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Proposing and Validation of a New Four-Point Finite-Difference Formula With Manipulator Application

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2018年第4期14卷 1323-1333页

作者： Shi, Yang Qiu, Binbin Chen, Dechao Li, Jian Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

In this paper, a four-point one-step-ahead finite-difference formula is presented, which obtains higher computational precision in approximating the first-order derivative. Then, the formula is used for the discretization of the continuous-time Zhang neural network (CTZNN), and it can greatly overcome the limitation of the conventional formulas in CTZNN discretization. Based on this formula, a new-type discrete-time Zhang neural network (DTZNN) model is proposed and investigated for time-variant matrix pseudoinversion. Numerical experiments further validate the feasibility, effectiveness, and superiority of the proposed new-type DTZNN model for solving the time-variant matrix pseudoinversion. Moreover, the proposed new-type DTZNN model is applied to the control of a robot manipulator. Physical experiment performed on a four-link planar robot manipulator is presented to demonstrate physical realizability and effectiveness of the proposed new-type DTZNN model.

关键词： Discrete-time Zhang neural network (DTZNN) model finite difference robot manipulator control time-variant matrix pseudoinversion truncation error

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Continuous and discrete Zhang dynamics for real-time varying nonlinear optimization

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NUMERICAL ALGORITHMS 2016年第1期73卷 115-140页

作者： Jin, Long Zhang, Yunong 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

Online solution of time-varying nonlinear optimization problems is considered an important issue in the fields of scientific and engineering research. In this study, the continuous-time derivative (CTD) model and two gradient dynamics (GD) models are developed for real-time varying nonlinear optimization (RTVNO). A continuous-time Zhang dynamics (CTZD) model is then generalized and investigated for RTVNO to remedy the weaknesses of CTD and GD models. For possible digital hardware realization, a discrete-time Zhang dynamics (DTZD) model, which can be further reduced to Newton-Raphson iteration (NRI), is also proposed and developed. Theoretical analyses indicate that the residual error of the CTZD model has an exponential convergence, and that the maximum steady-state residual error (MSSRE) of the DTZD model has an O(tau (2)) pattern with tau denoting the sampling gap. Simulation and numerical results further illustrate the efficacy and advantages of the proposed CTZD and DTZD models for RTVNO.

关键词： Time-varying nonlinear optimization Derivative method Gradient dynamics (GD) Zhang dynamics (ZD) Discrete-time

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Design and control of a Novel 5-DoF Tilt-Rotor Quadcopter

Design and Control of a Novel 5-DoF Tilt-Rotor Quadcopter

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2024 China Automation Congress, CAC 2024

作者： Lin, Zhenwei Liu, Wei Xu, Dabo Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9798350368604

This paper presents a novel 5-DoF (degrees of freedom) tilt-rotor quadcopter. Compared to traditional quadcopters, the vehicle offers more DoF by adding two servo-driven mechanisms. The extra DoF allow it to move at a constant pitch angle, thus adapting it to more scenarios, such as slope landings. In addition, the proposed tilt-rotor quadcopter can generate greater torque around the z-axis of the body coordinate system. This gives it an advantage in some scenarios, such as carrying a manipulator to turn valves in the air. In this paper, we first design and model the proposed tilt-rotor quadcopter. Then, we design the controller and control allocation algorithm for the proposed tilt-rotor quadcopter. The control allocation algorithm has clear analytical solutions, which benefits its implementation and deployment. Finally, the structure and control strategy of the tilt-rotor quadcopter are validated by an experiment. © 2024 IEEE.

关键词： Aircraft control

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Design and Implementation of a new Fault Indicator for Power System based on Ultra-Low-Power MCU 38

Design and Implementation of a new Fault Indicator for Power...

