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第三十二届中国控制会议

作者： Shuzhi Sam Ge Wei He Shengtao Xiao Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Department of Electrical & Computer Engineering National University of Singapore Social Robotics Lab Interactive Digital Media InstituteNational University of Singapore Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781479900305

In this paper,adaptive neural network control is designed for a robotic manipulator with unknown *** networks are used to compensate for the unknown deadzone effect faced by the manipulator's ***-feedback control is proposed first and high-gain observer is then designed to make the proposed control scheme more *** deadzone effect is approximated by a Radial Basis Function Neural Network(RBFNN) and the tracking error for the deadzone effect is bounded and *** unknown dynamics of the robotic manipulator is estimated with another *** for the estimated deadzone effect in the control law then leads to our proposed *** proposed control is then verified on a two-joint rigid manipulator via numerical simulations.

关键词： Neural network control Unknown deadzone Radial basis function neural network(RBFNN) Robotic manipulator.

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Learning Control for a Robotic Manipulator with Input Saturation

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IFAC Proceedings Volumes 2013年第20期46卷 74-79页

作者： Wei He Shengtao Xiao Sijia Yu Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, adaptive neural-network control is designed for an n-DOF robotic manipulator system. In the tracking control design, both uncertainties and input saturation are considered. Stability of the closed-loop system is analyzed via the Lyapunov's direct method. The uncertain system is approximated by the radial basis function neural-networks (RBFNN) and the input saturation is solved by adding an auxiliary signal. Simulation studies are conducted to examine the effectiveness of the proposed model-based and RBFNN control.

关键词： Input saturation radial basis function (RBFNN) robotic manipulator Lyapunov stability

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End-point regulation of a flexible robotic manipulator under the unknown spatiotemporally varying disturbance

End-point regulation of a flexible robotic manipulator under...

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3rd IFAC Conference on Intelligent Control and Automation science, ICONS 2013

作者： Zhang, Shuang He, Wei Liu, Chang Huang, Deqing Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9783902823458

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. Copyright © 2013 IFAC.

关键词： Ordinary differential equations

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Balanced Deployment of Multiple Robots Using a Modified Kuramoto Model

Balanced Deployment of Multiple Robots Using a Modified Kura...

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American Control Conference

作者： Zhihao Xu Magnus Egerstedt Greg Droge Klaus Schilling Department of Computer Science VII: Robotics and Telematics University of Wurzburg Germany School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

ISBN: (纸本)9781479901777

In this paper, we study the problem of making multiple agents spread out equidistantly on a circle. The proposed solution is a new Kuramoto-like model for multirobot coordination, in which the standard sine-terms have been replaced by cosines. This new interaction model enables the balanced deployment of agents on a circle, while only taking into account the local information of each agent's two neighbors on a cycle graph. This means that individual agents do not need to know the (relative) states of all agents nor how many other agents are indeed present in the network. We illustrate the operation of the proposed protocol in simulation as well as extend it to a nonlinear scenario by optimizing over the coupling weights.

关键词： Cooperating robots Agents Circles deployment ASSAY SCALE local information.

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Vision guided path planning system for vehicles using infrared landmark

Vision guided path planning system for vehicles using infrar...

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IEEE International Conference on robotics and Biomimetics

作者： Malik Saad Sultan Xiaopeng Chen Nouman Qadeer Tongtong Zhang Huang Qiang Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Lab of Intelligent Information and Technology School of Computer Science and Technology Beijing Institute of Technology Beijing China

Infrared-landmark based vision navigation system is proposed to reliably guide drivers from starting point to goal following a feasible shortest path in a known indoor or outdoor environment no matter whether it is day or night. What's more, this system is capable of warning drivers about the dangerous zones “like no right turn, no U-turn, damaged road ahead etc” conditions when no visible light is available for human beings, mostly at night. The system consists of Basler camera, designed Infra-Red landmark, our developed software, IR filter and an industrial computer. Each infrared landmark contains a unique ID. Address information and important notes are attached to each ID. Once a landmark is efficiently detected and its ID is recognized, location information related to the corresponding ID is presented. And then Dijkstra's algorithm is efficiently utilized to find a possible shortest path to destination. After that, path is followed with the aid of vision system. Experimental results demonstrate suitability, effectiveness and feasibility in intelligent transportation system.

