检索结果-内蒙古大学图书馆

Challenging simulation practice (failure and success) on implicit tracking control of double-integrator system via Zhang-gradient method

引用

MATHEMATICS AND COMPUTERS IN SIMULATION 2016年 120卷 104-119页

作者： Zhang, Yunong Zhai, Keke Chen, Dechao Jin, Long Hu, Chaowei Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

Zhang-gradient (ZG) method is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods which are two powerful methods for online time-varying problems solving. ZG controllers are designed using the ZG method to solve the tracking control problem of a certain system. In this paper, the design process of the ZG controllers with explicit as well as implicit tracking control of the double-integrator system is presented in detail. In addition, the corresponding computer simulations are conducted with different values of the design parameter lambda to illustrate the effectiveness of ZG controllers. However, even though the ZG controllers are powerful, there is still a challenge in the simulation practice. Specifically, different settings of simulation options in MATlab ordinary differential equation (ODE) solvers may lead to different simulation results (e.g., failure and success). For better comparison, the successful and failed simulation results are both presented. The differences in simulation results remind us to pay more attention to MATlab defaults and options when we conduct such simulations. (C) 2015 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

关键词： Zhang-gradient (ZG) controllers Double-integrator system Tracking control MATlab ODE solver Options

来源：评论

学校读者我要写书评

暂无评论

A Teleoperated Shared control Scheme for Mobile Robot Based sEMG 3

A Teleoperated Shared Control Scheme for Mobile Robot Based ...

引用

3rd IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Xu, Yanbin Yang, Chenguang Liu, Xiaofeng Li, Zhijun South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China Hohai Univ Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781538670668

This paper developed a novel shared control scheme for mobile robot based on human surface Electromyography (sEMG) signals. we combined the human gesture and the stiffness of the arm with the potential field method (PFM) for the mobile robot path planning. On one hand, the sEMG signals are used to recognized the operator's gesture which is applied to control move direction of mobile robots, on the other hand, the stiffness of human arm is estimated that is able to change the velocity of mobile robot. And the PFM is combined with human teleoperation, which can overcame the local minima and goals non-reachable with the obstacle and goal point as the same line with motion direction of mobile robot. The training samples are collected by MYO armband built-in eight bioelectrical sensors used to estimate sEMG signals, and human gesture recognition by Support Vector Machine(SVM). A omnidirectional mobile robot with a depth camera has been teleoperated by the operator, and the results of the experiment presented the effectiveness of the share control scheme.

关键词： sEMG Teleoperation Shared control Potential field method

来源：评论

学校读者我要写书评

暂无评论

Grasping Novel Objects with Real-Time Obstacle Avoidance 1

引用

10th International Conference on Social Robotics (ICSR)

作者： Zhang, Jiahao Yang, Chenguang Li, Miao Feng, Ying South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China Wuhan Univ Inst Technol Sci Wuhan Peoples R China

ISBN: (数字)9783030052041

ISBN: (纸本)9783030052041;9783030052034

This paper proposes a new approach to grasp novel objects while avoiding real-time obstacles. The general idea is to perform grasping of novel objects and do collision avoidance at the same time. There are two main contributions. Firstly, a fast and robust method of real-time grasp detection is presented based on morphological image processing and machine learning. Secondly, we integrate our robotic grasping algorithms with some existing collision prediction strategies. It is really helpful to grasp objects on the condition that a robot is surrounded by obstacles. Additionally, it is very practical, runs in real-time and can be easily adaptable with respect to different robots and working conditions. We demonstrate our approaches using the Kinect sensor and the Baxter robot with a series of experiments.

关键词： Grasp novel objects Avoid real-time obstacles Morphological image processing Machine learning

来源：评论

学校读者我要写书评

暂无评论

Output consensus robustness and performance of first-order agents

引用

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第10期34卷 6455-6479页

作者： Peng, Hui Ding, Yanling Qi, Tian Chen, Jie Guangdong Univ Technol Sch Automat Guangdong Prov Key Lab Intelligent Decis & Cooper Guangzhou Peoples R China City Univ Hong Kong Dept Elect Engn Hong Kong Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou Peoples R China

