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Logarithmic Sliding-Mode Control for High-Precision Rigid-Body Attitude Tracking 49

Logarithmic Sliding-Mode Control for High-Precision Rigid-Bo...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Dong, Hanlin Yang, Xuebo Chen, Zhongbo Liu, Xiyao School of Automation Northwestern Polytechnical University Xi'an China Research Institute of Intelligent Control Systems Harbin Institute of Technology Harbin China College of Control Science and Engineering Bohai University Jinzhou China Northwestern Polytechnical University Research Center for Intelligent Robotics Xi'an China

ISBN: (纸本)9798350331820

The problem of high-precision attitude tracking is studied in this paper under model uncertainty and external disturbance risk. First of all, the kinematics and dynamics model of rigid body is derived based on the quaternion theory. Then, a standard logarithmic sliding-mode function is constructed using the attitude quaternion and its derivatives of the rigid spacecraft, and the corresponding logarithmic sliding-mode controller is also derived. Finally, the stability of the controlled closed-loop system is demonstrated. Consistenting with theoretical proof, the numerical simulation results showed that the controlled rigid body can quickly track its desired attitude command, even if there are model uncertainty and external disturbance risks. © 2023 IEEE.

关键词： Disturbance rejection

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A hierarchical energy sharing strategy for multi-communities with heterogeneous prosumers

A hierarchical energy sharing strategy for multi-communities...

引用

2024 China automation Congress, CAC 2024

作者： Yang, Yan Chen, Fan Hu, Mian Wu, Huaiyu Chen, Yang Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology 430081 China

ISBN: (纸本)9798350368604

Inter-community energy sharing is of positive significance in the energy transacion market, which can effectively reduce the cost of purchasing energy from the utility grid and improve the local consumption of renewable energy. In this study, a hierarchical energy sharing framework for multi-communities with heterogeneous prosumers is proposed. Each community consists of different types of prosumers, that is, photovoltaic (PV) prosumers, wind turbine (WT) prosumers and aggregate electric vehicle (EV) prosumers. A hierarchical energy sharing strategy based on Stackelberg game is proposed. In the inner cooperation stage, the total cost minimization model of operator cluster is established. In the outer non-cooperative stage, the Stackelberg game model between each operator and heterogeneous prosumers in each community is established, and the robust optimization method is adopted to solve the time-varying uncertainty problem of renewable energy generations. A hierarchical iterative algorithm is designed to solve the Stackelberg game equilibrium strategy, which maximizes each prosumer’s income and minimizes the operators’ total cost. The simulation results show that the proposed multi-community hierarchical energy sharing strategy can not only reduce the impact of load fluctuation on the utility grid, but also improve the income of prosumers. © 2024 IEEE.

关键词： Distributed energy

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Reinforcement learning-based feature learning for object tracking

Reinforcement learning-based feature learning for object tra...

引用

International Conference on Pattern Recognition

作者： Fang Liu Jianbo Su Research Center of Intelligent Robotics & Department of Automation ShangHai JiaoTong University Shanghai China

ISBN: (纸本)0769521282

Feature learning in object tracking is important because the choice of the features significantly affects system's performance. A novel online feature learning approach based on reinforcement learning is proposed. Reinforcement learning has been extensively used as a generative model of sequential decision-making that interacts with uncertain environment. We extend this technique to feature selection for object tracking, and further add human-computer interaction to reinforcement learning to reduce the learning complexity and speed the convergence rate. Experiments of the object tracking are provided to verify the effectiveness of the proposed approach.

关键词： Target tracking intelligent robots robotics and automation Convergence Infrared detectors Machine learning Human computer interaction Decision making Computer vision Cameras

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Face contour detection using geometric active contours

Face contour detection using geometric active contours

引用

World Congress on intelligent Control and automation (WCICA)

作者： Fuzhen Huang Jianbo Su Institute of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

In this paper, a new method that incorporates prior shape information into geometric active contours for face contour detection is proposed. The improved geometric active contour model is implemented using a variational level set approach. With this model, face contours in images with complex backgrounds can be detected accurately depending on both the image edges and the prior face shape. The experiment results show the efficiency and effectiveness of our method.

