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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear Systems with Intermittent Measurement Only

IEEE Transactions on Network Science and engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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An Augmented and Diminished Reality Exergame for Investigating the Embodiment of a Prosthetic Limb

An Augmented and Diminished Reality Exergame for Investigati...

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Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), IEEE Conference on

作者： Roberta Macaluso Davide Calandra Filippo Gabriele Pratticò Edoardo Battegazzorre Gianmarco Baiocchi Nicolò Boccardo Matteo Laffranchi Andrea Bottino Giacinto Barresi Fabrizio Lamberti Department of Control and Computer Engineering Politecnico di Torino Italy Istituto Italiano di Tecnologia Rehab Technologies Lab and Open University Affiliated Research Centre Genoa Italy Rehab Technologies Lab Istituto Italiano di Tecnologia Genoa Italy Bristol Robotics Laboratory UWE Bristol UK

ISBN: (数字)9798331514846

ISBN: (纸本)9798331525637

Bionic limb prosthetics continue to face significant challenges in terms of artificial limb embodiment, often leading to prosthesis abandonment in patients. Following recent results in literature on digital trainings, this study investigates the impact of the visuo-attentive feedback of an Augmented/Diminished Reality (AR/DR) exergame on prosthetic embodiment. Two interaction paradigms were compared, i.e. a reference unrestricted interaction of a virtual prosthetic limb against a one in which the prosthesis and its interaction capability fades over time and requires the participant’s visual-attention to reestablish it. Preliminary findings on non-amputees demonstrated hardship with the visuo-attentive approach which was associated with detrimental effects on the prosthesis embodiment, possibly because of the re-allocation of cognitive resources that are necessary to establish the process of body ownership.

关键词： Training Limbs Visualization Three-dimensional displays Correlation Prosthetic limbs User interfaces Faces Prosthetics Testing

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A domain decomposition strategy for natural imposition of mixed boundary conditions in port-Hamiltonian systems

arXiv

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arXiv 2025年

作者： de Jong, Sjoerd D.M. Brugnoli, Andrea Rashad, Ramy Zhang, Yi Stramigioli, Stefano Department of Microelectronics Delft University of Technology Delft Netherlands ICA Université de Toulouse ISAE–SUPAERO INSA CNRS MINES ALBI UPS Toulouse France Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Saudi Arabia School of Mathematics and Computing Science Guilin University of Electronic Technology Guilin China Robotics and Mechatronics Department University of Twente Netherlands

[Abstract] In this contribution, a finite element scheme to impose mixed boundary conditions without introducing Lagrange multipliers is presented for wave propagation phenomena described as port-Hamiltonian systems. The strategy relies on finite element exterior calculus and a domain decomposition to interconnect two systems with different causalities. The spatial domain is split into two parts by introducing an arbitrary interface. Each subdomain is discretized with a mixed finite element formulation that introduces a uniform boundary condition in a natural way as the input. In each subdomain the spaces are selected from a finite element subcomplex to obtain a stable discretization. The two systems are then interconnected together by making use of a feedback interconnection. This is achieved by discretizing the boundary inputs using appropriate spaces that couple the two formulations. The final systems includes all boundary conditions explicitly and does not contain any Lagrange multiplier. Each subdomain is integrated using an implicit midpoint scheme in an uncoupled way from the other by means of a leapfrog scheme. The proposed strategy is tested on three different examples: the Euler-Bernoulli beam, the wave equation and the Maxwell equations. Numerical tests assess the conservation properties of the scheme and the effectiveness of the methodology. © 2025, CC BY.

关键词： Lagrange multipliers

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An Augmented and Diminished Reality Exergame for Investigating the Embodiment of a Prosthetic Limb

An Augmented and Diminished Reality Exergame for Investigati...

