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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Lin Yang Yuanlong Li Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai P. R. China

This paper studies the tracking control problem of high-order fully actuated system subject to input constraints. Since there exist input constraints, an inappropriate reference signal being tracked may cause actuator saturation and further cause system instability. For solving the problem, we firstly design a generalized proportional differential controller to ensure the stability of the closed-loop system without input constraints. Then, an explicit reference governor is constructed to modify the reference signal such that the applied reference signal never exceeds the saturation limits, and the equilibrium of the resulting closed-loop system is globally asymptotically stable. Furthermore, we prove that the applied reference will converge to the original reference as much as possible. Therefore, the system output finally converges to the original reference by tracking the applied reference. A numerical example demonstrates the validity of the proposed method in this paper.

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Direction-Constrained control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

arXiv

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arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Integrated Guidance and control Design Subject to Actuator Saturation Based on Fully Actuated system Approach

Integrated Guidance and Control Design Subject to Actuator S...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Lin Yang Yuanlong Li Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Based on fully actuated system approach, this paper proposes a design scheme for integrated guidance and control systems subject to actuator saturation. By elimination elevation-order way, the integrated guidance and control model in the pitch channel is transformed into a high-order fully actuated system with uncertain disturbances and actuator saturation. Firstly, a disturbance observer is constructed to estimate the disturbances generated by model nonlinearities, unknown target maneuvers, variations of aerodynamic parameters, etc. Then, an observer-based fully actuated controller is designed to stabilize the integrated guidance and control system and perform disturbance attenuation. Since the missile’s deflection angle for pitch control is constrained by actuator saturation, an anti-windup compensator is introduced into the designed fully actuated controller to reduce the negative impact of saturation. Moreover, the stability conditions of the closed-loop system are established by the Lyapunov stability theory and the invariant set principle. Finally, a numerical simulation is provided to verify the effectiveness of the proposed design scheme.

关键词： Actuators Missiles control design Estimation Numerical simulation Disturbance observers Stability analysis

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The Influence of Microstructural Evolution on Performance Degradation in Solid Oxide Fuel Cells

SSRN

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SSRN 2024年

作者： Shao, Yuqing Shen, Junjie Ren, He Zhao, Liwei Xue, Ziyu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The microstructure evolution effects performance degradation of solid oxide fuel cells (SOFCs) under elevated temperatures. The microstructural evolution, including elemental diffusion, phase changes, and Ni agglomeration, is studied via X-ray diffraction (XRD) and scanning electron microscopy energy dispersive spectrometer (SEM-EDS) techniques. The ohmic resistance and polarization impedance, including activation polarization impedance and concentration resistance, causing the performance degradation, are estimated using electrochemical impedance spectroscopy (EIS) and distribution of relaxation time (DRT) techniques. The voltage gradually decreases from 0.9 V, at the beginning of the load, to 0.75 V after 240 h of service. The formation of pores at the (La0.6Sr0.4Co0.2Fe0.8O3-δ) LSCF/(Gd0.1Ce0.9O2-δ) GDC interface and cracks at the (8 mol% Y2O3-stabilized ZrO2) YSZ/NiO-YSZ interface induce the increase in ohmic resistance. The increase in activation polarization resistance is attributed to the formation of the SrZrO3 phase and Gd2(Zr1-xCex)2O7, at the YSZ/GDC interface, and the redistribution and coarsening of Ni. The formation of Co- or Fe-based oxides in the LSCF layer slightly increases the concentration polarization impedance. © 2024, The Authors. All rights reserved.

关键词： Scanning electron microscopy

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Feili Wei Chaochen Gu Kaijie Wu Hao Cheng Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot’s adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot.

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control for Tractor-Trailer Trajectory Tracking with Unknown Parameters

arXiv

引用

arXiv 2023年

作者： Wang, Zehao Zhang, Han Wang, Jingchuan Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC. © 2023, CC BY-NC-SA.

关键词： Model predictive control

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BEARING-BASED TARGET ENTRAPPING control OF MULTIPLE UNCERTAIN AGENTS WITH ARBITRARY MANEUVERS

arXiv

引用

arXiv 2023年

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Yu, Wenbin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the persistently exciting conditions of the inter-agent relative bearings can be satisfied since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation error and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method in both 2D and 3D cases. Copyright © 2023, The Authors. All rights reserved.

关键词： Acceleration

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The Influence of Hydrogen on the Recrystallization Texture of a Face centered Cubic Metal

SSRN

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SSRN 2024年

作者： Ren, He Shen, Junjie Guo, Xiangru Shao, Yuqing Zhao, Liwei Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The evolution of an alloy’s microstructure in a hydrogen atmosphere at high temperatures is one of the important factors contributing to the degradation in the alloy’s strength. The present study aimed to clarify the influence of hydrogen on the recrystallization texture of a face centered cubic (FCC) metal. As a model of FCC metal, commercially pure nickel (Ni) was cold-rolled and then annealed separately in vacuum and hydrogen atmospheres. Subsequently, the recrystallization textures were analyzed using EBSD and XRD. Hydrogen promoted the recrystallization of -oriented deformed grains while hindering the recrystallization of -oriented deformed grains. It increased the content of {011} texture, promoted the decrease of R-Cube texture content, hindered the increase of Cube texture content， and hindered the reduction in contents of Brass, Copper, Goss, and S textures. In addition, it had an insignificant effect on {011} texture contents. Hydrogen demonstrated an anisotropic effect on the dislocation movement and density of grains with different orientations. Specifically, it impeded the dislocation movement within -oriented deformed grains while facilitating the dislocation movement within -oriented deformed grains. As a result, hydrogen induced an increase in dislocation density in -oriented grains and a decrease in dislocation density in -oriented grains. © 2024, The Authors. All rights reserved.

关键词： Hydrogen

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An Integrated Neural Unmanned system for Multi-Domain Perception and Decision-Making

An Integrated Neural Unmanned System for Multi-Domain Percep...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Liu, Qiming Xu, Neng Zhang, Jinpeng Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China Shanghai Jiao Tong University SJTU Paris Elite Institute of Technology Shanghai200240 China Second Academy of China Aerospace Beijing100854 China Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

Most recent intelligent systems study the perception or policy modules independently but ignore the inter-connection between them, which results in low information efficiency and high network redundancy, in the end, leads to the incomplete utilization of network potential and poor system-level end-to-end intelligence. This paper proposes an integrated end-to-end network that adapts to multi-domain inputs and multi-function outputs. 'Integration' is defined in this paper in mainly three aspects: network structure level, optimization level, and functional level. The integrated network architecture is capable of fusing multiple raw sensory inputs and outputting multiple perceptions and decisions simultaneously. We first implement the integrated system in a virtual simulation environ-ment and investigate the domain transformation methods to real world. Comprehensive experiment results in both virtual and real environments show that our proposed system can behave normally under exploration, target-driven navigation and target shooting tasks. © 2022 IEEE.

关键词： intelligent systems

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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