关键词： Cameras Vehicles Reliability Algorithm design and analysis Optical filters Machine vision Filtering algorithms

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Approximation-based Control of an Uncertain Robot with Output Constraints

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IFAC Proceedings Volumes 2013年第20期46卷 51-56页

作者： Shuang Zhang Shengtao Xiao Weiliang Ge Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, we consider the problem of tracking a desired trajectory for an uncertain robot in the presence of constraints and uncertainties. The dynamics of the uncertain robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and disturbances, the adaptive neural networks are used to approximate the unknown model of the robot and handle the unknown disturbance. Uniform ultimate boundedness of the closed loop system is guaranteed by using a Barrier Lyapunov Function (BLF). Extensive simulations for a robot with constraints are carried out to illustrate the effectiveness of the proposed control.

关键词： Adaptive neural network control Robot Output constraints Barrier Lyapunov Function

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Control of a Three-Dimensional String System

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IFAC Proceedings Volumes 2013年第20期46卷 730-736页

作者： Wei He Shuang Zhang Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

In this paper, the control design and stability analysis are presented for a three-dimensional string system with the payload dynamics. A set of partial-ordinary differential equations (PDEs-ODEs) are developed by using the Hamilton's principle to describe the motion of the three-dimensional string system. The dynamic model considers the comprehensive effects of environmental loads, which are critical for the analysis of a string system. Based on the Lyapunov's direct method and the properties of the string system dynamics, three boundary control inputs are applied at the boundary to suppress the vibrations of the system under the external disturbances. Uniformly boundedness of the three-dimensional dynamics with the proposed control is achieved. Exponential stability is proved via the Lyapunov's direct method when there is no distributed disturbance. Simulation examples are provided by using the finite difference method, and some useful conclusions are drawn.

关键词： Partial differential equations (PDEs) boundary control distributed parameter system Lyapunov's direct method

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Tangent Barrier Lyapunov Functions for the Control of Output-Constrained Nonlinear Systems

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IFAC Proceedings Volumes 2013年第20期46卷 449-455页

作者： Zhong-Liang Tang Keng Peng Tee Wei He Institute of Intelligent Systems and Information Technology (ISIT) and School of Computer and Science Engineering University of Electronic Science and Technology of China Chengdu 611731 China Institute for Infocomm Research A *STAR Singapore 138632 Singapore Robotics Institute (RI) and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, we present a systematic control design for strict-feedback nonlinear systems with output constraints using tangent Barrier Lyapunov Functions (BLFs-Tan). Both symmetric and asymmetric BLF-Tan based backstepping control design methods are developed. It is proved that with the proposed approach and Lyapunov synthesis, the output constraints are not violated, all signals in the closed-loop systems are bounded, and asymptotical tracking is achieved. Through the simulation, we also perform a comparison study between BLF-Tan and the logarithmic BLF (BLF-Log) to illustrate the difference in control performance, and show that the performance of asymmetric BLF-Tan based controller depends on the position of initial tracking error with respect to the transformed constraint boundary.

关键词： Output Constraints Tangent Barrier Lyapunov Functions Backstepping Design

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Dealing with Shadows: Capturing Intrinsic Scene Appearance for Image-based Outdoor Localisation

Dealing with Shadows: Capturing Intrinsic Scene Appearance f...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Peter Corke Rohan Paul Winston Churchill Paul Newman School of Electrical Engineering and Computer Science Queensland University of Technology Australia. Mobile Robotics Group University of Oxford UK.

ISBN: (纸本)9781467363563

In outdoor environments shadows are common. These typically strong visual features cause considerable change in the appearance of a place, and therefore confound vision-based localisation approaches. In this paper we describe how to convert a colour image of the scene to a greyscale invariant image where pixel values are a function of underlying material property not lighting. We summarise the theory of shadow invariant images and discuss the modelling and calibration issues which are important for non-ideal off-the-shelf colour cameras. We evaluate the technique with a commonly used robotic camera and an autonomous car operating in an outdoor environment, and show that it can outperform the use of ordinary greyscale images for the task of visual localisation.

关键词： Image-based Outdoor Localisation common appearance of a place

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Cross-calibration of push-broom 2D LIDARs and cameras in natural scenes

Cross-calibration of push-broom 2D LIDARs and cameras in nat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ashley Napier Peter Corke Paul Newman Mobile Robotics Group University of Oxford UK CyPhy Laboratory School of Electrical Engineering & Computer Science Queensland University of Technology Brisbane Australia

ISBN: (纸本)9781467356404

This paper addresses the problem of automatically estimating the relative pose between a push-broom LIDAR and a camera without the need for artificial calibration targets or other human intervention. Further we do not require the sensors to have an overlapping field of view, it is enough that they observe the same scene but at different times from a moving platform. Matching between sensor modalities is achieved without feature extraction. We present results from field trials which suggest that this new approach achieves an extrinsic calibration accuracy of millimeters in translation and deci-degrees in rotation.

关键词： Calibration Laser radar Cameras Sensors Trajectory Standards Linear programming

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