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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Hu, Nan Li, Shaoyuan Huang, Dan Gao, Feng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783902823625

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain. © IFAC.

关键词： Robot programming

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Nonlinear Asymptotic Attitude Tracking control for an Unmanned Helicopter with Input Constraints

Nonlinear Asymptotic Attitude Tracking Control for an Unmann...

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American control Conference

作者： Xiang Liu Bin Xian Yao Zhang Xu Zhang Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight is taken into account by using the robust bounded terms in the controller design. The asymptotic convergence of the tracking error is guaranteed with the Lyapunov-based stability analysis.

关键词： Helicopters Rotors Attitude control Vectors Servomotors Stability analysis Equations

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A Continuous Robust control Design for a Class of Non-Affine Nonlinear Dynamics with Non-varnishing Disturbance

A Continuous Robust Control Design for a Class of Non-Affine...

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American control Conference

作者： Yao Zhang Bin Xian Bo Zhao Xiang Liu Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.

关键词： Radio frequency Nonlinear dynamical systems Stability analysis Trajectory Tracking loops control design Equations

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Hovering control of a nano quadrotor unmanned aerial vehicle using optical flow

Hovering control of a nano quadrotor unmanned aerial vehicle...

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Chinese control Conference (CCC)

作者： Bin Xian Yang Liu Xu Zhang Meihui Cao Fu Wang The Institute of Robotics and Autonomous System The Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin Tianjin CN

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Image motion analysis Computer vision Optical imaging Optical sensors Adaptive optics Optical filters Optical feedback

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Indirect position estimation method for switched reluctance motor using searching windings

Indirect position estimation method for switched reluctance ...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Cheng Wang Zhiquan Deng Jun Cai Rongguang Hu College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China School of Information and Control Nanjing University of Information Science and Technology Nanjing China Dept. Automatic Control and System Engineering University of Sheffield UK

This paper presents a new method to estimate rotor position indirectly for 12/8 switched reluctance motor (SRM). In this method, searching windings and main windings are wound on stator together. The structure of searching windings is designed to reduce induced voltages caused by main windings. High frequency voltage is applied to searching windings and the position signal is derived from induced high frequency signals. High frequency voltage can be injected from standstill to high speed in this method, thus it can operate in a wide speed range. The proposed method is implemented on a 12/8 SRM and the experimental results demonstrate the validity of this method.

关键词： Windings Reluctance motors Rotors Inductance Estimation Coils

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Modeling and detection of rotating stall in axial flow compressors: Part I - investigation on high-order M-G models via deterministic learning

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Zidonghua Xuebao/Acta Automatica Sinica 2014年第7期40卷 1265-1277页

作者： Wang, Cong Wen, Bin-He Si, Wen-Jie Peng, Tao Yuan, Cheng-Zhi Chen, Tian-Rui Lin, Wen-Yu Wang, Yong Hou, An-Ping College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China AVIC Aviation Motor Control System Institute Wuxi 214063 China College of Electronic Information and Automation Chongqing University of Technology Chongqing 400054 China School of Automation Guangdong University of Technology Guangzhou 510006 China Department of Mechanics and Engineering Science Peking University Beijing 100871 China School of Energy and Power Engineering Beihang University Beijing 100191 China

Rotating stall and surge are important and challenging problems in the area of axial compressors. This paper presents an approach for approximately accurate modeling and rapid detection of stall precursors based on deterministic learning. Firstly, based on the high-order compressor model (Mansoux model), a method for modeling the system dynamics corresponding to stall precursors is presented by employing deterministic learning algorithm;Secondly, a scheme for rapid detection of stall precursors is proposed by using dynamical pattern recognition algorithm;Thirdly, experiments are conducted on a low-speed research compressor of Beihang University. By measuring relevant parameters of the compressor, the Mansoux-Beihang model is obtained. Simulation studies on the Mansoux-C2 model and the Mansoux-Beihang model are included to show the effectiveness of the approach. Copyright © 2014 Acta Automatica Sinica. All rights reserved.

关键词： Fault detection

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A data-driven maintenance support system for wind energy conversion systems 19

A data-driven maintenance support system for wind energy con...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Krueger, Minjia Haghani, Adel Ding, Steven X. Jeinsch, Torsten Engel, Peter Institute for Automatic Control and Complex System Faculty of Engineering University Duisburg-Essen Bismarckstr. 81 BB Duisburg47057 Germany Institute of Automation University Rostock Richard Wagner Str. 31 Rostock18119 Germany PC-Soft GmbH A.-Hennecke-Str. 37 Senftenberg01968 Germany

ISBN: (纸本)9783902823625

With the rapid growth of wind energy installed capacity, optimized maintenance has gained increasingly attentions from both researchers and wind farm owners. Condition-based maintenance (CBM) has been introduced to the wind energy industry in order to ensure the availability and safety of the wind energy conversion (WEC) system, while minimize the operating and maintenance (O&M) costs. In this paper a maintenance decision support system is introduced. By combining the information delivered by the data-driven WEC condition monitoring system and the economical benefits of each possible corrective maintenance action, the decision support system provides the operators with a choice of the most proper maintenance action for the current situation. The performance of the decision support system is tested with data collected from different WECs in a wind farm. © IFAC.

关键词： Decision support systems

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Finite-time stability and stabilization of It stochastic time-varying systems

Finite-time stability and stabilization of It stochastic t...

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第三十三届中国控制会议

作者： YAN Zhiguo ZHANG Weihai LIN Zhongwei School of Electrical Engineering and Automation Qilu University of Technology College of Electrical Engineering and Automation Shandong University of Science and Technology State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Control and Computer EngineeringNorth China Electric Power University

This paper deals with the finite-time stability and stabilization for continuous-time linear stochastic time-varying systems. Several necessary and sufficient conditions and a sufficient condition for finite-time stability are derived. Moreover,a sufficient condition for the existence of state feedback controller is given. Such results involve the feasibility problems of differential linear matrix inequalities with terminal constraint.

关键词： Stochastic systems,time-varying systems,finite-time stability

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Precise Sun-tracking control of Heliostats Based on a Sun's Image Reference system

Precise Sun-tracking Control of Heliostats Based on a Sun's ...

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第26届中国控制与决策会议

作者： Zhu Xuemei Mi Xiaoling Lin Kaizhi Huang Wenjun School of Electrical and Automation Engineering Nanjing Normal University Zhejiang Supcon Solar Technology Co. Ltd. Institute of Cyber-System and Control Zhejiang University

Solar tower power plant is the widest market prospect type in large-scale solar power plants during the next decades. Heliostats are the most important components in this system. To solve the problems in the sun-tracking, concentrating control and low dynamic precision of the heliostat clusters system, the nonlinear kinematical model of a heliostat is developed based on analysis of the two-axis rotation sun-tracking mechanism and property. The motion trajectory information of a single heliostat is sampled by using a sun's image reference system combined with machine vision-based method. Nonlinear optimization is proposed to get the best sun's image fitting to achieve the heliostat model parameters automatic intelligent calibration, which overcome the sun-tracking and concentrating precision drift caused by mechanical wears of the heliostat, the environmental and seasonal variations and achieve the high focusing rate and high efficiency of the energy collecting of the large-scale heliostat clusters. The effectiveness of proposed modeling, calibration, and control theory of heliostats are verified through theoretical simulation and experimental researches.

关键词： Concentrating Solar Power,Heliostat,Sun's image reference system,Sun-tracking control

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