In this article, we study consensus robustness and performance problems for continuous-time multi-agent systems. We consider first-order unstable agents coordinated by an output feedback protocol over a network subject to an unknown, uncertain constant delay. Our objectives are twofold. First, we seek to determine the largest range of delay permissible so that the agents may achieve robustly consensus despite variation of the delay length, herein referred to as the delay consensus margin. Second, we attempt to determine consensus error performance quantified under an Script capital H2$$ {\mathscr{H}}_2 $$ norm criterion, which measures the disruptive effect of random nodal noises on consensus. We consider both undirected and directed graphs. For undirected graphs, we obtain analytical results for the delay consensus margin and the consensus error performance, while for directed graphs, we develop computational results and analytical bounds. The results provide conceptual insights and exhibit how the agents' unstable pole, nonminimum phase zero, as well as the network topology and network delay may limit fundamentally the consensus robustness and performance of first-order agents.

关键词： consensus performance delay consensus margin delay consensus robustness multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

Fixed-Time Rigidity-Based Formation Maneuvering for Nonholonomic Multirobot systems With Prescribed Performance

引用

IEEE TRANSACTIONS ON CYBERNETICS 2024年第4期54卷 2129-2141页

作者： Lu, Ke Dai, Shi-Lu Jin, Xu South China Univ Technol Key Lab Autonomous Syst & Networked Control Sch Automat Sci & Engn Minist Educ Guangzhou 510641 Peoples R China Southern Marine Sci & Engn Guangdong Lab Zhuhai Zhuhai 519000 Peoples R China Univ Kentucky Dept Mech & Aerosp Engn Lexington KY 40506 USA

This article presents rigidity-based formation maneuvering for a group of nonholonomic mobile robots subject to limited sensing capability, where the performance bounds are introduced to constrain the distance and angle errors. The time-varying and asymmetric performance constraints can prescribe the transient and steady-state performance of the closed-loop systems, which further specify collision avoidance and connectivity maintenance among neighboring robots and avoid the controller singularity issue. To satisfy the constraint requirements and fixed-time convergence, universal barrier Lyapunov functions are incorporated with control design such that angle errors are fixed-time stable and distance errors can converge to a small neighborhood around zero in fixed time. Under the proposed control protocol, all robots can track the desired time-varying velocity while generating and maintaining the predefined formation defined by a minimally and infinitesimally rigid graph. Simulation and experiment studies are carried out to illustrate the effectiveness of the proposed control protocol.

关键词： Collision avoidance connectivity maintenance formation maneuvering nonholonomic mobile robots prescribed performance rigidity graph

来源：评论

学校读者我要写书评

暂无评论

Emotion-aroused human behaviors Perception Using RNNPB 10

Emotion-aroused human behaviors Perception Using RNNPB

引用

10th International Conference on Modelling, Identification and control (ICMIC)

作者： Li, Jie Yang, Chenguang Zhong, Junpei Dai, Shilu South China Univ Guangzhou Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China Natl Inst Adv Ind Sci & Technol Tokyo Japan

ISBN: (纸本)9781538654163

This paper proposes a novel framework to recognize emotions using the algorithm of a recurrent neural network with parameter bias (RNNPB). For this purpose, we performed three simulation experiments aim to explore the relationship between the perception and action. Three types of emotion-driven sequences are fed into the network for training. The training of RNNPB utilizes back-propagation through time (BPTT) method and the parametric bias unit (PB unit) updates in a self-organizing way. The results of the experiments show that the merged sequences can distinguish the emotion better compared to the other two kinds of information.

关键词： Emotion Recognition RNNPB BPTT

来源：评论

学校读者我要写书评

暂无评论

ROBUST TRACKING control OF HELICOPTERS USING BACKSTEPPING WITH DISTURBANCE OBSERVERS

引用

ASIAN JOURNAL OF control 2014年第5期16卷 1387-1402页

作者： He, Yuebang Pei, Hailong Sun, Tairen Wuyi Univ Sch Informat Engn Jiangmen 529020 Peoples R China S China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Guangdong Peoples R China Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Peoples R China

This paper addresses the robust and accurate trajectory tracking problem for unmanned helicopters in the presence of model uncertainties and external disturbances. First, the helicopter's model is simplified to a six-degrees-of-freedom rigid body augmented with a simplified rotor dynamic model, with the model uncertainties and the external disturbances being treated as lumped unknown disturbances. Second, a nonlinear disturbance observer is designed to estimate this lumped disturbance. Then, a backstepping controller with disturbance compensation is designed to ensure robust and highly trajectory tracking. After that, the theoretical analysis of the efficiency of the designed disturbance observer-based backstepping controller (Backstepping+DO) is shown by the Lyapunov theory. Finally, simulation results and conclusions are presented and discussed.

