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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Zihuan Cheng Hailong Pei College of Automation Science and Engineering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong College of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

In this paper, we address the hover-to-cruise transition control problem for high-speed level flight of a ducted fan UAV. Firstly, the nonlinear aircraft dynamic system is derived and relevant key aerodynamic characteristics are presented. Then, we divide the dynamic system into known parts and uncertain parts. In order to track a reference system formed by the known parts, we propose a neural-network-based control strategy to learn the error dynamics and cancel the tracking error with proved stability. Finally, simulations and experiments are conducted to perform the transition process at fixed altitude and constant horizontal acceleration, with satisfactory results accomplishing the designed flight course.

关键词： Fans Aerodynamics Aircraft Vehicle dynamics Aerospace control Unmanned aerial vehicles Neural networks

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Adaptive dynamic programming-based controller with admittance adaptation for robot-environment interaction

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC systems 2020年第3期17卷

作者： Zhan, Hong Huang, Dianye Chen, Zhaopeng Wang, Min Yang, Chenguang South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Sch Automat Sci & Engn Guangzhou Peoples R China Univ Hamburg Dept Informat TAMS Grp D-22527 Hamburg Germany Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England

The problem of optimal tracking control for robot-environment interaction is studied in this article. The environment is regarded as a linear system and an admittance control with iterative linear quadratic regulator method is obtained to guarantee the compliant behaviour. Meanwhile, an adaptive dynamic programming-based controller is proposed. Under adaptive dynamic programming frame, the critic network is performed with radial basis function neural network to approximate the optimal cost, and the neural network weight updating law is incorporated with an additional stabilizing term to eliminate the requirement for the initial admissible control. The stability of the system is proved by Lyapunov theorem. The simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive dynamic programming admittance adaptation neural network optimal control robot-environment interaction

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Ranging-aided relative navigation of multi-platforms

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control Theory and Technology 2018年第2期16卷 122-132页

作者： Hai-Long PEI Ruican XIA Key Lab of Autonomous Systems and Networked Control Ministry of Education China Unmanned System Engineering Center of Guangdong Province Guangzhou Guangdong 510640 China School of Automation South China University of Technology Guangzhou Guangdong 510640 China

This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba＇s Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive.

关键词： Multi-vehicles relative navigation Wahba＇s Problem pose estimation extended Kalman filter

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Observer-based output feedback stabilisation and Script capital L-disturbance attenuation of uncertain Hamiltonian systems with input and output delays

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INTERNATIONAL JOURNAL OF systems SCIENCE 2019年第14期50卷 2565-2578页

作者： Sun, Weiwei Lv, Xinyu Wang, Kaili Wang, Liping Qufu Normal Univ Inst Automat Qufu 273165 Shandong Peoples R China Qufu Normal Univ Sch Engn Rizhao 276826 Peoples R China South China Univ Technol Sch Automat Sci & Engn Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked ControlMinis Guangzhou Guangdong Peoples R China

This paper is concerned with the problems of stabilisation and -disturbance attenuation for a class of uncertain Hamiltonian systems in the presence of input and output time delays and external disturbances. The dissipativity structural property of the uncertain delayed Hamiltonian systems is fully exploited, and sufficient conditions are obtained by the use of Lyapunov-Krasovskii functional theorem and Luenberger-type observer to guarantee the asymptotical stability of the closed-loop systems for any given arbitrarily large yet bounded delays. An observer-based controller with an assistant reference input is designed corresponding to the external disturbances and time delay patterns. It is shown that the closed-loop systems under the feedback control law can guarantee the gamma-dissipative inequalities be satisfied. The results are illustrated by the example of observer-based control of a power system.

关键词： Uncertain Hamiltonian systems stabilisation L-2-disturbance attenuation input and output delays

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Marden-Based Homotopic Enclosed Safe Motion Corridor Generation for UAV Navigation in Complex Environments

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年

作者： Li, Chen Qi, Xuelei Chen, Bao Huang, Shoudong Miro, Jaime Valls Huang, Hailong Ni, Wei Ma, Hongjun Univ Technol Sydney UTS Robot Inst Fac Engn & Informat Technol Sch Elect & Data Engn Broadway NSW 2007 Australia Univ Technol Sydney UTS Fac Engn & Informat Technol Global Big Data Technol Ctr Sch Elect & Data Engn Broadway NSW 2007 Australia Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Macquarie Univ Sch Comp Sydney NSW 2019 Australia UTS Robot Inst Broadway NSW 2007 Australia AZTI Fdn Bizkaia 48395 Spain Basque Fdn Sci IKERBASQUE Bilbao 48009 Spain Hong Kong Polytech Univ Dept Aeronaut & Aviat Engn Hong Kong Peoples R China Commonwealth Sci & Ind Res Org CSIRO Marsfield NSW 2122 Australia South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China Minist Educ Unmanned Aerial Vehicle Syst Engn Tech nol Res Ctr Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

