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Position control of a Planar Four-Link Underactuated Manipulator

Position Control of a Planar Four-Link Underactuated Manipul...

引用

Chinese control Conference (CCC)

作者： Dong Liu Xuzhi Lai Yawu Wang Xiongbo Wan Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

A position control strategy by employing the model reduction and the cascade transformation is proposed for a planar four-link AAPA (Active-Active-Passive-Active) underactuated manipulator in this paper. First, a dynamics model of the system is built. Next, three controllers are designed based on the Lyapunov function to control the fourth active link from any initial angle to zero while the angles of the first and second active link remain their initial values, which makes the system is reduced to a planar virtual three-link AAP (Active-Active-Passive) underactuated manipulator. Then, we obtain the new inputs of the cascade system of the planar virtual three-link AAP underactuated manipulator. Finally, we can get the controllers of the active links to realize the system position control objective. Simulation results demonstrate the validity of the proposed control strategy.

关键词： Lyapunov methods Manipulator dynamics Position control Mathematical model Transmission line matrix methods automation

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Improved Kriging for Drilling Visualization Based on Quantum Genetic Algorithm

Improved Kriging for Drilling Visualization Based on Quantum...

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Chinese control Conference

作者： Zheng Zhang Xuzhi Lai Min Wu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

To realize drilling visualization, an effective interpolation method is essential to construct three-dimensional model. Kriging is an effective interpolation method commonly used by geologists. However, the variogram model parameters in traditional Kriging have a certain subjectivity, which will influence the accuracy of interpolation. Quantum Genetic Algorithm (QGA) is introduced to optimize the variogram model parameters selection in this paper. Elevation values of boreholes are used as data sets for simulation. The results show that the proposed improved Kriging has a better prediction accuracy.

关键词： Interpolation Biological cells Genetic algorithms Quantum computing Geology Solid modeling Data models

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control Strategy Based on Iterative Method for Planar Pendubot

Control Strategy Based on Iterative Method for Planar Pendub...

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Chinese control Conference (CCC)

作者： Zixin Huang Xuzhi Lai Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

This paper presents a position control strategy based on the iterative method for a planar Pendubot. The control objective of the system is to move the end-point from any initial equilibrium point to a target equilibrium point. The presented method is based on the iterative steering, where a converging control law is applied repeatedly. In order to compute such a control law, the dynamic equations of the system are transformed via partial feedback linearization and nilpotent approximation. Finally, the simulation results demonstrate that the position control objective is realized by using this control strategy.

关键词： Mathematical model Iterative methods Position control Feedback linearization Manipulators Numerical models Switches

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control strategy based on differential evolution algorithm for planar second-order nonholonomic manipulator

Control strategy based on differential evolution algorithm f...

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Chinese control Conference (CCC)

作者： Yawu Wang Xuzhi Lai Pan Zhang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

This paper presents a two-stage position control strategy based on the differential evolution (DE) algorithm for a planar second-order nonholonomic manipulator, which has one passive joint and this passive joint is not the first joint (planar A m PA n manipulator for short, where m ≥ 1, n ≥ 0). An offline DE algorithm is used to calculate all link target angles corresponding to the target position. According to these target angles, a Lyapunov function is constructed to design the controllers A for the control stage 1, which are used to control all active links to their target angles. According to the constraint equation of the planar A m PA n manipulator, an oscillatory trajectory is planned for the first active link based on the online DE algorithm. When the first active link tracks the oscillatory trajectory, it will back to its target angle eventually. Meantime, the passive link will be jointly controlled to its target angle eventually. Then, the other Lyapunov function is constructed to design the controllers B for the control stage 2, which are used to control the first active link tracks the target trajectory and control the remaining m+n-1 active links maintain in their target angles. Simulation results of a planar AAPA manipulator demonstrate the effectiveness of the proposed control strategy.

关键词： Position control Trajectory Angular velocity Manipulator dynamics Mathematical model Lyapunov methods

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GMI Effect Automatic Test System Based on Network Analyzer

GMI Effect Automatic Test System Based on Network Analyzer

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Chinese control Conference

作者： Zhi Zhao Hengchang Rao Fang Jin Jinchao Wang Lei Zhu Junlei Song Kaifeng Dong Wenqin Mo Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R. China

The measuring instrument selects the network analyzer, combines the direct current source and the Helmholtz coil to form the GMI effect test system. PC program written in LabVIEW, network analyzer and DC current source is controlled by the host computer. The host computer can process and plot the impedance data collected by the network analyzer, and save the data and images locally. The test system by measuring the commercial Vitrovac6025 strip material, found that the material all showed a strong GMI effect at different frequencies. By comparing the measured data of the network analyzer and the impedance analyzer measured in the same frequency band, we found that the two are consistent, which verifies the accuracy and reliability of the test system.

关键词： Frequency measurement Impedance measurement Magnetic field measurement Impedance Magnetic fields Current measurement

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Design of the Cement-Hydration-Characteristics Measuring Device

Design of the Cement-Hydration-Characteristics Measuring Dev...

