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American control Conference

作者： Bin Zhang Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479901777

This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.

关键词： unmodeled dynamics control strategy Manipulators two degrees of freedom multi-robot systems Stability analysis distributed protocol

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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A New Calibration Method for an Inertial and Visual Sensing System

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International Journal of Automation and computing 2012年第3期9卷 299-305页

作者： Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China East China Research Institute of Electronic Engineering Hefei 230088 China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.

关键词： Inertial sensor visual sensor calibration motion estimation robot vision.

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Formation learning algorithms for mobile agents subject to 2-D dynamically changing topologies

Formation learning algorithms for mobile agents subject to 2...

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American control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Jun Zhang Wenling Li Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 P. R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 P. R. China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 P. R. China

ISBN: (纸本)9781479901777

In this paper, we consider a two-dimensional (2-D) formation problem for multi-agent systems subject to switching topologies that dynamically change along both a finite time axis and an infinite iteration axis. We present a distributed iterative learning control (ILC) algorithm via the nearest neighbor rules. By employing the 2-D approach, we develop both the asymptotic and exponentially fast convergence of our formation ILC, which can be guaranteed by conditions in terms of the spectral radius and the matrix norms, respectively.

关键词： Multi-agent systems ILC switching topologies formation learning algorithms learning algorithms Multi-agent systems International Labour Conference Mobile agents spectral radius

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Age-Group Classification of Facial Images

Age-Group Classification of Facial Images

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International Conference on Machine Learning and Applications (ICMLA)

作者： Li Liu Jianming Liu Jun Cheng Shenzhen Institutes of Advanced Technolozv Chinese Academv of Science Computer Science and Engineering Department School of Guilin University of Electronic Technology Guilin China Guangdong Provincial Key Laboratory of Robotics and Intelligent System

This paper presents the age-group classification based on facial images. We perform age-group classification by dividing ages into five age groups according to the incremental regulation of age. Features are extracted from face images through Active Appearance Model (AAM), which describe the shape and gray value variation of face images. Principle Component Analysis (PCA) is adopted to reduce the dimensions and Support Vector Machine (SVM) classifier with Gaussian Radian Basis Function (RBF) kernel is trained. Experimental results demonstrate that AAM can improve the performance of age estimation.

关键词： Machine learning

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Consensus control of linear multi-agent systems with distributed adaptive protocols

Consensus control of linear multi-agent systems with distrib...

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American control Conference (ACC)

作者： Zhongkui Li Xiangdong Liu Wei Ren Lihua Xie Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Electrical Engineering University of California Riverside CA USA School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781457710957

This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear time-invariant dynamics. Based on the relative output information of neighboring agents, two distributed adaptive dynamic consensus protocols are proposed, namely, the edge-based adaptive protocol which assigns a time-varying coupling weight to each edge in the communication graph and the node-based adaptive protocol which uses a time-varying coupling weight for each node. These two adaptive protocols are designed to ensure that consensus is reached in a fully distributed fashion for any undirected connected communication graphs without using any global information. A sufficient condition for the existence of these adaptive protocols is that each agent is stabilizable and detectable. The case with switching communication graphs is also studied.

关键词： Protocols Eigenvalues and eigenfunctions Couplings Switches Linear matrix inequalities Laplace equations Lyapunov methods

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COMPLEXITY ANALYSIS OF NETWORK-BASED DYNAMICAL SYSTEMS

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Journal of Systems Science & Complexity 2011年第3期24卷 413-432页

作者： Guofeng ZHANG Long WANG Tongwen CHEN School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China. Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing 100871 China Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates the nonlinear dynamics of network-based dynamical systems where network communication channels of finite data rates are inserted into the closed loops of the control systems. The authors analyze the bifurcation and chaotic behavior of the non-smooth dynamical systems. The authors first prove that for almost all system parameters there are no periodic orbits. This result distinguishes this type of non-smooth dynamical systems from many others exhibiting border-collision bifurcations. Next, the authors show analytically that the chaotic sets are separated from the region containing the line segment of all fixed points with a finite distance. Finally, the authors employ a simple model to highlight that both the number of clients sharing a common network channel and fluctuations in the available network bandwidth have significant influence on the performance of such dynamical systems.

关键词： Bifurcation feedback network-based dynamical system non-convexity periodicity.

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Digital control Design for the Boiler Drum BDT921

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Journal of Mechanics engineering and Automation 2011年第5期1卷 392-397页

作者： Tatang Mulyana Mohamad Nor Mohd Than Dirman Hanafi Afrodi Ali Control Laboratory Department of Mechatronics and Robotics Engineering Faculty of Electric and Electronic Engineering

A boiler drum BDT921 that is installed in the control laboratory, department of Mechatronics and robotics engineering, Faculty of Electric and electronic engineering, Universiti Tun Hussein Onn Malaysia （UTHM） is being used as a model plant to achieve the digital control system since its analog. Implementing a digital system to boiler quite a though work. This paper covers analysis from the experiment done to match with digital design that will be implemented to the real system. The digital control design will come up with the mathematical model and will be analyzed with MATLAB and SIMULINK software named as ＂Discrete Analysis ofBDT921 Simulation＂. A proportional integral and derivative （PID） controller is being chosen as the control element in discrete form as the real system is using the same control element. The output responses behave as the second order system with a bit difference in rise times and peak times compared with data obtained from experiment. With regarding to the analysis done, the digital control can be implemented and for further viewing, to be controlled digitally with computer in the control room.

关键词： Boiler drum digital control PID （proportional integral and derivative） controller MATLAB and SIMULINK.

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