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38th Chinese control Conference (CCC)

作者： He, Yun Yang, Dehua Liu, Fuchun Li, Xiangyang Zou, Lin Yuan, Yao Liu, Huanrui South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control ASNC Minist Educ Guangzhou 510640 Peoples R China CSG Elect Power Res Inst Guangzhou 510080 Peoples R China

ISBN: (纸本)9789881563972

With the increasing scale of the power grid, real-time monitoring requirements for on-site data of power systems in various countries around the world are getting higher and higher. The high-voltage distribution network is widely distributed, spanning rivers, rivers, mountains, deep valleys, jungles, and other complex and variable environments so that it is susceptible to short-circuit faults caused by various natural disasters and other environmental factors. Single-phase ground faults are also common in the grid, and working information and necessary alarm indications during network operation are also important. The real-time monitor of the line current is indispensable for short-circuiting faults, while ground faults need to monitor the zero-sequence voltage in the substation and call the original sampled data for analysis. When there is a transient short-circuit fault in the distribution network, the transmission line resumes operation after reclosing, but the hidden danger still exists. In the fault recording system, the data can be analyzed in time to avoid the fault happening again. For the permanent short-circuit fault, the fault still exists after the gate reclosing. The analyze of recorded data can avoid strong power transmission measures of the system which can reduce the secondary impact and minimize the loss caused by the fault. In response to these functional requirements, this paper designs a new fault recording system and introduces its hardware structure and function implementation.

关键词： fault detection current sampling 4G LORA zero sequence voltage

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Adaptive Angle-Constrained Enclosing control for Multirobot systems Using Bearing Measurements

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IEEE TRANSACTIONS ON AUTOMATIC control 2024年第2期69卷 1324-1331页

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

This article proposes a constrained control framework to solve the moving-target enclosing problem for nonholonomic multirobot systems, where the safety and precision constraints are considered during the encircling motion. Based on bearing measurements, the target-robot and interrobot angles are constrained to satisfy the requirements of limited sensing range and collision avoidance. The precision constraint further guarantees all robots converging to a small neighborhood of the desired enclosing formation. With the help of adaptive estimators, universal barrier Lyapunov functions are employed to the constrained control framework despite the lack of target's velocity. Simulation results verify the effectiveness of the proposed control algorithm.

关键词： Angle constraints collision avoidance enclosing control limited sensing range nonholonomic mobile robots

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Fractional-order electromagnetic modeling and identification for PMSM servo system

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ISA TRANSACTIONS 2024年 147卷 527-539页

作者： Gan, He Cao, Zhiyan Chen, Pengchong Luo, Ying Luo, Xin Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Hubei Peoples R China South China Univ Technol Sch Automat Sci & Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510641 Peoples R China Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China

An accurate electromagnetic model is essential for an optimal controller tuning of the high-performance servo system. This paper proposes a fractional-order electromagnetic model of a permanent magnet synchronous motor (PMSM) servo system and an identification methodology of this model. The reason why the investigated electromagnetic model should be a fractional-order one is addressed with a detailed explanation. The influence of voltage source inverter nonlinearity, which may cause system identification error, is analyzed. An improved inverter nonlinearity model and compensation method are proposed to promote the accuracy of the model parameter identification. Compared with the existing typical electromagnetic models of the PMSM servo system, the current open -loop and closed-loop experiments prove that the proposed fractional-order electromagnetic model with time delay is more accurate for the actual physical system. The effectiveness of the proposed nonlinearity modeling and compensation scheme of the inverter is also verified on an experimental PMSM servo system.

关键词： Fractional-order modeling Permanent magnet synchronous motor Inverter nonlinearity Servo system Time delay

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New five-step DTZD algorithm for future nonlinear minimization with quartic steady-state error pattern

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NUMERICAL ALGORITHMS 2019年第3期81卷 1043-1065页

作者： Qiu, Binbin Zhang, Yunong Guo, Jinjin Yang, Zhi Li, Xiaodong SYSU Sch Data & Comp Sci Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

In this paper, a new five-step discrete-time zeroing dynamics (DTZD) algorithm, discretized from a continuous-time zeroing dynamics (CTZD) model, is proposed and investigated for online future nonlinear minimization (OFNM), i.e., online discrete-time dynamic nonlinear minimization. For approximating more accurately the first-order derivative and discretizing more effectively the CTZD model, a six-node g-cube discretization (6Ng CD) formula with higher precision is presented to obtain the new five-step DTZD algorithm. Besides, the corresponding theoretical result shows that the proposed five-step DTZD algorithm is with a quartic steady-state error pattern, i.e., O(g(4)) pattern, with g denoting the sampling gap. Moreover, a general DTZD algorithm is constructed by applying the general linear multistep method, and a specific DTZD algorithm based on the 4th-order Adams-Bashforth method (termed DTZD-AB algorithm for short) is further developed for OFNM. Several numerical experiments are conducted to substantiate the efficacy, accuracy, and superiority of the proposed five-step DTZD algorithm (as well as the DTZD-AB algorithm) for solving the OFNM problem, as compared with the one-step and three-step DTZD algorithms developed and investigated in previous works.

