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Sliding mode control with fuzzy compensator of pneumatic muscle actuator

Sliding mode control with fuzzy compensator of pneumatic mus...

引用

作者： Wu, Jun Wang, Yongji Huang, Jian Xing, Kexin Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering HuaZhong University of Science and Technology Wuhan Hubei China

In this paper, the Pneumatic Muscle (PM) as actuator is investigated. The PM model is established by using a phenomenological model consisting of a contractile element, a spring element, and a damping element in parallel. Unlike the previous study, we fully consider the different characteristics of PM model in different pressure ranges, especially in low pressure range. In order to test the effectiveness of our PM modelling, the Sliding Mode control (SMC) is applied. For the purpose of improving the tracking accuracy, self-adaptation and robustness of PM control, Sliding Mode control with Fuzzy Compensator (FCSMC) is developed to make PM system track a desired trajectory within a guaranteed accuracy even though there are modelling uncertainties, friction, disturbance, and so on. Based on the Lyapunov theory, the stability criterion under FCSMC control strategy for PM system is established. The experimental results demonstrate the validity of PM modelling as well as indicate the effectiveness of the proposed FCSMC method. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： Sliding mode control

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Echo state network-based internal model control for pneumatic muscle system

Echo state network-based internal model control for pneumati...

引用

2011 International Conference on Electrical, Information Engineering and Mechatronics, EIEM 2011

作者： Wu, Jun Wang, Yongji Huang, Jian Zhou, Hanying Cai, Hong Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology 430074 Wuhan China

ISBN: (纸本)9781447124665

Pneumatic muscle (PM) has strong time varying characteristic. The complex nonlinear dynamics of PM system poses problems in achieving accurate modeling and control. To solve these challenges, we propose an echo state network (ESN)-based internal model control (IMC) for PM system in this paper. Here, ESN is employed for identifying the plant model and constructing controller. Recursive least squares (RLS) is used for the online update of ESN. The ESN-based IMC fully embodies the virtues of ESN and IMC. It can build high accurate plant model without detailed model information, as well as attain strong robustness by online self-tuning of controller and internal model. Experiment demonstrates the effectiveness of the proposed control algorithm. The results show that ESNBIMC achieves satisfactory tracking performance. © 2012 Springer-Verlag London Limited.

关键词： controllers

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A novel small dim infrared target detecting method based on grayscale merging and connected components analysis

A novel small dim infrared target detecting method based on ...

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Zhang, Ying Wang, Min Niu, Shaoqing Key Laboratory of Image Processing and Intelligent Control of Education Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780956715715

Target detecting algorithm in infrared image is drawing extensive attention both at home and abroad, expecially when the infrared images own complex backgrounds and low resolution. How to make sure of the accuracy of infrared dim-small target detecting is the key point during the processing procedure. In this paper, a novel region of interest detecting algorithm is proposed for aerial small dim infrared target with clutter background. Different from traditional region of interest extraction method, we extract region of interest based on the grayscale merging algorithm and connected components analysising approach. First, the infrared image is reconstructed by separating the grayscale into several interval sections, then binarization is used to segment the processed image according to estimate the threshold value using minimum error probability;finally, analysis and select the connected components, to sift the accurate connected domain which contain the target. The validity of the proposed approach is demonstrated by experiment of infrared target region extraction. © 2012 Huazhong Univ of Sci & Tec.

关键词： Object detection

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Active disturbance rejection guidance for ascent using quadratic transition

Active disturbance rejection guidance for ascent using quadr...

引用

2012 International Symposium on Computer, Consumer and control, IS3C 2012

作者： Lu, Xuefang Wang, Yongji Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546551

This paper presents an active disturbance rejection guidance method using quadratic transition for the atmospheric ascent guidance problem. The quadratic transition is designed from the current flight states with a reference trajectory planned off-board. For any states error, the solution of the designed quadratic transition converges to the reference trajectory. The guidance command is obtained from the derivative of the designed quadratic transition. For the unknown modeling error, the guidance command is compensated using the estimated disturbances from the extended state observer. Computer simulation for GHV (Generic Hypersonic Air Vehicle) model, which includes initial states error and modeling error, shows great accuracy and effectiveness of this guidance method. © 2012 IEEE.

关键词： Errors

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Modelling to contain pandemic influenza A (H1N1) with stochastic membrane systems: A work-in-progress paper

Modelling to contain pandemic influenza A (H1N1) with stocha...

引用

5th International ICST Conference on Bio-Inspired Models of Network, Information, and Computing Systems, BIONETICS 2010

作者： Xu, Lei Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China

ISBN: (纸本)9783642326141

Pandemic influenza A (H1N1) has spread rapidly across the globe. In the event of pandemic influenza A (H1N1), decision-makers are required to act in the face of substantial uncertainties. Simulation models can be used to project the effectiveness of mitigation strategies. Since nature is very complex, the perfect model that explains it will be complex too. Membrane system (P system) can be a perfect model modelling ecological system. This paper briefly describes stochastic membrane systems for modelling spread of pandemic influenza A (H1N1) in an isolated geographical region. The model is based on a discrete and stochastic modelling framework in the area of Membrane Computing. This model can be a useful tool for the prediction of infectious diseases within predefined areas, and the evaluation of intervention strategies. © 2012 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering.

