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Robust Distributed Average Tracking for Disturbed Second-Order Multiagent Systems

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2022年第5期52卷 3187-3199页

作者： Hong, Huifen Wen, Guanghui Yu, Xinghuo Yu, Wenwu Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IoT Intelligent Robots Nanjing 210023 Peoples R China Southeast Univ Sch Math Nanjing 210096 Peoples R China RMIT Univ Sch Engn Melbourne Vic 3001 Australia Nantong Univ Dept Elect Engn Nantong 226019 Peoples R China

This article investigates the distributed average tracking (DAT) problem for disturbed second-order multiagent systems, where a crowd of agents is required to track the average of the multiple time-varying signals. First, a new kind of distributed average estimator is developed for each agent to estimate the average of the multiple time-varying signals in finite time. The protocol possesses the distinguished feature of robustness to initialization errors, which can recover from network alterations. Then, an observer-based finite-time tracking protocol is proposed to make each agent exactly track the average of the multiple time-varying signals in finite time in the absence of velocity measurement. By carefully analyzing the dynamic properties of the tracking error system, a suitable Lyapunov function is constructed to estimate the settling time for convergence of the tracking error system theoretically. Furthermore, an adaptive DAT protocol is proposed, which is a fully distributed protocol because it can solve the DAT problem without using any global information. Finally, two simulation examples are provided to verify the effectiveness of the methods.

关键词： Protocols Velocity measurement Multi-agent systems Convergence Steady-state Lyapunov methods Telecommunications Adaptive control distributed average tracking (DAT) finite-time estimator robustness second-order multiagent systems

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A Soft Robotic Glove for Hand Rehabilitation using Pneumatic Actuators with Jamming Structure

A Soft Robotic Glove for Hand Rehabilitation using Pneumatic...

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第40届中国控制会议

作者： Xudong Cao Kaiwei Ma Zhenjiang Jiang Fengyu Xu College of Automation & College of Artificial Intelligence Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot)

In order to solve the problem that the current soft robotic glove for hand rehabilitation can only assist the movement of the fingers in a single direction and the output force is insufficient under lower air pressure,a soft pneumatic actuator coupled with a granular jamming system is *** of all,based on the analysis of the hand movement requirements,the design requirements of the soft robotic glove are proposed,and the structure design is carried ***,the deformation analysis of the pneumatic structure is performed based on the Yeoh model,and the actuator is simulated by ***,the manufacturing method of the actuator and the soft robotic glove is given,experiments of actuator performance and grasping experiments of the soft robotic glove are carried *** results show that the maximum bending angle of the driver can reach 138°,the side swing angle can reach 60°,and the maximum output force can reach 5.7 N under the pressure of 200 kPa,which meets the requirements of hand rehabilitation and can assist in grasping objects.

关键词： Soft Actuator Hand Rehabilitation Pneumatic Structure Granular Jamming System

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Structural Controllability for a Class of Complex Networks With Root Strongly Connected Components

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IEEE ACCESS 2020年 8卷 123986-123995页

作者： Wu, Xu Wang, Xinwei Gu, Mengqi Jiang, Guo-Ping Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

Structural controllability of complex networks has been an attractive research area, and Minimum Inputs Theorem was proposed to identify the minimum driver nodes for complex networks with one-dimensional node dynamics. Then, the Minimum Inputs Theorem was extended to the complex network with multidimensional node dynamics by looking the multidimensional node as a subnetwork. However, when the structures of these subnetworks possess the root Strongly Connected Components that have perfect matching, the minimum driver nodes of these subnetworks are not sufficient to guarantee the full control, and some extra nodes are needed to be controlled. Therefore, in this paper, we study the structural controllability of complex networks with multidimensional node dynamics whose corresponding subnetworks possess such root Strongly Connected Components. First, we apply the Maximum Matching principle to the network topology to obtain which subnetworks we need to control. Then, an algorithm is proposed to identify a feasible minimum controlled node set of the subnetwork. Finally, by analyzing the structural features of the whole network and synthetically applying the proposed algorithm, Maximum Matching principle and Graphical Approach, a flowchart is given for identifying the minimum controlled node set of the whole network. By duality, the above results can also apply to the structural observability problem of such complex networks.

