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On iterative learning control design for tracking iteration-varying trajectories with high-order internal model

控制理论与应用（英文版） 2010年第3期8卷 309-316页

作者： Chenkun YIN Jianxin XU Zhongsheng HOU Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China

In this paper, iterative learning control （ILC） design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models （HOLM）. An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOlM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.

关键词： ILC High-order intemal model Iteration-varying Nonlinear systems Continuous-time

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Multi-objective Dimensional Optimization of a 3-DOF Translational PKM Considering Transmission Properties

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International Journal of Automation and computing 2019年第6期16卷 748-760页

作者： Song Lu Yang-Min Li Bing-Xiao Ding Department of Electromechanical Engineering University of MacaoTaipaMacao 853China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityKowloonHong Kong 852China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of TechnologyTianjin 300384China

Multi-objective dimensional optimization of parallel kinematic manipulators(PKMs) remains a challenging and worthwhile research endeavor. This paper presents a straightforward and systematic methodology for implementing the structure optimization analysis of a 3-prismatic-universal-universal(PUU) PKM when simultaneously considering motion transmission, velocity transmission and acceleration transmission. Firstly, inspired by a planar four-bar linkage mechanism, the motion transmission index of the spatial parallel manipulator is based on transmission angle which is defined as the pressure angle amongst limbs. Then, the velocity transmission index and acceleration transmission index are derived through the corresponding kinematics model. The multi-objective dimensional optimization under specific constraints is carried out by the improved non-dominated sorting genetic algorithm(NSGA Ⅱ), resulting in a set of Pareto optimal solutions. The final chosen solution shows that the manipulator with the optimized structure parameters can provide excellent motion, velocity and acceleration transmission properties.

关键词： Multi-objective optimization parallel kinematic manipulator transmission property non-dominated sorting genetic algorithm(NSGA Ⅱ)

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Feature extraction for mental fatigue and relaxation states based on systematic evaluation considering individual difference

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2009年第2期129卷 302-307+16页

作者： Chen, Lanlan Sugi, Takenao Shirakawa, Shuichiro Zou, Junzhong Nakamura, Masatoshi Department of Automation East China University of Science and Technology Shanghai 200237 China Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan National Center of Neurology and Psychiatry Tokyo Japan

Feature extraction for mental fatigue and relaxation states is helpful to understand the mechanisms of mental fatigue and search effective relaxation technique in sustained work environments. Experiment data of human states are often affected by external and internal factors, which increase the difficulties to extract common features. The aim of this study is to explore appropriate methods to eliminate individual difference and enhance common features. Mental fatigue and relaxation experiments are executed on 12 subjects. An integrated and evaluation system is proposed, which consists of subjective evaluation (visual analogue scale), calculation performance and neurophysiological signals especially EEG signals. With consideration of individual difference, the common features of multi-estimators testify the effectiveness of relaxation in sustained mental work. Relaxation technique can be practically applied to prevent accumulation of mental fatigue and keep mental health. The proposed feature extraction methods are widely applicable to obtain common features and release the restriction for subjection selection and experiment design. © 2009 The Institute of Electrical Engineers of Japan.

关键词： Feature extraction

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Defects detection for thin plate via ao-mode lamb-waves eigenvalue imaging method

Defects detection for thin plate via ao-mode lamb-waves eige...

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作者： Teramoto, Kenbu Khan, Tauhidul Islam Department of Advanced Systems Control Engineering Saga University Saga 8408502 Japan Department of Mechanical Engineering Saga University Saga 8408502 Japan

ISBN: (纸本)9781627481519

Ultrasonic guided waves, because of their long range inspection ability, are now being used more and more as a very efficient and economical nondestructive evaluation method for large area inspection. In this study, the eigenvalue imaging method is proposed which has an ability to classify the Lamb wave fronts scattered by sub-surface defects. The eigenvalues are defined by the covariance matrix defined over the 4-dimensional vector space which is spanned by following components:(l)a vertical (z-directional) displacement, (2)its vertical particle velocity, (3)x-directional (4)y-directional out-of-plane strains. In this study, the computational process in the Lamb wave field near the defects is discussed and their physical meanings of the third eigenvalue are investigated through several acoustic experiments.

