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第三十三届中国控制会议

作者： SU Shengchao ZHANG Wei ZHAO Shuguang College of Information Science and Technology Donghua University Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

ISBN: (纸本)9781479947249

In this paper, a robust online fault prediction method which combines sliding autoregressive moving average(ARMA) modeling with online least squares support vector regression(LS-SVR) compensation is presented for unknown nonlinear system. At first, we design an online LS-SVR algorithm for nonlinear time series prediction. A combined time series prediction method is then developed for nonlinear system prediction. The sliding ARMA model is used to approximate the nonlinear time series, meanwhile, the online LS-SVR is added to compensate for the nonlinear modeling error with external disturbance. The one-step-ahead prediction of the nonlinear time series is so achieved. Finally, the online method is applied into motor time series polluted by noise, and a fault decision function is defined to judge the fault information manifested by the predicted error. The experimental results show the effectiveness of the proposed method.

关键词： Fault prediction,nonlinear system,time series prediction,least squares support vector regression,autoregressive moving average

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A new approach to robust fault detection of model-unknown nonlinear systems

International Journal of Control and Automation

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International Journal of control and Automation 2014年第8期7卷 181-192页

作者： Su, Shengchao Zhang, Wei Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai 201620 China College of Information Science and Technology Donghua University Shanghai 201620 China

Most of actual engineering systems have the characteristics such as nonlinearity, difficult modeling, and high cost to experiment with fault. So fault detection in these systems is difficult. In this paper, a new approach to robust fault detection is proposed for model-unknown nonlinear systems. Firstly, a general framework for fault detection is discussed. This framework is capable of associating each detection result with a confidence level. An online learning least squares support vector regression algorithm is then used to design the framework. Meanwhile, robust strategy and forgetting strategy are added to the algorithm. Accordingly, a robust online fault detection method is developed with less amount of calculation. Finally, the proposed method is applied to fault detection of model-unknown fighter F-16. The simulation results show that the proposed method can detect fault quickly without the model of system or any prior knowledge of fault. © 2014 SERSC.

关键词： Nonlinear systems

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Persistent Tracking of a Dynamic Target by a Mobile Robot 33

Persistent Tracking of a Dynamic Target by a Mobile Robot

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第三十三届中国控制会议

作者： LIANG Xiao FANG Yongchun YANG Dedong Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Shool of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781479947249

A novel pursuing algorithm, together with a new experiment method, is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game. Specifically, a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system, which greatly improves the maneuverability compared with the traditional method. To keep the target close enough to the vision center of the camera, a control technique is devised according to its kinematic model and Lyapunov theory. By utilizing game theory, the viability set is determined. A tracking controller is employed to guarantee persistent tracking for the dynamic target, where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis. Both simulation and experimental results are provided to illustrate the performance of the controller.

关键词： Nonholonomic Constraint,Camera Tracking,Mobile control,Lyapunov Theory

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Modelling Combined Automata via Semi-tensor Product of Matrices 33

Modelling Combined Automata via Semi-tensor Product of Matri...

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第三十三届中国控制会议

作者： YAN Yongyi CHEN Zengqiang LIU Zhongxin Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781479947249

Using semi-tensor product of matrices(STP), a new matrix analysis tool, this paper investigates the problem of modelling combined automata, which are constructed in three ways: parallel, serial and feedback. By representing the states, input and output symbols in vector forms, the transition and output functions are expressed as algebraic equations of the states and inputs, in which the matrix product is STP. Based on such algebraic descriptions, three new models are established for three types of combined automata with the help of STP. Illustrative examples verify the correctness of the new models.

关键词： Automata,Composition of automata,Matrix approach,Semi-tensor product of matrices

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Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay 33

Robust H∞ formation control for multi-agent systems with no...

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第三十三届中国控制会议

作者： LI Weixun CHEN Zengqiang LIU Zhongxin ZHANG Qing Tianjin Key Laboratory of Intelligent Robotics College of Computer & Control EngineeringNankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781479947249

In this paper,the distributed robust H formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is *** different cases of coupling topologies:fixed topology and switching topology are *** the multi-agent systems with disturbances and uncertainty parameters,the formation control protocols are designed and *** sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H *** simulation results illustrate the effectiveness of the main results.

关键词： Multi-agent systems,nonlinear dynamics,robust formation control,time-varying delay

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A Largely Model Independent Solution for the Position control of a Typical Inverted Pendulum System 33

A Largely Model Independent Solution for the Position Contro...

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第三十三届中国控制会议

作者： GAO Qiang CHEN Shasha LI Yi LI Junfang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical EngineeringTianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： ADRC LESO Inverted pendulum Real-time control

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Reduced-order Observer Design for One-sided Lipschitz Nonlinear Systems with Unknown Inputs 33

Reduced-order Observer Design for One-sided Lipschitz Nonlin...

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第三十三届中国控制会议

作者： ZHANG Wei LI Jian SU Housheng ZHU Fanglai Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science School of Automation Huazhong University of Science and Technology College of Electronics and Information Engineering Tongji University

ISBN: (纸本)9781479947249

This paper considers the reduced-order observer design problem for one-sided Lipschitz nonlinear systems with unknown inputs. The systems under consideration are a larger class of nonlinear systems than the well-studied Lipschitz systems and have inherent advantages with respect to conservativeness. For such systems, we propose a reduced-order unknown input observer(UIO) by using the linear matrix inequality(LMI) technique. Sufficient conditions that guarantee the existence of the reduced-order UIO are established and transformed into the format of LMIs via using the matrix generalized inverse *** results are finally given to illustrate the effectiveness of the proposed design.

关键词： One-sided Lipschitz nonlinear systems,Unknown input observer(UIO),Reduced-order observers

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