关键词： Trajectory tracking unmanned helicopter disturbance observer backstepping Lyapunov theory

来源：评论

学校读者我要写书评

暂无评论

A Novel Robot Teaching System Based on Mixed Reality 3

A Novel Robot Teaching System Based on Mixed Reality

引用

3rd IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Xu, Yang Yang, Chenguang Liu, Xiaofeng Li, Zhijun South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China Hohai Univ Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781538670668

In this paper, we have developed a robot teaching system where the robot learns the point-to-point motions from human demonstrations. In the demonstration phase, the operator's gestures and palm position are used to guide the robot to complete the task. At the same time, the scene of robots and its work environment, and the virtual model of the palms are integrated into Unity. Then the mixed reality scene is transferred to a virtual reality(VR) helmet, which provides operator real-lime visual feedback. In the learning and reproduction phase, the Extreme Learning Machine(ELM) is used to generate a new trajectory from the training data. The experimental result shows that the robot teaching system based on mixed reality has more realistic and natural interaction. And the learning algorithm based on ELM has a good fitting ability.

关键词： Robot Teaching Mixed Reality Teaching by Demonstration Extreme Learning Machine

来源：评论

学校读者我要写书评

暂无评论

Singularity-conquering tracking control of a class of chaotic systems using Zhang-gradient dynamics

引用

IET control THEORY AND APPLICATIONS 2015年第6期9卷 871-881页

作者： Zhang, Yunong Xiao, Zhengli Guo, Dongsheng Mao, Mingzhi Yin, Yonghua Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

This study investigates the tracking-control problems of the Lorenz, Chen and Lu chaotic systems. Note that the input-output linearisation method cannot solve these tracking-control problems because of the existence of singularities, at which such chaotic systems fail to have a well-defined relative degree. By combining Zhang dynamics and gradient dynamics, an effective controller-design method, termed Zhang-gradient (ZG) method, is proposed for tracking control of the three chaotic systems. This ZG method, with singularities conquered, is capable of solving the tracking-control problems of the chaotic systems. Both theoretical analyses and simulative verifications substantiate that the tracking controllers based on the ZG method can achieve satisfactory tracking accuracy and successfully conquer singularities encountered during the tracking-control process.

关键词： chaos nonlinear control systems control system synthesis gradient methods singularity-conquering tracking control process chaotic systems Zhang-gradient dynamics relative degree controller-design method ZG method theoretical analysis simulative verifications tracking accuracy

来源：评论

学校读者我要写书评

暂无评论

Neural-Networks control for Hover to High-Speed-Level-Flight Transition of Ducted Fan UAV With Provable Stability

引用

IEEE ACCESS 2020年 8卷 100135-100151页

作者： Cheng, Zihuan Pei, Hailong Li, Shuai South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou 510640 Peoples R China Swansea Univ Sch Engn Swansea SA2 8PP W Glam Wales

In this paper, we focus on the transition control of a ducted fan vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). To achieve a steady transition from hover to high-speed flight, a neural-networks-based controller is proposed to learn the system dynamics and compensate for the tracking error between the aircraft dynamics and the desired dynamic performance. In prior, we derive the nonlinear system model of the aircraft full-envelope dynamics. Then, we propose a novel neural-networks-based control scheme and apply it on the underactuated aircraft system. key features of the proposed controller consist of projection operator, state predictor and dynamic-formed adaptive input. It is proved and guaranteed that the tracking errors of both state predictor and neural-networks weights are upper bounded during the whole neural-networks learning procedure. The very adaptive input is formed into a dynamic structure that helps achieve a reliable fast convergence performance of the proposed controller, especially in high-frequency disturbance conditions. Consequently, the closed-loop system of the aircraft is able to track a certain trajectory with desired dynamic performance. Satisfactory results are obtained from both simulations and practical flight test in accomplishing the designed flight course.

关键词： Fans Artificial neural networks Aerodynamics Aircraft Aerospace control Unmanned aerial vehicles Atmospheric modeling Ducted fan fast convergence high-speed flight neural networks transition control unmanned aerial vehicle (UAV)

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：