关键词： Six-node g-cube discretization (6Ng CD) formula Discrete-time zeroing dynamics (DTZD) Five-step DTZD algorithm Online future nonlinear minimization (OFNM) Quartic steady-state error pattern

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Transformation design of mixed injection molding production line

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2nd International Conference on Mechanical Automation and Materials Engineering, ICMAME 2013

作者： Zhou, Xi En Luo, Fei Deng, Xiao Yan Che, Feng Jiao Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Institute of Automation Science and Engineer South China University of Technology Guangzhou 510641 China Huiyang Allan plastic electrical industrial Co.LTD Huizhou 516035 China

ISBN: (纸本)9783037857830

Due to the problems of the traditional mixed injection molding production, such as unsatisfactory of the injection molding machine cylinder temperature control, the dispersed devices, the low automation degree and the lack of supervision for the whole production process, the production line of the mixed injection molding machine has been modified. The fuzzy self-adaptive PID control method is used to improve the temperature control accuracy and stability. Two sets of equipments of the injection molding machine have been communicated via the bus technology to realize automation production. And the computer monitoring system has been designed by VB technology to monitor the operating status and parameters of the entire production process. This transformation design can achieve to shorten production cycle, reduce labor costs and covering area, and also improve the production automation level and efficiency. © (2013)Trans Tech Publications,Switzerland.

关键词： Injection molding

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Proposal, verification and comparison on infinitely many ZTFs leading to various nets for Zhang matrix inverse solving

Proposal, verification and comparison on infinitely many ZTF...

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International Conference on Intelligent control and Information Processing (ICICIP)

作者： Binbin Qiu Yunong Zhang Zhi Yang School of Information Science and Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

Lately, Zhang et al have proposed the notion of infinitely many Z-type functions (ZTFs) leading to various Z-type neural nets (ZTNNs), and established a systematic approach (i.e., the general-form ZTNN, GFZTNN) for the real-time solution of a time-varying matrix inverse (also termed, Zhang matrix inverse, ZMI). Being a supplementary and in-depth research, this paper provides the theoretical result on the convergence performance of the GFZTNN model. Besides, such a GFZTNN model is generalized and exploited for computing the time-varying Drazin inverse (TVDI) instead of the usual constant one. Finally, computer simulations with two illustrative examples are performed to show the efficacy and advantage of two specific ZTNN models originating from the GFZTNN model for the realtime solution of ZMI and/or TVDI.

关键词： Computational modeling Real-time systems Convergence Analytical models Numerical models Eigenvalues and eigenfunctions Neural networks

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Application of Hybrid Variable Admittance Force Tracking and Fixed-time Position control for Robot Interaction Tasks 12

Application of Hybrid Variable Admittance Force Tracking and...

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12th International Conference on control Mechatronics and Automation

作者： Zhan, Hong Zeng, Chao Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China Univ Liverpool Dept Comp Sci Liverpool L69 3BX Merseyside England

ISBN: (纸本)9798331517519;9798331517526

This paper applies the proposed hybrid force and position control method to the physical robot system with interaction tasks to further improve our previous study. In the control scheme, the variable stiffness based on proportional integral derivative(PID) admittance control is adopted for interaction force tracking and the radial basis function neural network(RBFNN) based fixed-time control is designed to ensure position tracking. We have performed interaction tasks based on a Baxter robot for drawing on the plane and slope plane with different expected interaction forces and position trajectories. The experiment results indicate that the method performs well in terms of interaction force and trajectory tracking.

关键词： Force tracking Fixed-time control Robot-environment interaction

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