关键词： Controllability Observability Complex networks Linear systems Couplings Heuristic algorithms Complex networks multidimensional node dynamics perfect matching root strongly connected components structural controllability

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Synchronization of multiplex networks with stochastic perturbations via pinning adaptive control *

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JOURNAL OF THE FRANKLIN INSTITUTE-engineering AND APPLIED MATHEMATICS 2021年第7期358卷 3994-4012页

作者： Jin, Xin Wang, Zhengxin Yang, Huihui Song, Qiang Xiao, Min Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IoT Intelligent Robots Nanjing 210023 Peoples R China Nantong Univ Sch Elect Engn Nantong 226019 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Peoples R China

This paper investigates the synchronization problems for the multiplex networks with both interlayer and intra-layer couplings subject to the stochastic perturbations. In particular, the topologies of all layers are not the same, so the model can represent a class of multiplex networks. To synchronize the multiplex networks onto the trajectory of a virtual leader, a pinning adaptive protocol is proposed and some pinning criteria are derived for guaranteeing complete synchronization. Furthermore, when the results are extended to the systems with time delays, the pinning adaptive strategy is still proved to be effective. Finally, a two-layer network and a three-layer network are selected for numerical simulations to illustrate the theoretical results. ? 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： Synchronization

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Nonrigid point set registration based on Laplace mixture model with local constraints

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ASSEMBLY AUTOMATION 2020年第2期40卷 335-343页

作者： Xu, Chao Yang, Xianqiang Liu, Xiaofeng Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin Heilongjiang Peoples R China Hohai Univ Coll IoT Engn Changzhou Jiangsu Peoples R China Hohai Univ Changzhou Key Lab Robot & Intelligent Technol Changzhou Jiangsu Peoples R China Hohai Univ Jiangsu Key Lab Special Robots Changzhou Jiangsu Peoples R China

Purpose This paper aims to investigate a probabilistic mixture model for the nonrigid point set registration problem in the computer vision tasks. The equations to estimate the mixture model parameters and the constraint items are derived simultaneously in the proposed strategy. Design/methodology/approach The problem of point set registration is expressed as Laplace mixture model (LMM) instead of Gaussian mixture model. Three constraint items, namely, distance, the transformation and the correspondence, are introduced to improve the accuracy. The expectation-maximization (EM) algorithm is used to optimize the objection function and the transformation matrix and correspondence matrix are given concurrently. Findings Although amounts of the researchers study the nonrigid registration problem, the LMM is not considered for most of them. The nonrigid registration problem is considered in the LMM with the constraint items in this paper. Three experiments are performed to verify the effectiveness and robustness and demonstrate the validity. Originality/value The novel method to solve the nonrigid point set registration problem in the presence of the constraint items with EM algorithm is put forward in this work.

关键词： Components locating EM algorithm LMM Local connected constraint Nonrigid points set registration Surface mounting technology (SMT)

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The variant d-path Laplacian based consensus protocols for networked harmonic oscillators

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NEUROCOMPUTING 2021年 422卷 277-286页

作者： Fang, Rong Wang, Xiaoling Su, Housheng Xiao, Min Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab EducMinist China Luoyu Rd 1037 Wuhan 430074 Peoples R China Qingdao Univ Sci & Technol Sch Math & Phys Qingdao 266061 Peoples R China

In this paper, we address the consensus protocol design problem of the networked harmonic oscillators interacting through a directed graph with peer pressure from the perspective of the output information, in which the peer pressure is in the expression of the variant d-path Laplacian. For networked harmonic oscillators without time delay, sufficient conditions in terms of coupling strength are given, while for net-worked harmonic oscillators with time delay, sufficient conditions in the term of coupling strength and the upper bound on the time delay are proposed. Finally, simulation examples are provided to verify the theoretical results. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Networked harmonic oscillator Consensus Variant d-path Laplacian Observer

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Observer-based semi-global containment of saturated multi-agent systems with uncertainties

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JOURNAL OF THE FRANKLIN INSTITUTE 2021年第15期358卷 7740-7760页

作者： Qian, Juan Wang, Xiaoling Jiang, Guo-Ping Su, Housheng Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Luoyu Rd 1037 Wuhan 430074 Peoples R China

In this article, the robust semi-global containment control for multi-agent systems affected by uncertainties, such as input additive disturbance, input saturation and dead zone is addressed. An observerbased control algorithm is designed by combining the high-gain observer approach and the low-and-high gain feedback technique. Under the assumption that all agents are asymptotically null controllable with bounded controls and each follower can access the information of at least one leader through a directed path, sufficient conditions for the semi-global output feedback containment control are provided. Finally, numerical simulations are proposed to verify the main theoretical results. (c) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： Multi-agent system Containment Input saturation Input additive disturbance

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A Soft Robotic Glove for Hand Rehabilitation using Pneumatic Actuators with Jamming Structure 40

A Soft Robotic Glove for Hand Rehabilitation using Pneumatic...