关键词： Surface waves

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Fundamental research on polymer material as artificial muscle

Fundamental research on polymer material as artificial muscl...

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SICE Annual Conference 2008 - International Conference on Instrumentation, control and Information Technology

作者： Fujihara, Yutaka Hanamoto, Takayuki Dai, Fengzhi Department of Control Engineering Matsue College of Technology Shimane Japan Advanced Electronic and Information Systems Matsue College of Technology Shimane Japan

ISBN: (纸本)9784907764296

Presently, breakthrough industrial technology and scientific technology produce various instruments of downscale and weight saving. But the metal parts are widely used for magnetic motors. It is difficult to lighten the weight and to miniaturize the motor. Therefore, we need small, light actuators that can be built into motor. We focus attention on the polymer material artificial muscle that responds to electrical stimulation with a significant shape or size change. In this research, the artificial muscle was produced by using the conductive grease and the polymer material. We used several kinds of polymer material films in our experiments to compare the performance of them. The displacement when the voltage is applied to electrode was measured. At last the result and conclusion are given. © 2008 SICE.

关键词： Muscle

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Anti-disturbance filter design for a class of stochastic systems with fading channels

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Science China(Information Sciences) 2020年第11期63卷 327-329页

作者： Yang LIU Zidong WANG Hongli DONG Hongjian LIU College of Electrical Engineering and Automation Shandong University of Science and Technology Department of Computer Science Brunel University London Institute of Complex Systems and Advanced Control Northeast Petroleum University School of Mathematics and Physics Anhui Polytechnic University

Dear editor,As a significant topic in control and signal processing communities, the filtering problem has been attracting persistent research attention in the past few decades [1]. In practical engineering, the parameter perturbations are unavoidable due mainly to exogenous disturbances, environmental changes and some other phenomena.

关键词： Stochastic systems fault detection model uncertainty anti-disturbance fading channel

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Construction of simple communication method by use of neuro-biological signals

Construction of simple communication method by use of neuro-...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Thara, Takahiro Sugi, Takenao Eriguchi, Makoto Asami, Toyoko Nakamura, Masatoshi Department of Electrical and Electoronic Engineering Saga University Saga Japan Saga University Hospital Saga Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Many persons suffer from severe disabilities such as amyotrophic lateral sclerosis (ALS) caused by neurological disorders. Such kinds of disabilities bring various restrictions to communication and circumstance in their daily life. A simple communication method using neuro-biological signal will be effective and helpful to enhance their life quality In this study, a simple on-off communication method using electroencephalogram (EEG) and electrooculogram (EOG) was proposed. In case of EEG, parameters for linear regressive equation were selected by AIC. The results showed that the accuracy was extremely high with both communication methods. © 2009 SICE.

关键词： Brain computer interface

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Global path planning of mobile robots as an evolutionary control problem

Global path planning of mobile robots as an evolutionary con...

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1999 European control Conference, ECC 1999

作者： Watanabe, K. Hashem, M.M.A. Izumi, K. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

ISBN: (纸本)9783952417355

A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side of the obstacle will be contained inside a circle. An appropriate fitness function for the problem is constructed by applying a penalty function approach. Simulation results show that the proposed evolutionary approach is quite robust, and it is guaranteed to yield a path terminating at the goal with minimum time and distance while avoiding polygonal obstacles. © 1999 EUCA.

关键词： Mobile robots

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Navigation strategy for a quadruped robot on soft flat ground

Navigation strategy for a quadruped robot on soft flat groun...

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作者： Ikeda, Masaaki Izumi, Kiyotaka Watanabe, Keigo Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Department of Intelligent Mechanical Systems Okayama University Okayama Japan

ISBN: (纸本)9781424474530

Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII. ©ICROS.

关键词： Mobile robots

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