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A Time-Optimal Trajectory Planning Strategy for Double Pendulum Cranes with Swing Suppression 35

A Time-Optimal Trajectory Planning Strategy for Double Pendu...

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第35届中国控制会议

作者： CHEN He FANG Yongchun SUN Ning Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509009107

In practice,overhead crane systems are widely used and the traditional control methods for a crane system always treat it as a single pendulum ***,when the hook mass cannot be ignored or the payload is too large,the crane system may behave more like a double pendulum system,which leads to the fact that traditional control methods are not suitable in this *** this paper,we focus on the control problem of a double pendulum crane system and propose a time-optimal trajectory planning method with the consideration of various constraints which can achieve the objectives of both accurate trolley positioning and double pendulum swing ***,the discrete system model is obtained using the discretization technique *** by deeply analyzing and considering a series of constraints,we formulate a quasi-convex optimization *** that,the bisection method is chosen to solve the obtained optimization problem with the corresponding timeoptimal trajectory being obtained *** last,simulation results are included to illustrate the superior performance of the proposed trajectory planning method.

关键词： Underactuated systems Double Pendulum Cranes Trajectory Planning Time-Optimal

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A 2DOF Control of an AFM system Based on an Improved P-I model 35

A 2DOF Control of an AFM System Based on an Improved P-I mod...

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第35届中国控制会议

作者： Qi Ningning Fang Yongchun Wu Yinan YAN WenBin Institute of Robotics and Automatic Information System NanKai University Xi'an Satellite Control Center

ISBN: (纸本)9781509009107

For the sake of the hysteresis characteristics and dynamic behavior description of the piezo-scanner,an improved Prandtl-Ishlinskii(P-I) hysteresis model for an Atomic Force Microscope(AFM) system in X-axis is established,which is then utilized to design a 2DOF tracking controller combined feedforward control with feedback control,achieving accurate tracking performance for an given trajectory in AFM horizontal ***,considering the piezo-scanner features,a cascade model based on advanced P-I hysteresis model is designed utilizing N4 SID algorithm,obtaining wider adaptability,higher ***,a 2DOF controller is designed to improve the system bandwidth and tracking accuracy,where an inverse model based on P-I hysteresis model is utilized as the feedforward controller which compensates the hysteresis characteristics,while a normal PI controller is used as the feedback controller to further improve the system tracking *** proposed modeling and control strategies are implemented and then applied to a practical AFM system,with the obtained experimental results clearly showing the superior tracking performance over other controllers including direct drive controller,PI feedback controller and P-I inverse feedforward controller.

关键词： Atomic Force Microscope Hysteresis Model Tracking Control

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The Aerodynamics and Compact Dynamic Model of a Flapping Wing Vehicle 36

The Aerodynamics and Compact Dynamic Model of a Flapping Win...

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第36届中国控制会议

作者： Chen Qian Yongchun Fang Xiao Liang Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper, the dynamics of a flapping wing vehicle are studied. A quasi-steady model is developed to analyze its aerodynamic forces and moments. The unsteady effects are considered both in hovering state and forward flight state. Different from existing flapping wing vehicle dynamics model, the rudder's dynamics are concurrently considered in the proposed *** simulation is conducted for showing the detail characteristics of the flapping wing vehicle. After rigorous summation and analysis, a simplified dynamic model is constructed by using the averaging theory. The development of the simplified model paved the way for further studies and applications of similar flapping vehicle mechanism, such as perturbation analysis and controller design.

