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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Xu, Puyong Yang, Chenguang Dai, Shi-Lu Mao, Zhaoyong Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9781728158594

In this paper, by focusing on trajectory tracking control of unmanned surface vessel (USV), we present a control method considering uncertain dynamics and output error constrains. Firstly, by using the properties of tan-type barrier Lyapunov function (BLF), the output tracking error can be constrained. Secondly, we use radical basis function neural network (RBF NN) to approximate the uncertain dynamics. Considering that the estimated parameters convergence cannot be achieved in the absence of persistent excitation (PE) conditions, the composite learning update law of the weight matrix in the NN is adopted to guarantee the parameters convergence under interval excitation (IE) conditions which is easier to reach. In simulation studies, it is proven that the USV have good ability to follow the pre-designed trajectory with small tracking error and the parameters convergence can be ensured. © 2019 IEEE.

关键词： Lyapunov functions

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Improved vision-based algorithm for unmanned aerial vehicles autonomous landing

Improved vision-based algorithm for unmanned aerial vehicles...

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2nd International Conference on Innovation Manufacturing and Engineering Management, IMEM 2012

作者： Zhao, Yunji Pei, Hailong School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan454000 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SouthChina University of Technology Guangzhou 510640 China

ISBN: (纸本)9783037855881

In vision-based autonomous landing system of UAV (Unmanned Aerial Vehicle), the efficiency of object detection and tracking will directly affect the control system. An improved algorithm of SURF (Speed Up Robust Features) will resolve the problem which is inefficiency of the SURF algorithm in the autonomous landing system of UAV. The improved algorithm is composed of three steps: first, detect the region of the target using the Cam shift algorithm;second, detect the feature points in the region of the above acquired using the SURF algorithm;third, do the matching between the template target and the region of target in frame. The results of experiments and theoretical analysis testify the efficiency of the algorithm. © (2013) Trans Tech Publications, Switzerland.

关键词： Efficiency

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Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering

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INTERNATIONAL JOURNAL OF systems SCIENCE 2017年第1期48卷 1-12页

作者： Zhang, Yunong Zhang, Yinyan Chen, Dechao Xiao, Zhengli Yan, Xiaogang Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

In this paper, the division-by-zero (DBO) problem in the field of nonlinear control, which is traditionally termed the control singularity problem (or specifically, controller singularity problem), is investigated by the Zhang dynamics (ZD) method and the Zhang-gradient (ZG) method. According to the impact of the DBO problem on the state variables of the controlled nonlinear system, the concepts of the pseudo-DBO problem and the true-DBO problem are proposed in this paper, which provide a new perspective for the researchers on the DBO problems as well as nonlinear control systems. Besides, the two classes of DBO problems are solved under the framework of the ZG method. Specific examples are shown and investigated in this paper to illustrate the two proposed concepts and the efficacy of the ZG method in conquering pseudo-DBO and true-DBO problems. The application of the ZG method to the tracking control of a two-wheeled mobile robot further substantiates the effectiveness of the ZG method. In addition, the ZG method is successfully applied to the tracking control of a pure-feedback nonlinear system.

关键词： Division-by-zero problem nonlinear control system Zhang dynamics method Zhang-gradient method

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Discrete-Time control and Simulation of Ship Course Tracking Using ZD Method and ZFD Formula 4NgSFD 3

Discrete-Time Control and Simulation of Ship Course Tracking...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Huinan Xiao Jinjin Wang Jian Li Pei Chen School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

ISBN: (纸本)9781509053643;9781509053636

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

关键词： Marine vehicles Trajectory Electronic mail Process control Convergence Mathematical model

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Disturbance observer based sliding mode control for unmanned helicopter hovering operations

Disturbance observer based sliding mode control for unmanned...

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第三届国际航空科学青年学者学术会议

作者： Ihsan ULLAH Hai-Long PEI Key Lab of Autonomous Systems and Networked Control Ministry of Education School of Automation South China University of Technology

Numerous control techniques are developed for miniature unmanned helicopters to do hover operation with each methods having its own advantages and limitations. During the hover operation helicopters suffer from unknown external disturbances such as wind and ground effect. For a stable operation, these disturbances must be compensated accurately. This paper presents a disturbance observer based sliding mode control technique for small-scale unmanned helicopters to do hover operation in presence of external disturbances. To counteract both matched and mismatched uncertainties a new sliding surface is designed based on the disturbances estimations. The controller design is based on the linearized state-space model of the helicopter which effectively describes helicopter dynamics during the hover operations. The model mismatch and external disturbances are estimated as lumped disturbances and are compensated in the controller design. The proposed controller reduces chattering and is capable of handling matched and mismatched uncertainties. The control performance is successfully tested in Simulink.

