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Two New Discrete-Time Neurodynamic Algorithms Applied to Online Future Matrix Inversion With Nonsingular or Sometimes-Singular Coefficient

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IEEE TRANSACTIONS ON CYBERNETICS 2019年第6期49卷 2032-2045页

作者： Qiu, Binbin 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 high-precision general discretization formula using six time instants is first proposed to approximate the first-order derivative. Then, such a formula is studied to discretize two continuous-time neurodynamic models, both of which are derived by applying the neurodynamic approaches based on neural networks (i.e., zeroing neurodynamics and gradient neurodynamics). Originating from the general six-instant discretization (6ID) formula, a specific 6ID formula is further presented. Subsequently, two new discrete-time neurodynamic algorithms, i.e., 6ID-type discrete-time zeroing neurodynamic (DTZN) algorithm and 6ID-type discrete-time gradient neurodynamic (DTGN) algorithm, are proposed and investigated for online future matrix inversion (OFMI). In addition to analyzing the usual nonsingular situation of the coefficient, this paper investigates the sometimes-singular situation of the coefficient for OFMI. Finally, two illustrative numerical examples, including an application to the inverse-kinematic control of a PUMA560 robot manipulator, are provided to show respective characteristics and advantages of the proposed 6ID-type DTZN and DTGN algorithms for OFMI in different situations, where the coefficient matrix to be inverted is always-nonsingular or sometimes-singular during time evolution.

关键词： General six-instant discretization (6ID) formula online future matrix inversion (OFMI) six-instant discretization-type discrete-time gradient neurodynamic (DTCN) algorithm six-instant discretization-type discrete-time zeroing neurodynamic (DTZN) algorithm sometimes-singular coefficient

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Stiffness Estimation and Intention Detection for Human-Robot Collaboration

Stiffness Estimation and Intention Detection for Human-Robot...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiongjun Chen Yiming Jiang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

In this paper, we propose a stiffness estimation and intention detection method for human-robot collaboration. The human arm endpoint stiffness can be obtained according to the muscle activation levels of the upper arm and the human arm configurations. The estimated endpoint stiffness of human arm is matching to the robot arm joint stiffness through an appropriate mapping. The motion intention of human arm is detected based on the wrist configuration which is recognized by a Myo armband attached at the forearm of the operator. In order to reduce the time of feature engineering to ensure the performance of real-time collaboration, the wrist configuration recognition is realised based on the neural learning algorithm. The sEMG of the human forearm is directly fed into the neural network after processing by filters and sliding windows. The force sensor at the end of the robot arm is embedded in the feedback loop to make the robot arm better adapted to the operator's movement. The results of experiments performed on Baxter robot platform illustrate a good performance and verifies the proposed method.

关键词： Wrist Neural networks Collaboration Estimation Robot sensing systems Manipulators Robots

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A Wave Variable Approach With Multiple Channel Architecture for Teleoperated System

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IEEE ACCESS 2019年 7卷 143912-143920页

作者： Luo, Jing Liu, Chao Wang, Ning Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Univ Montpellier Dept Robot UMR5506 LIRMMCNRS F-34095 Montpellier France Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England

Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. Wave variable is an effective algorithm to achieve a good stable capability. However, some traditional wave variable methods may decrease the performance of transparency and suffer the impacts of wave reflection. To deal with the problem of stability and transparency in teleoperation, in this paper, a novel wave variable method with four channel is presented to achieve stable tracking in position and force. In addition, the proposed method can achieve the distortion compensation and reduce the impacts of wave reflection. The simulation experimental results verifled the tracking performance of the proposed method.

关键词： Teleoperation wave-variable-based method with four channel stability and transparency position tracking force re~ection.

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Haptics Electromyogrphy Perception and Learning Enhanced Intelligence for Teleoperated Robot

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2019年第4期16卷 1512-1521页

作者： Yang, Chenguang Luo, Jing Liu, Chao Li, Miao Dai, Shi-Lu South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Univ Montpellier CNRS UMR5506 Dept RobotLIRMM F-34095 Montpellier France Wuhan Univ Sch Power & Mech Engn Wuhan 430074 Hubei Peoples R China

Due to the lack of transparent and friendly human-robot interaction (HRI) interface, as well as various uncertainties, it is usually a challenge to remotely manipulate a robot to accomplish a complicated task. To improve the teleoperation performance, we propose a new perception mechanism by integrating a novel learning method to operate the robots in the distance. In order to enhance the perception of the teleoperation system, we utilize a surface electromyogram signal to extract the human operator's muscle activation. As a response to the changes in the external environment, as sensed through haptic and visual feedback, a human operator naturally reacts with various muscle activations. By imitating the human behaviors in task execution, not only motion trajectory but also arm stiffness adjusted by muscle activation, it is expected that the robot would be able to carry out the repetitive tasks autonomously or uncertain tasks with improved intelligence. To this end, we develop a robot learning algorithm based on probability statistics under an integrated framework of the hidden semi-Markov model (HSMM) and the Gaussian mixture method. This method is employed to obtain a generative task model based on the robot's trajectory. Then, Gaussian mixture regression based on HSMM is applied to correct the robot trajectory with the reproduced results from the learned task model. The execution procedures consist of a learning phase and a reproduction phase. To guarantee the stability, immersion, and maneuverability of the teleoperation system, a variable gain control method that involves electromyography (EMG) is introduced. Experimental results have demonstrated the effectiveness of the proposed method. Note to Practitioners - This paper is inspired by the limitations of teleoperation to perform a task with unfriendly HRI and lack of intelligence. The human operators need to concentrate on the manipulation in the traditional setup of a teleoperation system;thus, it is quite a

