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IEEE International Conference on robotics and Biomimetics

作者： Zhi Li Xin Ma Yibin Li School of control science and engineering Center for robotics Shandong University Jinan China

In practical applications, some system parameters of the quadrotor UAVs such as inertia moments and thrust coefficients are usually unknown or difficult to measure. Moreover, the quadrotor UAVs are suffering from bounded disturbances and model uncertainties. To address this problem, this paper proposes an adaptive non-singular terminal sliding mode controller (ANTSMC) is designed to stabilize the quadrotor in the presence of the unknown system parameters and the external disturbances. The adaptive laws are designed to estimate the unknown model parameters to avoid the requirement for the information of model dynamics. In addition, proper adaptive laws are designed to estimate the upper bounds of the external disturbances. Using the estimations, the need for large control gains is avoided. Lyapunov stability analysis have proven that the ANTSMC could guarantees the finite-time convergence of the states of the quadrotor. Experimental results are given to validate the robustness and effectiveness of the proposed controller.

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A Closed Loop Inverse Kinematics and control Scheme for one Class of Offset-Joint 7-DOF Redundant Manipulator

A Closed Loop Inverse Kinematics and Control Scheme for one ...

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IEEE International Conference on robotics and Biomimetics

作者： Yukun Zheng Hongxiang Yuan Rui Song Xin Ma Yibin Li Center for Robotics School of Control Science and Engineering Shandong University Jinan China

This paper presents a position-based motion control method using the closed-loop inverse kinematics (CLIK) algorithm, which is used for solving one class of offset joint 7 degrees of freedom (DOF) robot. Dual-arm robot is one of the research topics in the field of robotics. In the article, we designed a kind of human dual-arm robot with 14-DOF and studied its kinematics with one of the arms. The inverse kinematic can be solved by using the pseudo-inverse matrix, and the numerical solution can be obtained. In the simulation, we adopt position + velocity scheme and at the same time consider the desired orientation as the posture limitation. This algorithm not only can accurately track the target trajectory, but also can avoid the effect of singularity points. Simulation results for one class end biasing 7-DOF robot demonstrates the effectiveness of the scheme, even for singularities.

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Analytical Risks Prediction. Rationale of System Preventive Measures for Solving Quality and Safety Problems 13th

Analytical Risks Prediction. Rationale of System Preventive ...

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13th International Conference on Modern Information Technology and IT Education, SITITO 2018

作者： Kostogryzov, Andrey Nistratov, Andrey Nistratov, George Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Vavilova Street 44/2 Moscow119333 Russia Main Research Scientific and Probatory Center of Robotics at the Ministry of Defense of Russian Federation Seregin Street 5/1 Moscow125167 Russia The Russian Power Agency of Ministry for the Power Generating Industry Shchepkin Street 40 Moscow1129110 Russia Research Institute of Applied Mathematics and Certification Myasnikovskaya 1-ya Street 3 Moscow1075641 Russia

ISBN: (纸本)9783030468941

The approach for building new probabilistic models which is intended to predict risks for complex intellectual structures under different threats and to solve quality and safety problems in system life cycle, is proposed. The approach includes: selection of models for every system element allowing to estimate probability to lose integrity during given prognostic period;the approach to build probability distribution functions (PDF) by the models selected to predict probability and risks to lose integrity for different scenarios of threats;the approach to integrate PDF for structure from two elements united by serial and/or parallel connection and generalization for complex structure;the approach to form input for modeling and to solve quality and safety problems in application to complex intellectual structures;applications, which can prove efficiency in different areas. The approach is applicable for the analysis of the reliability of complex systems built from unreliable components, estimations of increasing expected reliability and safety for intelligent manufacturing, modeling of robotic and automated systems operating in cosmic space, optimization of a centralized heat supply system, estimating the mean residual time before the next parameters abnormalities for monitored critical systems, control of information quality, estimation of human factor, analysis of vulnerability of sea oil and gas systems etc. Effects are demonstrated by practical examples. © Springer Nature Switzerland AG 2020.

关键词： Forecasting

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A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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Parameter Estimation of Nonlinearly Parameterized Regressions: Application to System Identification and Adaptive control

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IFAC-PapersOnLine 2020年第2期53卷 1206-1212页

作者： Romeo Ortega Vladislav Gromov Emmanuel Nuño Anton Pyrkin Jose Guadalupe Romero Laboratoire des Signaux et Systémes Supélec CNRS-SUPELEC Gif-sur-Yvette France Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Digital Systems ITAM Mexico City Mexico

We propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions—continuous or discrete time—and apply it for system identification and adaptive control. We restrict our attention to parameterizations that can be factorized as the product of two functions, a measurable one and a nonlinear function of the parameters to be estimated. Another feature of the proposed estimator is that parameter convergence is ensured without a persistency of excitation assumption. It is assumed that, after a coordinate change, some of the elements of the transformed function satisfy a monotonicity condition. The proposed estimators are applied to design identifiers and adaptive controllers for nonlinearly parameterized systems, which are traditionally tackled using overparameterization and assuming persistency of excitation.