关键词： Unmanned helicopter External Disturbances Sliding mode control Disturbance Observer Chatter reduction Mismatched uncertainty

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Leader-Based Consensus of Heterogeneous Nonlinear Multiagent systems

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MATHEMATICAL PROBLEMS IN ENGINEERING 2014年第1期2014卷 1-6页

作者： Sun, Tairen Pan, Yongping Yu, Haoyong Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Natl Univ Singapore Dept Biomed Engn Singapore 117575 Singapore

This paper considers the leader-based consensus of heterogeneous multiple agents with nonlinear uncertain systems. Based on the information obtained from the following agents' neighbors, leader observers are designed by the following agents to estimate the leader's states and nonlinear dynamics. Then, to achieve leader-based consensus, adaptive distributed controllers are designed for the following agents to track the designed corresponding leader observers. The effectiveness of the leader observers and distributed consensus controllers are illustrated by formal proof and simulation

关键词： NONLINEAR systems MULTIAGENT systems UNCERTAINTY (Information theory) COMPUTER simulation DISTRIBUTED computing

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GD-aided IOL (input-output linearisation) controller for handling affine-form nonlinear system with loose condition on relative degree

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INTERNATIONAL JOURNAL OF control 2016年第4期89卷 757-769页

作者： Zhang, Yunong Chen, Dechao Jin, Long Zhang, Yinyan Yin, Yonghua Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510275 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

Input-output linearisation (IOL) may encounter a singularity problem when applied to the tracking control of affine-form nonlinear system (AFNS), which may not have a well-defined relative degree. The singularity problem has occurred in the area of control for decades. In this paper, we incorporate the gradient dynamics (GD) into IOL, which leads to the GD-aided IOL method to solve the singularity problem, with the proposition of the loose condition on relative degree. Moreover, detailed theoretical analyses on tracking-error bound and convergence performance of the corresponding GD-aided IOL controller are presented. Simulations and comparisons substantiate that the proposed GD-aided IOL method is capable of completing the tracking-control task and conquering the singularity encountered in the AFNS.

关键词： Input-output linearisation affine-form nonlinear system error bound controller design loose condition on relative degree

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Predefined-Time Attitude Tracking control for Quadrotor UAV with Input Delay

Predefined-Time Attitude Tracking Control for Quadrotor UAV ...

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2023 China Automation Congress, CAC 2023

作者： Li, Shuo Pei, Hailong Duan, Na College of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Electrical Engineering & Automation Jiangsu Normal University Xuzhou221116 China

ISBN: (纸本)9798350303759

In this paper, the predefined time attitude tracking flight problem for a quadrotor unmanned aerial vehicle (UAV) system with input delays is investigated. By means of a novel auxiliary system, the effects of input delay are solved. Then, on the basis of the backstepping method and predefined performance control technology, the predefined-time attitude tracking controller is constructed to make UAV attitude tracking. Simulation results verify the validity of the proposed scheme. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Teleoperation System for Omnidirectional Mobile Robot Based on Shared control Scheme 8

Teleoperation System for Omnidirectional Mobile Robot Based ...

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8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent systems (IEEE-CYBER)

作者： Li, Weihao Yang, Chenguang Zhang, Xuebo Li, Zhijun South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Nankai Univ IRAIS Tianjin 300071 Peoples R China

ISBN: (纸本)9781538670576

In this paper, a teleoperation system for omnidirectional mobile robot(TSOMR) is proposed in which the operator can use his hand gesture to tele-control the omnidirectional mobile robot(OMR). For hand gesture recognition, MYO is used to collect operator's sEMG sinal. Thanks to the structure os the omni wheels(OW), the OMR can achieve any direction without constraints and its kinematic model is built in this paper. The OMR equips with a depth camera which obtains OMR's surroundings information and transmit it to the operator. This paper also puts forward a shared control scheme for the OMR's obstacle avoidance which can make the motion smooth and effective. This paper uses a modified potential field method for auxiliary assistive obstacle avoidance. The experiment results verify the effectiveness and advantage of the proposed control scheme.

关键词： Teleoperation control Omnidirectional Mobile Robot Motion Planning Potential Field Method

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Revisit and compare Ma equivalence and Zhang equivalence of minimum velocity norm (MVN) type

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ADVANCED ROBOTICS 2016年第6期30卷 416-430页

作者： Qiu, Binbin Zhang, Yunong Yang, Zhi Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510275 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

In this paper, by revisiting Ma et al.'s inspiring work (specifically, Ma equivalence, ME) and Zhang et al.'s inspiring work (specifically, Zhang equivalence, ZE), which both investigate the equivalence relationships of redundancy-resolution schemes at two different levels, but with different formulations, the general scheme formulations and equivalence analyses of ME and ZE are presented. Besides, being a case study, the ME and ZE of minimum velocity norm (MVN) type are investigated for the inverse-kinematics (IK) problem solving. Moreover, the link and difference between the MVN-type ME and ZE are analyzed, summarized and presented methodologically, systematically, and computationally in this paper. In order to numerically compare the ME and ZE of MVN type, a Rhodonea-path tracking task based on PUMA560 robot manipulator is tested and fulfilled by employing the original velocity-level MVN schemes and its equivalent acceleration-level MVN schemes of ME and ZE. The simulative and numerical results not only verify the effectiveness of the velocity-level and acceleration-level schemes of MVN-type ME and ZE, but also validate the reasonableness of such two proved equivalence relationships. More importantly, these results show quantitatively and comparatively the respective advantages and future applications of MVN-type ME and ZE for the IK problem solving.

关键词： Zhang equivalence (ZE) different levels minimum velocity norm (MVN) inverse-kinematics (IK) problem solving Ma equivalence (ME)

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