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2025 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops, VRW 2025

作者： MacAluso, Roberta Calandra, Davide Pratticò, Filippo Gabriele Battegazzorre, Edoardo Baiocchi, Gianmarco Boccardo, Nicolò Laffranchi, Matteo Bottino, Andrea Barresi, Giacinto Lamberti, Fabrizio Politecnico di Torino Department of Control and Computer Engineering Italy Rehab Technologies Lab Open University Affiliated Research Centre Istituto Italiano di Tecnologia Genoa Italy Istituto Italiano di Tecnologia Rehab Technologies Lab Genoa Italy Uwe Bristol Robotics Laboratory Bristol United Kingdom

ISBN: (纸本)9798331514846

Bionic limb prosthetics continue to face significant challenges in terms of artificial limb embodiment, often leading to prosthesis abandonment in patients. Following recent results in literature on digital trainings, this study investigates the impact of the visuo-attentive feedback of an Augmented/Diminished Reality (AR/DR) exergame on prosthetic embodiment. Two interaction paradigms were compared, i.e. a reference unrestricted interaction of a virtual prosthetic limb against a one in which the prosthesis and its interaction capability fades over time and requires the participant's visual-attention to reestablish it. Preliminary findings on non-amputees demonstrated hardship with the visuo-attentive approach which was associated with detrimental effects on the prosthesis embodiment, possibly because of the re-allocation of cognitive resources that are necessary to establish the process of body ownership. © 2025 IEEE.

关键词： Attentional Refocus Augmented Reality Diminished Reality Embodiment Prosthetics

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Decentralized adaptive output feedback design for large-scale nonlinear systems

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IEEE TRANSACTIONS ON AUTOMATIC control 1997年第5期42卷 729-735页

作者： Jain, S Khorrami, F Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Polytechnic University

In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback, The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only, The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs, The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved.

关键词： adaptive control decentralized large-scale systems nonlinear

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DISTRIBUTED ROBOT control ON TRANSPUTER NETWORK

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IEE PROCEEDINGS-E COMPUTERS AND DIGITAL TECHNIQUES 1991年第4期138卷 169-176页

作者： ZALZALA, AMS MORRIS, AS Robotics Research Group Department of Control Engineering University of Sheffield Sheffield UK

The minimum-time control of robot arms has usually been implemented as a two-task procedure, where the appropriate trajectory planning is performed off-line, and then tracking is carried out on-line to achieve the desired motion. However, such an approach is unacceptable whenever the motion is dependent on the on-board sensory equipment operated during the application. In the paper, an on-line trajectory generator is described in which the history of motion is planned and executed in real time. The computational complexities of the minimum-time requirements of the motion have been reduced significantly by distributing the proposed algorithm on a multiprocessor system. The practical implementation of the distributed system on a T800 transputer network shows its efficiency in accomplishing the required task. Real-time simulation results are reported for a PUMA 560 robot manipulator.

关键词： ALGORITHMS ARTIFICIAL INTELLIGENCE CONCURRENT PROCESSING robotics TRANSPUTERS

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Development of a Hand Exoskeleton System for Quantitative Analysis of Hand Functions

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Journal of Bionic engineering 2018年第5期15卷 783-794页

作者： Jeongsoo Lee Minhyuk Lee Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Republic of Korea

This paper proposes a hand exoskeleton system for evaluating hand functions. To evaluate hand functions, the hand exoskeleton system must be able to pull each finger joint, measure the finger joint angle and exerted force on the finger simultaneously. The proposed device uses serially connected 4-bar linkage structures, which have two embedded actuators with encoders and two loadcells per finger, to move each phalanx independently and measure the finger joint angles. A modular design was used for the exoskeleton, to facilitate the removal of unnecessary modules in different experiments and improve convenience. Silicon was used on the surface of the worn part to reduce the skin irritation that results from prolonged usage. This part was also designed to be compatible with various finger thicknesses. Using the proposed hand exoskeleton system, finger independence, multi-finger synergy, and finger joint stiffness were determined in five healthy subjects. The finger movement and force data collected in the experiments were used for analyzing three hand functions based on the physical and physiological phenomena.

关键词： evaluation of hand function hand rehabilitation wearable system exoskeleton

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APPLICATIONS OF THE FUZZY-LOGIC IN AUTOMATED ROBOTIC DEBURRING

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FUZZY SETS AND SYSTEMS 1994年第3期63卷 293-305页

作者： LIU, MH WIENAND, S Department of Control Engineering Control System Theory & Robotics Group Technical University of Darmstadt Darmstadt Germany

Some applications of the fuzzy logic in the automated robotic deburring are described. Main motivations for these applications are (1) the unpredictability of positional inaccuracies and variations of buff sizes, which are difficult to measure;and (2) the nonlinear and complex behaviour of the deburring process. For a passive deburring strategy the fuzzy logic is used to supervise positional inaccuracies, to directly process disturbed force/torque measurements to avoid time delays, and to adjust controller parameters according to working conditions. For an active deburring strategy a fuzzy man-machine interface is built to take the advantage of utilizing operator's knowledges about buff characteristics, and a fuzzy modeling algorithm is developed to get the input-output relationship of, and to extract qualitative understanding about the deburring process. Some experimental results are presented.