关键词： Human-robot interaction Electromyography Robot sensing systems Robot learning Hidden Markov models Gaussian mixture model Gaussian mixture model (GMM) haptics electromyogrphy (EMG) perception hidden semi-Markov model (HSMM) human-robot interaction (HRI) robot intelligence teleoperated robot learning

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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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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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Online Parameter Estimation For Uncertain Robot Manipulators With Fixed-time Convergence

Online Parameter Estimation For Uncertain Robot Manipulators...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Chengzhi Zhu Yiming Jiang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

For traditional parameter estimation schemes of uncertain robot, most of them were proposed to identify unknown parameter with desired precision, but few of them focused on the convergence time. Recently finite-time estimation techniques have been proposed by scholars to achieve estimation in finite time. In this paper, we proposed a novel estimation scheme for uncertain robot systems with fixed time instead of finite time. In order to avoid using acceleration signals during the estimation, a kind of auxiliary filtering technique was employed. Besides, a continuous and recursive update law was employed for the parameter estimation such that the computational burdens of real-time inversion of square matrices could be avoided. Finally the effectiveness of the identification algorithm is verified based on a 2-DOF uncertain robot model.

关键词： Parameter estimation Filtering Heuristic algorithms Estimation Real-time systems Manipulator dynamics Convergence

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One New Distributed Low-Power and High-Precision Fault Recording System Based on STM32L4+ 38

One New Distributed Low-Power and High-Precision Fault Recor...

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38th Chinese control Conference (CCC)

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

ISBN: (纸本)9789881563972

The fault recording monitoring system is a kind of automatic information recording equipment for distribution network that is put into operation all the year round. It is used to monitor the operation status of the power system to analyze the cause of the fault, quickly and accurately locate the fault occurrence point, monitor and verify the action characteristics of the relay protection automatic device, etc. Different from the centralized fixed structure of the traditional microcomputer-based fault recorder, we designed a modular distributed grid fault recording system with ultra-low-power characteristic. According to the precision complementary characteristics of the global positioning system (GPS) and the crystal clock signal, the GPS clock is used to calibrate the system clock to realize the microsecond high-precision clock, which meets the high requirements of synchronization acquisition of the three-phase current. The effectiveness of the proposed synchronization algorithm is validated by experiments on actual system.

关键词： fault recorder STM32L4 ultra-low-power GPS time calibration

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Quasi-fixed Frequency and Phase Modulation Synchronous control Based LCC Resonant Converter

Quasi-fixed Frequency and Phase Modulation Synchronous Contr...

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Chinese Automation Congress (CAC)

作者： Kong, Dejun Feng, Ying South China Univ Technol Sch Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781728140940

This paper presents a novel quasi-fixed frequency based synchronous control scheme for the LCC resonant converter to suit the high frequency, low voltage and high current operating condition. Utilizing ZVS technique, the proposed method can guarantee the reliable load control ability and ensure the stable zero voltage by adjusting the frequency and the phase in the limited range. To show the effectiveness of the control algorithm, a LCC resonant converter with quasi fixed frequency (QFC) and phase modulation synchronous control is addressed in this paper. The LCC converter works in a continuous conduction mode near 700 kHz and implementing zero-voltage switching (ZVS) with 200-425 V input and 48 V/42 A output simultaneously, and it can suit the wide input/output range with high efficiency using the designed control scheme through the PSIM simulation results.

关键词： LCC resonant coverter low voltage and high current ZVS QFC

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Analysis of autonomous Vehicle Platoon with Disturbance Based on PLEXE

Analysis of Autonomous Vehicle Platoon with Disturbance Base...

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Chinese Automation Congress (CAC)

作者： Liu, Fuchun Long, Yonghao Zhou, Hongbo South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control ASNC Minist Educ Guangzhou Peoples R China Hunan Inst Sci & Technol Sch Mech Engn Yueyang Hunan Peoples R China

ISBN: (纸本)9781728140940

The automation and coordination of vehicle has provided novel development opportunities for both the improvement of traffic efficiency and the efficiency and safety of vehicles within the platoon so that the research of related technology had becoming more and more popular. In this paper, we evaluate five traditional vehicle platoon auto-driving control algorithms in the sinusoidal scenario with disturbance. The simulation is realized in the PLEXE, which is an extension of the widespread vehicle network simulator Veins that allows the visually realistic simulation of platooning systems(i.e., automated car-following) and the analysis of mixed scenarios. For disturbance model in sinusoidal scenario, Gaussian noise is leveraged, which is a common disturbance of all kinds of system. Simulations' results indicate that, when the leader in the platoon driving with sinusoidal velocity with disturbance, Flatbed algorithm proposed by A. Ali, G. Garcia, and P. Martinet has higher stability and Anti-interference ability than the other four control algorithms. In addition, even under violent interference, this control law can maintain string stability (significant for platoon automation)and consistency of the platoon operations, such as consistent velocity and constant inter-vehicle gaps.

关键词： CACC Sinusoidal Disturbance Gaussian noise

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