关键词： Face detection Active contours Level set Shape Solid modeling Image edge detection robotics and automation intelligent robots Data mining Head

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Optimal incremental approach to the motion compression for telepresent locomotion

Optimal incremental approach to the motion compression for t...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Jianbo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

Telepresent system enables a user in local environment to operate in a remote or virtual environment through a robotic operator (agent). One of the key techniques for the system is that the user could move in local environment as what the agent would like to do in remote environment. However, since the size of local environment is normally limited while the size of remote environment is arbitrary, motion of the remote robot should be compressed and mapped to the local user, taking account of limitation of local environment. Meanwhile, the shape and length of the path, along which the robot moves, should be retained when being mapped to the local user, to ensure the realism of the telepresence. In this paper, this problem is addressed from the optimization point of view. A universal framework to mathematically approach this problem is proposed. The presented solution is easy to be extended to more complicated cases with more constraints involved, such as multiple users share one local environment. Extensive simulations show the feasibility and the effectiveness of the proposed approach.

关键词： Internet robotics and automation intelligent robots Human robot interaction Robot sensing systems Robot control IP networks Virtual environment Shape Stability

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Humanoid robot locomotion

Humanoid robot locomotion

引用

International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Xu-Sheng Lei Jing Pan Jian-Bo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS.

关键词： Humanoid robots Legged locomotion Stability Energy consumption Humans Control systems robotics and automation intelligent robots Error compensation Hip

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A scalable modular architecture of 3D object acquisition for manufacturing automation

A scalable modular architecture of 3D object acquisition for...

引用

IEEE International Conference on Industrial Informatics (INDIN)

作者： Ren C. Luo Chia-Wen Kuo Center for Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan

In this paper, we propose a modularized architecture for a robot arm object fetching system integrated with 3D CAD-model based object recognition system that can cope with objects in random types and poses. The interface and the core functionality of each module in the architecture are discussed in detail. Implementation of each module is also conducted. Furthermore, the assumptions and the working conditions behind each module are carefully examined. We develop the system based on our previous work and enhance the recognition module. To proof the feasibility of our architecture, 3D object recognition and fetching demonstration are successfully implemented, and the result of object recognition, teaching by touching, and fast grasp synthesis are successfully demonstrated.

关键词： Robots Education Databases Object recognition Assembly Three-dimensional displays Solid modeling

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Robot Autonomous Perception Model for Internet-Based intelligent Robotic System

Robot Autonomous Perception Model for Internet-Based Intelli...

引用

International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Zhen-Dong Gao Jian-Bo Su Wei Zhou Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

The Internet-based robot is a popular topic in robot control research recently. A platform build to provide information for robot can increase its intelligence and performance of teleoperation greatly. This paper implements the robot system based on the Robot Autonomous Perception Model (RAPM) can get the information on the Internet through autonomous perception, optimize paths based on Genetic Algorithms, and fulfill the mission out of the robot’s field range. The experiment shows RAPM possesses greatly extended capability and proper structural frame, and the optimizing way based on GA is effective. This has significant purpose for increasing Internet-based robots intelligence and behavior capacity.

关键词： intelligent robots Internet intelligent systems Robot kinematics Mobile robots robotics and automation Robot sensing systems Orbital robotics Robot control Genetic algorithms

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Intention modeling of Web user for networked mobile robot with Bayesian inference

Intention modeling of Web user for networked mobile robot wi...

引用

International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Wei Zhou Jian-Bo Su Research Center of Intelligent Robotics & Department of Automation Shanghai Jiaotong University Shanghai China

Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay in data transmission over Internet. This paper investigates a novel approach to compensate the uncertain time delay with the autonomy of mobile robot. The user's intention to operate and control the networked robot is incrementally inferred based on Bayesian techniques so that task of the robot defined by the user's intention can be recognized. Consequently, the robot can autonomously execute this task without frequent interaction with the user, which decreases data transmission to a great extent. So long the robot has a correct inference on task, the efficiency of the whole system can be improved to a remarkable extent. Experimental results show the validity and feasibility of the proposed method.

关键词： Mobile robots Bayesian methods Delay effects intelligent robots Internet Robot sensing systems robotics and automation Data communication Communication system control Robot control

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Gaze Control on Humanoid Robot Head

Gaze Control on Humanoid Robot Head

引用

World Congress on intelligent Control and automation (WCICA)

作者： Lizhong Gu Jianbo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

This paper presents a general gaze control algorithm for humanoid robot head. Gaze control is an essential visual behavior for human-robot interaction. Calculation of the distance to fixation point is a first step to accomplish coordinated head-eye movements on humanoid robot head. We solved the problem of obtaining depth information under the condition of two eyes gazing at the point. Then we derived kinematics mathematical models of coordinated head-eye movements according to the geometry constraint of the robot head. A general humanoid robot head has been developed and experimental results demonstrate the effectiveness of the proposed algorithm

关键词： Robot control Humanoid robots Head Robot kinematics Eyes Humans Automatic control intelligent robots Neck robotics and automation

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