关键词： Adaptive control systems identification nonlinear control

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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Scalability for Multi-Vehicle Coordination With Dial-a-Ride Application

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IEEE Transactions on Automatic control 2025年

作者： Zhang, Wentao Hu, Guoqiang Zhang, Hui Wang, Yaonan Nanyang Technological University Continental-NTU Corporate Lab 639798 Singapore Hunan University School of Robotics Changsha410082 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore National Engineering Research Center for Robot Visual Perception and Control Changsha410082 China Hunan University College of Electrical and Information Engineering Changsha410082 China

When confronting a practical dial-a-ride problem (DARP), addressing the transportation demands of joining and removal at any operational time is of practical significance yet a theoretical challenge. To this end, this paper formulates the DARP into an architecture that integrates a physical agent (vehicle or robot) and an information decision that suffers from a fluctuation of vector fields with respect to mixed-integer linear programming (MILP). Specifically, physical agents ensure that vehicles can interact with their neighbors to service the transportation demands, whereas information decision-making ensures a feasible vehicle route with minimal routing cost, despite the presence of fluctuations in transportation demand. For centralized open MILP, the feasibility is determined by the boundedness of a nonempty intersection generated by the involved half planes and the entire associated vector field. A resource allocation method is subsequently used, and the equivalence between the primal and dual programs is also studied. In this context, the problem at hand is abstracted into a framework of multivehicle coordination in which agents (vehicles) may be removed or added at any operational time. Afterward, conditions guaranteeing definiteness as well as computing the unique optimal solution via the cutting plane and split disjunction are derived. The considered DARP is deemed solvable, provided that the lower bound of fluctuation, the number of vehicles removed, the interacting topology and the effect of agent removal satisfy certain relations. The effectiveness of the proposed method is illustrated via a numerical instance. © 1963-2012 IEEE.

关键词： Integer programming

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Sensorless control of Permanent Magnet Synchronous Motors based on Finite-Time Robust Flux Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9270-9275页

作者： Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov Dmitry Cherginets Dmitry Bazylev Petranevsky Igor ITMO University Faculty of Control Systems and Robotics49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

A sensorless control algorithm is developed based on novel finite-time robust flux observer for the non-salient permanent magnet synchronous motor (PMSM). Total flux equality and motor model are used to find the linear regression-like model with respect to the flux. Applying dynamic regressor extension and mixing method, we obtain two independent scalar equations and construct a finite-time flux observer. The flux estimate is used to reconstruct the rotor position and velocity with well-known trigonometric relation and phase-locked loop observer, respectively. To complete a sensorless control design, we pass these estimates to standard field orient control. The efficiency and robustness of the proposed approach are demonstrated through the set of numerical simulations.

关键词： Sensorless nonlinear observer flux observer nonlinear control systems synchronous motor

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A sparse Bayesin deep learning approach for identificaiton of cascaded tanks benchmark

arXiv

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arXiv 2019年

作者： Zhou, Hongpeng Ibrahim, Chahine Pan, Wei Department of Cognitive Robotics Tu Delft Delft Center for Systems and Control Tu Delft

Nonlinear system identification is important with a wide range of applications. The typical approaches for nonlinear system identification include Volterra series models, nonlinear autoregressive with exogenous inputs models, block-structured models, state-space models and neural network models. Among them, neural networks (NN) is an important black-box method thanks to its universal approximation capability and less dependency on prior information. However, there are several challenges associated with NN. The first one lies in the design of a proper neural network structure. A relatively simple network cannot approximate the feature of the system, while a complex model may lead to overfitting. The second lies in the availability of data for some nonlinear systems. For some systems, it is difficult to collect enough data to train a neural network. This raises the challenge that how to train a neural network for system identification with a small dataset. In addition, if the uncertainty of the NN parameter could be obtained, it would be also beneficial for further analysis. In this paper, we propose a sparse Bayesian deep learning approach to address the above problems. Specifically, the Bayesian method can reinforce the regularization on neural networks by introducing introduced sparsity-inducing priors. The Bayesian method can also compute the uncertainty of the NN parameter. An efficient iterative re-weighted algorithm is presented in this paper. We also test the capacity of our method to identify the system on various ratios of the original dataset. The one-step-ahead prediction experiment on Cascaded Tank System shows the effectiveness of our method. Furthermore, we test our algorithm with more challenging simulation experiment on this benchmark, which also outperforms other methods. Copyright © 2019, The Authors. All rights reserved.

关键词： Deep neural networks

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Determination and evaluation of negative informational and psychological influence on the military personnel based on the quantitative measure 1

Determination and evaluation of negative informational and p...

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1st International Workshop on control, Optimisation and Analytical Processing of Social Networks, COAPSN 2019

作者： Korobiichuk, Igor Snitsarenko, Petro Katsalap, Vitaliy Hryshchuk, Ruslan Warsaw University of Technology Institute of Automatic Control and Robotics Warsaw Poland National Defence University of Ukraine Kyiv Ukraine Sergey Korolyov Zhytomyr Military Institute Cybersecurity Department of the Research Center Zhytomyr Ukraine

Hereunder presented an approach of creation of the method of determination and evaluation of negative informational and psychological influence on the military personnel by using of expert’s procedures as an integral part of counteraction system against such influence on the cybernetic principle. © 2019 CEUR-WS. All rights reserved.

关键词： Cybernetic model Expert’s method Military personnel Negative informational Psychological influence Resistant system

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