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Adaptive fuzzy-based motion generation and control of mobile under-actuated manipulators

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2014年 30卷 86-95页

作者： Li, Zhijun Yang, Chenguang Su, Chun-Yi Ye, Wenjun S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China Univ Plymouth Sch Comp & Math Plymouth PL4 8AA Devon England S China Univ Technol Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ Canada

In this paper, adaptive fuzzy-based motion generation and control are investigated for nonholonomic mobile manipulators with an under-actuated dyanmics model, in the presence of parametric and functional uncertainties. It is well known that the constraints of this kind of system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated manipulator with a passive joint. Through using dynamic coupling property of nonholonomic mobile manipulators, we can decouple the dynamics into a fully actuated subsystem and an unactuated subsystem. Then adaptive control is employed for the fully actuated subsystem using fuzzy logic approximation. Since the non-actuated subsystem cannot be directly manipulated by torque inputs but can be indirectly affected by the motion of the actuated subsystem, the reference trajectory of the actuated subsystem is planned by the fuzzy logic system based motion generator. Rigorous theoretic analysis has been established to show that the proposed trajectory generation and control are able to achieve dynamic stability, motion tracking and optimized dynamics. Simulation studies have further validated the efficiency of the developed scheme. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Mobile under-actuated manipulators Optimization LQR model reference control Sliding mode

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Multivariable adaptive control: A survey

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AUTOMATICA 2014年第11期50卷 2737-2764页

作者： Tao, Gang Univ Virginia Dept Elect & Comp Engn Charlottesville VA 22904 USA Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing Jiangsu Peoples R China

Adaptive control is a control methodology capable of dealing with uncertain systems to ensure desired control performance. This paper provides an overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input-multi-output systems, literature reviews on adaptive control foundations and multivariable adaptive control methods, and related technical problems. It covers some basic concepts and issues such as certainty equivalence, stability, tracking, robustness, and parameter convergence. It discusses some of the most important topics of adaptive control: plant uncertainty parametrization, stable controller adaptation, and design conditions for different adaptive control schemes. The paper also presents a detailed study of well-developed multivariable model reference adaptive control theory and design techniques. It provides an introduction to multivariable adaptive pole placement and adaptive nonlinear control, and it concludes by identifying some open research problems. (C) 2014 Published by Elsevier Ltd.

关键词： Adaptive control Backstepping control Fault-tolerant control Certainty equivalence principle Feedback linearization Gain matrix decomposition Multivariable systems model reference control Parameter estimation Parametrization Plant-model matching Pole placement control Robustness Stability and tracking System uncertainties

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A Discrete model reference Sliding Mode controller with a Disturbance Compensator and Its Application to Flight Simulator

A Discrete Model Reference Sliding Mode Controller with a Di...

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26th Chinese control and Decision Conference (CCDC)

作者： Cai Chao Wang Wei-hong Zhang Wu-long Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

ISBN: (纸本)9781479937066

As for parameters fluctuating, uncertainties caused by external disturbance and friction, the nonlinearity of the flight simulator turntable servo system, a discrete model reference sliding mode control theme combining with adaptive method and decoupled disturbance compensator is presented, and the globally asymptotically stability of the system is proved. The simulation results verified that the proposed control method can restrain the uncertainties and external disturbance of the flight simulator servo system efficiently assuring the dynamic tracking performance and strong robustness at a long range frequency.

关键词： Discrete control System Sliding Mode control model reference control Disturbance Compensator Flight Simulator

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Adaptive control of Robot System of up to a Half Passive Joints

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14th Annual Conference on Towards Autonomous Robotic Systems (TAROS)

作者： Yang, Chenguang Li, Jing Li, Zhijun Chen, Weisheng Cui, Rongxin Univ Plymouth Ctr Robot & Neural Syst Sch Comp & Math Plymouth PL4 8AA Devon England South China Univ Technol Coll Automat Sci & Engn MOE Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Xidian Univ Dept Math Xian Peoples R China Northwestern Polytech Univ Sch Marine Sci & Technol Xian Peoples R China

ISBN: (纸本)9783662436455;9783662436448

In this paper, we study adaptive control of a robot system of 2n joints with up to n joints being passive. By exploiting the dynamics couplings between the active joints and the passive joints, we have developed a method to use desired trajectories of active joints to indirectly "control" the motion of the passive joints. Optimal control techniques have been employed to control the active joints with smooth motion of minimized acceleration. Neural network (NN) has been used for block function approximation, in order to generate ideal desired trajectory of active joints. It has been theoretically established that under the developed adaptive controller and NN based trajectory generator, the passive joints can be effectively controlled to follow the predefined trajectory.

关键词： Passive joint Optimization LQR model reference control

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Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively controlled Unmanned Helicopter

Run-to-Run Disturbance Rejection for Feedforward Path Follow...

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Conference on control Applications

作者： Johann C. Dauer Timm Faulwasser Sven Lorenz Department of Unmanned Aircraft Institute of Flight Systems DLR (German Aerospace Center) 38108 Braunschweig Germany Institute for Applied Informatics Karlsruhe Institute of Technology 76131 Karlsruhe Germany and the Laboratoire d'Automatique école Polytechnique Fédérale de Lausanne Switzerland

ISBN: (纸本)9781479977970

We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind induced forces and model uncertainties. These disturbance estimates are introduced in an optimal control problem used to compute feedforward controls. In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. These results underpin that the proposed approach significantly decreases flight path deviations in a runto-run fashion.

关键词： feedforward path following remotely piloted aircraft system adaptive control model reference control run-to-run disturbance rejection unmanned aircraft system unmanned helicopter

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Optimized model reference Adaptive Motion control of Robot Arms with Finite Time Tracking

Optimized Model Reference Adaptive Motion Control of Robot A...