关键词： DEBURRING FORCE control FUZZY LOGIC LINGUISTIC MODELING MAN-MACHINE INTERFACE ROBOTS

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A Nonlinear MPC-Net Optimization Framework for Wheeled Humanoid Robots with Whole Body Dynamics

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IEEE Transactions on Automation Science and engineering 2025年

作者： Li, Guoxin Liu, Xingjian Wu, Xiaoyu Tang, Qirong Zhang, Hao Li, Zhijun Shi, Peng Tongji University School of Mechanical Engineering Translational Research Center Shanghai YangZhi Rehabilitation Hospital Shanghai Sunshine Rehabilitation Center Shanghai200092 China Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Shanghai201804 China State Key Laboratory of High-Performance Precision Manufacturing Dalian116024 China Tongji University School of Mechanical Engineering Shanghai201804 China National University of Singapore Department of Biomedical Engineering 117583 Singapore Tongji University Department of Control Science and Engineering Shanghai201804 China The University of Adelaide School of Electrical and Mechanical Engineering SA5005 Australia Obuda University Budapest1034 Hungary

The task performance of mobile manipulators can be significantly enhanced by whole-body control and optimization in complex scenarios. Due to the nonlinear properties of whole-body dynamics and parameter uncertainty, modeling accurate system dynamics is essential in addition to designing an effective control strategy. However, traditional control methods have high computational costs and fail to deal with the parameter errors caused by model linearization. To address these issues, we propose a model predictive control (MPC)-Net, a learning-based approach that facilitates rapid online optimization by combining deep learning with multiple MPCs. Firstly, we develop a parameter identification algorithm based on a deep neural model to estimate the unknown dynamics parameters. Although the control performance of the MPC approach positively correlated with the prediction horizon, a long horizon would result in additional computational costs. Thus, MPC-Net is constructed by combining multiple sub-MPC issues, and the nonlinear coefficients are obtained by using a deep neural network-based optimization framework. Furthermore, MPC-Net generates the solution by combining the outputs of multiple sub-MPC problems using the nonlinear transformation of learned coefficients. Experiments are conducted on a mobile manipulator, which demonstrates the proposed MPC-Net-based optimization control offers fast efficient computation and low tracking error performance. © 2004-2012 IEEE.

关键词： Predictive control systems

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Riemannian Online Optimistic Algorithms with Dynamic Regret

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IEEE Transactions on Automatic control 2025年

作者： Wang, Xi Yuan, Deming Hong, Yiguang Hu, Zihao Wang, Lei Shi, Guodong University of New South Wales School of Electrical Engineering & Telecommunications SydneyNSW2052 Australia Nanjing University of Science and Technology School of Automation Nanjing210094 China Tongji University Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Hong Kong University of Science and Technology Department of Mathematics Hong Kong Zhejiang University College of Control Science and Engineering Zhejiang 310058 China The University of Sydney Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering NSW2006 Australia

In this paper, we consider Riemannian online convex optimization with dynamic regret, which involves minimizing the cumulative loss difference between a learner's decisions and a sequence of adaptive decisions across dynamic environments over time on Riemannian manifolds. First, we propose Riemannian Online Optimistic Gradient Descent (R-OOGD), which extends the classical optimistic algorithms to Riemannian manifolds, requiring one gradient inquiry per round. We then propose Riemannian Adaptive Online Optimistic Gradient Descent (R-AOOGD) by incorporating the meta-expert framework into R-OOGD. We analyze the dynamic regret of R-OOGD and R-AOOGD in terms of the regularity of the sequence of cost functions and comparators. The dynamic regret bound matches the results in Euclidean space and with a scale adjustment of O(1+κ D2/√1-KD2) related to the sectional curvature lower bound κ, sectional curvature upper bound and feasible set diameter. Finally, we provide numerical experiments to illustrate the performance of the proposed algorithms. © 1963-2012 IEEE.

关键词： Optimization algorithms

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