关键词： Flapping wing vehicle Quasi-steady Dynamic modeling

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Multi-target Tracking of Zebrafish based on Particle Filter 35

Multi-target Tracking of Zebrafish based on Particle Filter

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第35届中国控制会议

作者： CONG Heng SUN Mingzhu ZHOU Duoying ZHAO Xin Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509009107

Zebrafish is an excellent model organism, which has been widely used in the fields of biological experiments, drug screening, and swarm intelligence. In recent years, there are a large number of techniques for tracking of zebrafish involved in the study of behaviors, which makes it attack much attention of scientists from many fields. Multi-target tracking of zebrafish is still facing many challenges. The high mobility and uncertainty make it difficult to predict its motion;the similar appearances and texture features make it difficult to establish an appearance model;it is even hard to link the trajectories because of the frequent occlusion. In this paper, we use particle filter to approximate the uncertainty of the motion of zebrafish. Firstly, by analyzing the motion characteristics, we establish an efficient hybrid motion model to predict its positions;then we establish an appearance model based on the predicted positions to predict the postures of every targets, meanwhile weigh the particles by comparing the difference of predicted pose and observation pose;finally, we get the optimal position of single zebrafish through the weighted position, and use the joint particle filter to process trajectory linking of multiple zebrafish.

关键词： multi-target tracking particle filter hybrid motion model of zebrafish

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A Novel Optimal Trajectory Planning Method for Overhead Cranes with Analytical Expressions 33

A Novel Optimal Trajectory Planning Method for Overhead Cran...

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第三十三届中国控制会议

作者： CHEN He FANG Yongchun SUN Ning Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

In this paper, we present a novel time-optimal off-line trajectory planning method with an analytical expression for 2-dimensional(2-D) underactuated overhead cranes. Different from existing methods that analyze the coupling behavior directly, a flat output of this system is constructed to deal with the coupling between the payload swing and trolley motion, based on the differential flatness theory. Next, considering the continuity and smoothness characteristics of B-splines, the trajectory is parameterized to a B-spline curve with unknown parameters to be optimized. Various constraints, including lower and upper swing angle bounds and allowable trolley acceleration, are taken into consideration to optimize the parameters using a polynomial based scheme. Finally, some simulation and experiment results are given to illustrate the satisfactory performance of the proposed method.

关键词： B-spline Curve,Differential Flatness,Trajectory Planning,Time-optimal

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A Novel Nonlinear Backstepping-Based Control Approach for Quadrotor Unmanned Aerial Vehicle Transportation systems 36

A Novel Nonlinear Backstepping-Based Control Approach for Qu...

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第36届中国控制会议

作者： Xiao Liang Yongchun Fang Ning Sun Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle(UAV) transportation *** proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination ***, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method, so as to compute the applied thrust and the desired roll angle of the quadrotor. As for the inner loop, a backstepping control method is utilized without the introduction of the time-scale separation principle, and the equilibrium point of the overall close-loop system is proven to be asymptotically stable by Lyapunov techniques and La Salle’s invariance theorem. Simulation results demonstrate the proposed control law’s superior performance and good robustness against various uncertainties.

关键词： Quadrotor UAV Transportation systems Backstepping-Based Control Lyapunov Techniques La Salle’s Invariance Theorem

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Characteristics of the Direct Inverse Modeling Approach for Hysteresis Compensation of Piezoelectric Actuators 33

Characteristics of the Direct Inverse Modeling Approach for ...

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第三十三届中国控制会议

作者： QIN Yanding ZHAO Xin Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

Prandtl-Ishlinskii(PI) model is widely utilized in hysteresis modeling and compensation of piezoelectric actuators. For rate-independent hysteresis, the PI model is attractive as its inversion can be analytically obtained and is also of the PI type. However, it has been found that the hysteresis of piezoelectric actuators exhibits strong rate-dependence. Currently, the valid and applicable inversion law for the rate-dependent PI model is not yet available. It has become a common practice of simply replacing all the rate-independent terms in the conventional inversion law with the rate-dependent terms. However, this approximation will suffer from the inherent theoretical modeling error and can only achieve acceptable results at very slow trajectories when the rate-dependence is not noticeable. This paper introduces a new direct inverse modeling approach to obtain the rate-dependent inverse hysteresis model directly from the measured data. As no inversion calculation is involved, this approach is time-efficient and the modeling error can be significantly reduced. Trajectory tracking experiments have been implemented to validate the superiority of the direct inverse modeling approach over the conventional-approach.