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31st Chinese control Conference

作者： Yang, Chenguang Ma, Hongbin Fu, Mengyin Smith, Alex M. Univ Plymouth Sch Comp & Math Plymouth PL4 8AA Devon England Beijing Inst Technol Key Lab Intelligent Control & Decis Complex Syst Beijing 100081 Peoples R China

ISBN: (纸本)9789881563811

In this paper, we study motion control of general n degrees of freedom (DOFs) rigid robot arms. Aiming at shaping the controlled closed-loop dynamics to be of minimized motion tracking errors and as well as angular accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive control is then developed to ensure that the reference model can be matched in finite time, in the presence of various uncertainties. The stability and optimal tracking performance have been rigorously established by theoretic analysis.

关键词： LQR optimization model reference control variable structure

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Adaptive control of Bivalirudin in the Cardiac Intensive Care Unit

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IFAC Proceedings Volumes 2014年第3期47卷 8427-8432页

作者： Qi Zhao T. Edrich Ioannis Ch. Paschalidis Division of System Eng. Boston Univ. USA Dept. of Anesthesia Perioperative and Pain Medicine Brigham and Women's Hospital Boston USA Dept. of Electrical & Computer Eng. and Center for Information & Systems Eng. Boston Univ. 8 St. Mary's St. Boston MA 02215 USA http://ionia.bu.edu

Bivalirudin is a direct thrombin inhibitor used in the cardiac intensive care unit in patients who develop an allergic reaction to heparin. Since it is not a commonly used drug, clinical experience with its dosing is sparse. In earlier work (Zhao et al. [2014]) we developed a dynamic system model that accurately predicts the effect of bivalirudin when given dosage over time and patient physiological characteristics. This paper develops adaptive dosage controllers that regulate its effect to desired levels. To that end, and in the case that bivalirudin model parameters are available, we develop a model reference control law. In the case that model parameters are unknown, an indirect model reference Adaptive control scheme is applied to estimate model parameters first and then adapt the controller. Our algorithms are validated using actual data from a large hospital in the Boston area.

关键词： Bivalirudin Pharmacokinetics Parameter Identification model reference control model reference Adaptive control

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model reference control of Nonlinear Systems by Dynamic Output Feedback Linearization of Neural Network based ANARX models

Model Reference Control of Nonlinear Systems by Dynamic Outp...

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10th International Conference on control, Automation, Robotics and Vision

作者： Petlenkov, Eduard Tallinn Univ Technol Dept Comp Control Tallinn Estonia

ISBN: (纸本)9781424422869

A dynamic output feedback linearization technique for model reference control of nonlinear systems identified by an Additive Nonlinear Autoregressive eXogenous (ANARX) model. ANARX structure of the model can be obtained by training a neural network of the specific restricted connectivity structure. Linear discrete time reference model is given in the form of transfer function defining desired zeros and poles of the closed loop system. NN-based ANARX model can be linearizad by the proposed linearization algorithm thus that the transfer function of the linear closed loop system corresponds to the given reference model. The proposed linearization algorithm can be applied to control of a wide class of nonlinear SISO and MIMO systems. The effectiveness of the proposed control technique is demonstrated on numerical example.

关键词： nonlinear control systems neural networks ANARX model output feedback linearization model reference control

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Trajectory Planning and Optimized Adaptive control for a Class of Wheeled Inverted Pendulum Vehicle models

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IEEE TRANSACTIONS ON CYBERNETICS 2013年第1期43卷 24-36页

作者： Yang, Chenguang Li, Zhijun Li, Jing Univ Plymouth Sch Comp & Math Plymouth PL4 8AA Devon England Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Xidian Univ Dept Math Xian 710071 Peoples R China

In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems. Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model. Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties. The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort. In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics. Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly "controls" the forward velocity such that it tracks the desired velocity asymptotically. The stability and optimal tracking performance have been rigorously established by theoretic analysis. In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller.

关键词： Linear quadratic regulation (LQR) model reference control optimization wheeled inverted pendulum (WIP)

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Development of a sliding mode controller for semi-active vehicle suspensions

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JOURNAL OF VIBRATION AND control 2013年第8期19卷 1152-1160页

作者： Yao, Jia-ling Shi, Wen-ku Zheng, Jia-qiang Zhou, Hong-ping Jilin Univ Coll Automot Engn Changchun 130022 Peoples R China Nanjing Forestry Univ Coll Automobile & Traff Engn Nanjing Peoples R China Nanjing Forestry Univ Coll Mech & Elect Engn Nanjing Peoples R China

Sliding mode control of semi-active suspensions possesses excellent performance as well as high robustness. However, it is difficult to obtain sufficient data concerning the various states of the suspension. A model reference sliding mode controller that is easy to implement has been designed. The proposed controller needs only two acceleration sensors and eliminates the necessity of measuring road signals in real-time. The controller uses an approximate ideal skyhook system as a reference model, and the control law is determined so that an asymptotically stable sliding mode will occur in the error dynamics between the plant and the reference model states. The effectiveness of this controller has been verified via experimental studies. A real-time control system has been constructed with a virtual instrument system. Experimental rapid control prototyping for the proposed controller has been conducted on a quarter-car suspension system. The experimental results indicate that, compared with a practical skyhook controller and a passive suspension, the sliding mode controller can effectively improve ride comfort and safety performance. The designed controller should be directly transferable to commercial implementations of semi-active vehicle suspensions.

关键词： model reference control rapid control prototyping real-time control system semi-active suspension sliding mode

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