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Chinese control Conference (CCC)

作者： Wangyong He Juanjuan Wang Yuanjiang Wang Zhenzhu Liu Zhenjiang Feng Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R. China

In order to study the cement hydration characteristics in the process of cement condensation, based on eddy current measuring technology and GMR (giant magnetoresistive sensor), it designed a non-contact cement-hydration-characteristics measuring device. As an advanced nondestructive detection technology, Eddy current detection is convenient and non-contact. And GMR has high sensitivity and good linearity. Combining eddy current detection technology with GMR in design, it successfully gets rid of electrode polarization in traditional contact testing method, and greatly improves the accuracy of cement impedance measurement, and it effectively solves the collision problem that the excitation coil needs high frequency and the measure must have high sensitivity. The measuring device mainly includes magnetic field, GMR sensor, and STM32F427 micro-computer data acquisition system. The testing results show that the device has high precision, good repeatability.

关键词： Magnetic fields Eddy currents Current measurement Instruments Frequency measurement Sensitivity Software measurement

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A Detection System of Tool Parameter Using Machine Vision

A Detection System of Tool Parameter Using Machine Vision

引用

Chinese control Conference

作者： Hantao Wang Hong Wang Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan China

This paper suggests a novel technique for the tool parameter measurement based on machine vision. Tool images are captured by using a machine vision system and the outer contour image of the cutter is obtained by using the machine vision technology. The HALCON image processing library is used as the development platform to build the tool parameters test system. Several algorithms including image segmentation, edge extraction and fitting ellipse determination is used for image processing. The tool parameters such as external diameter and contour angle of tool edge can be obtained after rebuilding the contour of tool edge. The proposed scheme is shown to be reliable and effective for the automated tool parameter measurement.

关键词： Tools Image edge detection Machine vision Monitoring Corrosion Milling

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Ultrasonic Signal Denoising Based on a New Wavelet Thresholding Function

Ultrasonic Signal Denoising Based on a New Wavelet Threshold...

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第37届中国控制会议

作者： Yan Luo Wei Xue Yunyun Yu School of Autonation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systemsy

In the ultrasonic nondestructive testing, the echo signal is polluted by noise and the signal-to-noise ratio is low. To solve the problem, a new wavelet thresholding function is introduced in this paper based on soft and hard thresholding functions. Compared with the existing improved thresholding functions, the new thresholding function is simple in computation and continuous and easy to adjust, it is suitable for some kinds of mathematical disposals. The simulation results show that the new thresholding function can suppress the noise effectively, it is better than soft and hard thresholding functions and the existing improved thresholding functions and has high practical value.

关键词： Wavelet Threshold Denoising Ultrasonic Detection Signal to Noise Ratio Signal Processing

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Bat Algorithm Optimizer for Drilling Trajectory Designing under Wellbore Stability Constraints

Bat Algorithm Optimizer for Drilling Trajectory Designing un...

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Chinese control Conference

作者： Jiafeng Xu Xin Chen Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems china University of Geosciences Wuhan China

In the process of deep geological resources exploration, there are often some complex stratigraphic situations. A three-dimension drilling trajectory is designed by using the geological environment data. The trajectory should be sure that the target position is reachable. And it can avoid the area prone to be in an accident. In order to solve this problem, this paper discusses a three-dimensional wellbore trajectory design optimization model suitable for shale gas horizontal mining. Considering the wellbore stability and dogleg severity as constraints, the minimum drilling length is taken as the objective function. Depending on the Mohr-Coulomb criterion, the range of azimuth angle and inclination angle of safety trajectory can be determined. It can be seen as a constraint on the wellbore derrick segment. As for the optimization algorithm, bat algorithm (BA) optimizer combined with a penalty function method is applied to this optimization model. Finally, the case study shows that the BA performs well in the wellbore optimization design. It obtains the trade-off result between the safe and efficient drilling demands. And. it provides a basic model idea for the real-time trajectory optimization while drilling.

关键词： Trajectory Stress Mathematical model Stability criteria Geology Azimuth

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A CUDA-Based Parallel Adaptive Dynamic Programming Algorithm 36

A CUDA-Based Parallel Adaptive Dynamic Programming Algorithm

引用

第36届中国控制会议

作者： Lu Li Xin Chen Wei Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

Adaptive Dynamic Programming（ADP） with critic-actor architecture is a useful way to achieve online learning *** algorithm Gaussian-Kernel Adaptive Dynamic Programming（GK-ADP） that has been developed before has a kind of two-phase iteration,which not only approximates value function,but also optimizes hyper-parameters ***,just like most iteration algorithms are applied in practice,the scale of sample set will increase as the complexity of the system increases,and it will induce a high computation *** order to speed up computation,a practical acceleration method using parallel computation for GK-ADP is presented in this *** realize parallel computation,a high efficient configuration based on CUDA is designed,in which a group of GPUs work in parallel to compute the most complex part of *** comparison test illustrates that the computation burden which hinders GK-ADP’s application is reduced to a large extent when the parallel computing is introduced.

关键词： Gaussian-Kernel Adaptive Dynamic Programming CUDA Parallel Computing GPU

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