Predictive control for Quadrotors with Suspended Loads using a Single Camera and IMU

PCMPC: Perception-Constrained Model Predictive Control for Q...

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ieee International Conference on Robotics and automation (ICRA)

作者： Li, Guanrui Tunchez, Alex Loianno, Giuseppe NYU Tandon Sch Engn Brooklyn NY 11201 USA

ISBN: (纸本)9781728190778

In this paper, we address the Perception-Constrained Model Predictive control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement Unit (IMU). We design a receding-horizon control strategy for cable suspended payloads directly formulated on the system manifold configuration space SE(3)x S-2. The approach considers the system dynamics, actuator limits and the camera's Field Of View (FOV) constraint to guarantee the payload's visibility during motion. The monocular camera, IMU, and vehicle's motor speeds are combined to provide estimation of the vehicle's states in 3D space, the payload's states, the cable's direction and velocity. The proposed control and state estimation solution runs in real-time at 500 Hz on a small quadrotor equipped with a limited computational unit. The approach is validated through experimental results considering a cable suspended payload trajectory tracking problem at different speeds.

关键词： Actuators Three-dimensional displays Trajectory tracking System dynamics Transportation Aerospace electronics Cameras

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Efficient Facial Expression Recognition Network Based on Spot-Adaptive Knowledge Distillation

Efficient Facial Expression Recognition Network Based on Spo...

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ieee International Conference on Industrial Technology (ICIT)

作者： Xin Wen Zhen-Tao Liu Dan Chen School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

Facial expression recognition plays a key role in promoting the development of comprehensive intelligence and building friendly human-computer interaction. Due to the interference of feature noise in expression data, the lightweight facial expression recognition model with fewer parameters is difficult to learn more expression features through simple training, which limits the improvement of its recognition performance. An efficient facial expression recognition network based on Spot-adaptive Knowledge Distillation is proposed in this paper. Inspired by VoVNetV2, the network designed in this paper is lightweightly improved using Depthwise Separable Convolution and the parameter-free SimAM attention mechanism, reducing the number of parameters to 0.21 M. To further improve the recognition accuracy of the model, Spot-adaptive Knowledge Distillation is employed to improve the characterization ability of the model. The recognition accuracies of the student network designed in this paper on the KDEF and RAF-DB datasets are 93.05% and 81.17% respectively after spot-adaptive distillation.

关键词： Knowledge engineering Training Human computer interaction Accuracy Face recognition computational modeling Noise Neural networks Interference Data models

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