关键词： Prandtl-Ishlinskii,hysteresis compensation,rate-dependent,piezoelectric actuator

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A Hierarchical Controller for Quadrotor Unmanned Aerial Vehicle Transportation systems 35

A Hierarchical Controller for Quadrotor Unmanned Aerial Vehi...

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第35届中国控制会议

作者： LIANG Xiao FANG Yongchun SUN Ning Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509009107

Quadrotor unmanned aerial vehicles（UAVs） have the natural advantage of transferring payloads in complex environment considering its excellent ***,the payload sway motion cannot be controlled directly,and the quadrotor itself possess the underactuated characteristic,which makes it a difficult job to realize accurate quadrotor positioning and payload swing suppression *** this paper,we present a hierarchical control scheme to achieve the aforementioned ***,the system model is first transformed into an inner-outer loop interconnected ***,an energy storage function for the outer loop is established so as to obtain the applied thrust and the desired roll angle for the *** desired roll angle is in fact the reference input for the inner loop,which helps to derive the applied torque for the *** the quadrotor’s orientation dynamics converge faster than its translational dynamics,the time-scale separation principle is utilized to indicate the feasibility of the proposed ***,simulation results are provided to illustrate the control scheme’s superior performance and good robustness.

关键词： Hierarchical Controller Energy-Based Analysis Method Underactuated Nonlinear systems Time-Scale Separation Principle

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Pseudospectral Method Based Time Optimal Trajectory Planning for Double Pendulum Cranes 34

Pseudospectral Method Based Time Optimal Trajectory Planning...

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第三十四届中国控制会议

作者： CHEN He FANG Yongchun SUN Ning QIAN Yuzhe Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781467374439

In practice, overhead crane systems are widely used while the common control methods are always designed based on the assumption that the payload can be regarded as a mass point, with the hook mass being ignored. In this situation, the crane system is seen as a single pendulum. When this assumption is not satisfied, the crane may behave like a double pendulum,which has more unactuated states and is more difficult to be controlled properly. Motivated by this observation, we present a time optimal trajectory planning scheme for double pendulum crane systems, which can yield a global optimal swing-free ***, we first implement some basic transformations on the system dynamics. Then, various constraints, including upper and lower bounds of the two pendulum angles and the allowable trolley velocity and acceleration, are taken into consideration to obtain an optimization problem. After that, the Gauss-pseudospectral method(GPM) is utilized to convert the constrained optimization problem into a nonlinear programming problem, which can be solved more conveniently, while the trajectory constraints are also considered during the transformation. During the entire planning process, no linearization is required, which is different from most existing methods. Finally, numerical simulation results are given to illustrate the satisfactory performance of the proposed method.

关键词： Double Pendulum Crane,Time Optimal,Trajectory Planning,Gauss-Pseudospectral Method

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An Analytical Trajectory Planning Method for Underactuated Overhead Cranes with Constraints 33

An Analytical Trajectory Planning Method for Underactuated O...

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第三十三届中国控制会议

作者： WU Xianqing HE Xiongxiong SUN Ning College of Information Engineering Zhejiang University of Technology Institute of Robotics and Automatic Information System Nankai University

ISBN: (纸本)9781479947249

In this paper, an analytical acceleration trajectory planning approach with constraints is proposed for underactuated overhead cranes. The allowable maximum velocity and acceleration of the physical system are taken into account, the payload swing is guaranteed to be under the preset amplitude during movement, and the transportation time can be estimated in ***, by solving the inhomogeneous differential equation of the kinematic model, we analyze the coupling behavior of the cart motion and the payload swing, and provide the analytical expression between the payload swing and the cart acceleration. Subsequently, an analytical acceleration trajectory is proposed by introducing some smooth functions into the existing three-segment acceleration trajectory. The performance of the proposed trajectory is proven by rigorous mathematical *** simulation results are included to demonstrate the effectiveness of the proposed motion planning method.

关键词： Overhead Crane,Trajectory Planning,Underactuated system

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