关键词： Stochastic systems

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Extended state observer based non-iteration predicted entry guidance

Extended state observer based non-iteration predicted entry ...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Chang, Songtao Su, Mao Zhang, Da Wang, Yongji Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780956715715

It is difficult to guide the entry vehicle to prescribed area due to the disperse of environment and kinematics. Through predicted residual range at the current state based on drag acceleration, we developed a predictor-corrector guidance law which doesn't need iteration to figure out the reference trajectory. Then using extended state observer based controller to track the reference trajectory. We use several missions(under various disperse conditions) to test the guidance law. Simulation results demonstrated that the guidance law is able to achieve the prescribed terminal conditions under various perturbations in the aerodynamic coefficients, the density of the atmosphere and the mass of the vehicle. © 2012 Huazhong Univ of Sci & Tec.

关键词： Disturbance rejection

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Visual Servo control of Cable-driven Soft Robotic Manipulator

Visual Servo Control of Cable-driven Soft Robotic Manipulato...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hesheng Wang Weidong Chen Xiaojin Yu Tao Deng Xiaozhou Wang Rolf Pfeifer Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China hanghai Chest Hospital Shanghai Jiao Tong University Shanghai china. Artificial Intelligence Laboratory Department of Informatics University of Zurich Andreasstrasse 15 (Office 2.32) 8050 Zurich Switzerland

ISBN: (纸本)9781467363563

Aim at enhancing dexterous and safe operation in unstructured environment, a cable-driven soft robotic manipulator is designed in this paper. Due to soft material it made of and nearly infinite degree of freedom it owns, the soft robotic manipulator has higher security and dexterity than traditional rigid-link manipulator, which make it suitable to perform tasks in complex environments that is narrow, confined and unstructured. Though the soft robotic manipulator possesses advantages above, it is not an easy thing for it to achieve precise position control. In order to solve this problem, a kinematic model based on piecewise constant curvature hypothesis is proposed. Through building up three spaces and two mappings, the relationship between the length variables of 4 cables and the position and orientation of the soft robotic manipulator end-effector is obtained. Afterwards, a depth-independent image Jacobian matrix is introduced and an image-based visual servo controller is presented. Applied by adaptive algorithm, the controller could estimate unknown position of the feature point online, and then Lyapunov theory is used to prove the stability of the proposed controller. At last, experiments are conducted to demonstrate rationality and validity of the kinematic model and adaptive visual servo controller.

关键词： Visual Servo control adaptive visual servo controller kinematic model kinematics Visual servo control Degree of freedom Position control Robot Manipulator Visual servoing controllers Servo control FLEXIBLE MATERIALS servo controller

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Native gating behavior of ion channels in neurons with null-deviation modeling

Native gating behavior of ion channels in neurons with null-...

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The 4th International Ion Channel Conference(第四届国际离子通道会议)

作者： Wei Wang Jie Luo Panpan Hou Yimei Yang Feng Xiao Ming Yuchi Anlian Qu Luyang Wang Jiuping Ding Key Laboratory of Molecular Biophysics of the Ministry of Education College of Life Science and Technology Huazhong University of Science and Technology Wuhan China program in Neurosciences and Mental Health SickKids Research Institute & Department of Physiology University of Toronto Toronto Canada Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Ministry of Education Department of Biomedical Engineering College of Life Science and Technology Wuhan China

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An overview about pinning control of complex networks

An overview about pinning control of complex networks

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Chen, Xi Zhang, Lan Li, Wei Institute of System Engineering Huazhong University of Science and Technology Image Processing Ministry of China Wuhan Hubei 430074 China Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory Education Ministry of China China

ISBN: (纸本)9780956715715

Synchronization and pinning control of complex networks is to regulate the agents' behavior and improve network performance. In this article, we review some recent developments in pinning control. Stability algorithms and pining strategies in different types of complex networks are presented and compared. Adaptive pinning control is also summarized. In addition, the research extended to discrete-time case is reviewed. As some related research, the development in consensus and flocking of multi-agent system are introduced briefly. At last, we give some ideas about pinning control in social networks. © 2012 Huazhong Univ of Sci & Tec.

关键词： Complex networks

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Parallel generate entry landing footprint using differential evolution

Parallel generate entry landing footprint using differential...

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2012 International Symposium on Computer, Consumer and control, IS3C 2012

作者： Chang, Songtao Wang, Yongji Liu, Lei Dep. of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546551

Landing footprint of an entry vehicle provides critical information for mission planning. Conventional methods calculate it through solving a family of multi-constraints optimal control problems. It is difficult to solve. To generate the boundary of it, we proposed a new scheme based on differential evolution(DE). Utilizing DE's parallelism, each run generates one side instead of one point of the boundary. To get the full boundary, just need run the algorithm two times. The algorithm's merits include accurate, fast, not relying on simplification of the system, all control variables are under consideration and facilitating parallel programming. © 2012 IEEE.

关键词： Evolutionary algorithms

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