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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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A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

A new control method of quadruped robot walking on rough ter...

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IEEE International Conference on robotics and Biomimetics

作者： Xin Li Junyao Gao Qiang Huang Haojian Lu Zhe Xu Yi Liu Intelligent Robotics Institute Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.

关键词： Legged locomotion Foot Trajectory Mathematical model Robot sensing systems

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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Community detection based on local topological information in power grid

Community detection based on local topological information i...

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2014 International Joint Conference on Neural Networks, IJCNN 2014

作者： Chen, Zengqiang Xie, Zheng Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China Qing Zhang College of Science Civil Aviation University of China Tianjin300300 China

ISBN: (纸本)9781479914845

This paper proposes a novel algorithm based on local similarities to detect community structure in complex network. By analyzing the strengths and weaknesses of popular similarity indexes, a new index of node similarity is defined which can reflect closeness of local connections in networks as community does. And the similarity between a node and a community is defined by the sum of similarities between this node and all nodes within the community. Then networks can be partitioned without presetting the number of communities based on the assumption that nodes with highest similarities tend to merge together, additionally bridging nodes as byproducts. This method's effectiveness is confirmed by applying it to the IEEE 39-bus and 118-bus standard power grids. Influence of the bridging nodes in cascading failures is also discussed. © 2014 IEEE.

关键词： Complex networks

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Observer-based control of One-sided Lipschitz Nonlinear Systems

Observer-based Control of One-sided Lipschitz Nonlinear Syst...

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2014中国制导、导航与控制学术会议

作者： Rui Wu Wei Zhang Jian Li Zhiyang Wu Laboratory of Intelligent Control and Robotics College of Mechanical EngineeringShanghai University of Engineering ScienceShanghai 201620P.R.China Laboratory of Intelligent Control and RoboticsShanghai University of Engineering ScienceShanghai 201620China

ISBN: (纸本)9781479946983

This paper is considered with the observer-based control for a general class of nonlinear systems that satisfy the one-sided Lipschitz *** system under consideration encompasses the classical Lipschitz system as a special case and has inherent advantages with respect to *** such a system,we study the output feedback control problem by constructing a full-order *** conditions that ensure the existence of observer-based feedback controller are established in terms of linear matrix inequalities (LMIs).Finally,a numerical example is given to illustrate the effectiveness of the proposed control design.

关键词： feedback linear matrix inequalities nonlinear control systems observers LMI observer-based feedback controller one-sided Lipschitz nonlinear systems output feedback control problem Closed loop systems Linear matrix inequalities Lyapunov methods Nonlinear systems Observers Output feedback Symmetric matrices

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Modelling combined automata via semi-tensor product of matrices

Modelling combined automata via semi-tensor product of matri...

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Chinese control Conference (CCC)

作者： Yongyi Yan Zengqiang Chen Zhongxin Liu Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin Tianjin CN

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 Equations Vectors Mathematical model Educational institutions Finite element analysis Matrices

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Exponential synchronization of stochastic complex dynamical networks with impulsive perturbations and Markovian switching

Exponential synchronization of stochastic complex dynamical ...

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第26届中国控制与决策会议

作者： Anding Dai Wuneng Zhou Yichao Zheng Shengchao Su College of Information Science and Technology Donghua University Laboratory of Robotics and Intelligent Control Shanghai University of Engineering Science

ISBN: (纸本)9781479937097

This paper investigates the exponential synchronization problem of stochastic complex dynamical networks with impulsive perturbations and Markovian switching. The complex dynamical networks consists of ? modes and the networks switch from one mode to another according to a Markovian chain with known transition probability. Basing on the Lyapunov functional method and stochastic analysis, by employing ?-matrix approach, some sufficiency conditions are presented to ensure the exponential synchronization of stochastic complex dynamical networks with impulsive perturbations and Markovian switching, and the upper bound of impulsive gain is evaluated. At the end of this paper, a numerical examples are included to show the effectiveness of our results.

关键词： Exponential synchronization,Complex dynamical network,Markovian switching,Impulsive perturbation

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Nonlinear H ∞ observer design for one-sided Lipschitz systems

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Neurocomputing 2014年 145卷 505-511页

作者： Wei Zhang Housheng Su Shengchao Su Dazhong Wang Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai 201620 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China College of Information Science and Technology Donghua University Shanghai 201620 China

This paper is considered with the H ∞ observer design problem for a class of nonlinear systems with the one-sided Lipschitz condition. The systems under consideration include the well-studied Lipschitz system as a special case and possess inherent advantages with respect to conservativeness. For such systems in the presence of noises, we develop a Linear Matrix Inequality (LMI) based approach to design a nonlinear H ∞ observer by carefully dealing with the one-sided Lipschitz condition together with the quadratic inner-bounded condition. The resulting nonlinear H ∞ observer guarantees asymptotic stability of the estimation error dynamics with a prescribed H ∞ performance. Moreover, for the design purpose, the existence condition of the proposed nonlinear H ∞ observer is formulated in terms of LMIs by using a matrix generalized inverse technique. Finally, a simulation example is given to illustrate the effectiveness of the proposed design.

关键词： One-sided Lipschitz nonlinear systems Nonlinear H ∞ observers Observer design State estimation

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