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40th Chinese Control Conference (CCC)

作者： Cao, Xudong Ma, Kaiwei Jiang, Zhenjiang Xu, Fengyu Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

ISBN: (纸本)9789881563804

In order to solve the problem that the current soft robotic glove for hand rehabilitation can only assist the movement of the fingers in a single direction and the output force is insufficient under lower air pressure, a soft pneumatic actuator coupled with a granular jamming system is designed. First of all, based on the analysis of the hand movement requirements, the design requirements of the soft robotic glove are proposed, and the structure design is carried out. Next, the deformation analysis of the pneumatic structure is performed based on the Yeoh model, and the actuator is simulated by ABAQUS. Finally, the manufacturing method of the actuator and the soft robotic glove is given, experiments of actuator performance and grasping experiments of the soft robotic glove are carried out. The results show that the maximum bending angle of the driver can reach 138 degrees, the side swing angle can reach 60 degrees, and the maximum output force can reach 5.7N under the pressure of 200kPa, which meets the requirements of hand rehabilitation and can assist in grasping objects.

关键词： Soft Actuator Hand Rehabilitation Pneumatic Structure Granular Jamming System

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A Research on Bending Process Planning Based on Improved Particle Swarm Optimization 14th

A Research on Bending Process Planning Based on Improved Par...

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14th International Conference on intelligent Robotics and Applications (ICIRA)

作者： Sen, Yang Ma, Kaiwei Yi, Zhou Xu, Fengyu Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

ISBN: (纸本)9783030890957;9783030890940

In order to ensure the accuracy and efficiency of sheet metal bending, a more efficient bending process planning algorithm is required. First of all, under the premise of comprehensively considering interference discrimination and efficiency guarantee, this paper establishes the fitness function of the process planning problem, and converts the process of selecting the optimal process into a problem of solving the optimal solution of the function. Then, since Particle Swarm optimization is easy to fall into the local optimal solution, an improved algorithm is proposed to solve the optimal process. Finally, the optimal bending process of sheet metal parts with different complexity is solved by experiments. The results show that the improved algorithm can calculate the optimal or nearly optimal results within a reasonable time range when there are more bending steps.

关键词： Sheet metal Bending process Particle swarm optimization

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Design and Motion Analysis of Adjustable Pneumatic Soft Manipulator for Grasping Objects

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IEEE ACCESS 2020年 8卷 191920-191929页

作者： Jiang, Quansheng Xu, Fengyu Suzhou Univ Sci & Technol Sch Mech Engn Suzhou 215009 Peoples R China Nanjing Univ Posts & Telecommun Coll Automat Jiangsu Engn Lab IoT Intelligent Robots IoTRobot Nanjing 210003 Peoples R China

Soft robots have infinite degrees of freedom (DOFs), extremely strong environmental adaptability, and better human-computer interaction. A soft grasping manipulator can grasp objects in a diversified manner, which is an important application and research direction in terms of soft robots. A pneumatic soft actuator structure was designed on the basis of in-depth analysis of the motion mechanism of a soft robot. A kinematic model for the soft actuator and a model for bending deformation of air cavities were established separately to determine the relationship between the bending angle and air pressure. A novel pneumatic soft manipulator with adjustable grasping diameter was designed by utilizing pneumatic soft actuators to realize adaptive grasping of objects with different diameters (within 200 mm). Finally, a physical manipulator was manufactured and the relationship between the bending angle of the soft grasping robot and pressure intensity was experimentally validated. Moreover, tests were conducted to assess the adaptability of the soft manipulator when grasping objects with different diameters, masses, and shapes in order to verify the effectiveness of the soft manipulator.

关键词： Grasping manipulator soft robot pneumatics soft actuator

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