This paper proposes a novel hierarchical methodology to planning safe UAV trajectories in complex environments. We start by improving a canonical hybrid A* in relation to high memory requirements, performance degradation, and the low efficiency customarily observed in the initial global trajectory suggested by the planner. Then, the Marden theorem is applied -for the first time in local path planning -to generate continuous, non-intersecting, enclosed, and safe flight corridors, termed homotopic enclosed safe motion corridors (HESMCs) hereafter. This is efficiently realized through a series of unique ellipsoids along the initial route. Meanwhile, the optimized motion trajectory along the corridors is built by considering two waypoints and prescribed performance functions. The resolved path is safe and complete, with a comprehensive Lyapunov stability analysis included to ensure accurate and efficient trajectory tracking. The simulation and physical tests demonstrate the superiority of our proposed planner over existing state-of-the-art methods, with consistent and significant improvements in processing time and guaranteed completeness. Note to Practitioners-The authors perceived the contribution of the manuscript of particular relevance to users of UAVs seeking advanced safety in their guidance and navigational solutions, offering a blend of theoretical innovation and practical applicability. The work introduces a distinct hierarchical motion planner specifically designed to enhance safety and reliability in UAV navigation. key to this is the development of an improved hybrid A* algorithm for global planning, which effectively tackles practical issues such as high memory consumption and performance degradation. A significant theoretical contribution is the application of the Marden theorem in local optimization. This facilitates the generation of homotopic enclosed motion corridors using unique safe boundary ellipsoids, thus reducing navigation complexity and the ri

关键词： autonomous aerial vehicles Trajectory Planning Navigation Heuristic algorithms Safety Vehicle dynamics Australia Aerospace electronics Collision avoidance UAV hybrid A* global planning Marden theorem local navigation collision avoidance

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Stepsize domain confirmation and optimum of ZeaD formula for future optimization

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NUMERICAL ALGORITHMS 2019年第2期81卷 561-574页

作者： Zhang, Yunong Qi, Zhiyuan Li, Jian Qiu, Binbin Yang, Min Sun Yat Sen Univ 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

Future optimization, which is also known as discrete-time time-variant optimization problem, is an important issue in scientific fields. Recently, Guo et al. have proposed a new effective three-step discrete-time zeroing dynamics (DTZD) model (Guo et al. Numer. Algorithms 77(1), 23-36, 2018) to solve future optimization problems, which is discretized from continuous-time zeroing dynamics (CTZD) model via utilizing a type of Zhang et al. discretization (ZeaD) formula whose coefficients are proportional to 6,2, and 1 (termed as ZeaD formula 6321). In this paper, we mainly focus on the stability of this DTZD model. There is an important parameter that closely relates to the stability of the DTZD model, which is called stepsize. Through theoretical study, we obtain the accurate stepsize domain, which makes the DTZD model stable, and the result, i.e., stepsize h(0,0.8), confirms Guo et al.'s previous investigation. Furthermore, the optimum of the stepsize, which makes the DTZD model converge fastest to steady state in terms of residual error and also provides the best stability (i.e., most away from unstable state), is discussed and investigated as well on the basis of theoretical derivation. Eventually, numerical experiments are carried out to confirm again the correctness of the stepsize domain and the optimum in the DTZD model for future optimization.

关键词： Zeroing dynamics (ZD) Future optimization Stepsize domain Optimum

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FD-SLAM: Real-time Tracking and Mapping in Dynamic Environments

FD-SLAM: Real-time Tracking and Mapping in Dynamic Environme...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Hua Xu Chenguang Yang Ying Feng Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

A robot needs the ability of Simultaneous Localization and Mapping(SLAM) in an unknown environment. It can help the robot navigation and tracking. The traditional method only considers that the robot works in a static environment. But in most cases, the robot should work in a highly dynamic environment like people. This paper presents a novel SLAM system named FD-SLAM, building on ORB-SLAM2 [1], which adds the abilities of dynamic object detection and fusion of depth image and semantic image to better estimate the position of people in an image. To improve the real-time performance of FD-SLAM, it has five threads that run simultaneously in FD-SLAM: tracking, semantic segmentation, local mapping, loop closing, and point cloud mapping. FD-SLAM uses the deep neural network algorithm to detect the dynamic object and combine the depth image with the corresponding semantic image to obtain a more accurate position of a dynamic object thus reducing the impact of dynamic objects to more accurately estimate the pose of the camera. Finally, the point cloud thread uses each keyframe to create a point cloud map. We experiment with a public dataset. The results show that the absolute trajectory error of FD-SLAM is smaller than that of ORB-SLAM and DS-SLAM, and it has better real-time performance than other SLAM systems for a dynamic environment.

关键词： SLAM Image segmentation Semantics Feature extraction

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Correction to: Novel neural adaptive terminal sliding mode control for TCP network systems with arbitrary convergence time

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Neural Computing and Applications 2023年第1期36卷 519-519页

作者： Qi, Xuelei Li, Chen Chen, Bao Ni, Wei Ma, Hongjun College of Information Science and Engineering Northeastern University Shenyang People’s Republic of China Commonwealth Scientific and Industrial Research Organisation (CSIRO) Sydney Australia School of Automation Science and Engineering South China University of Technology Guangzhou People’s Republic of China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong Guangzhou People’s Republic of China

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Enhanced teleoperation performance using hybrid control and virtual fixture

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INTERNATIONAL JOURNAL OF systems SCIENCE 2019年第3期50卷 451-462页

作者： Luo, Jing Yang, Chenguang Wang, Ning Wang, Min South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England Plymouth Univ Ctr Robot & Neural Syst Plymouth Devon England Changan Univ Sch Informat Engn Middle Sect Naner Huan Rd Xian Shaanxi Peoples R China

To develop secure, natural and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a process during the human-robot interaction. This paper develops an integrated scheme based on a hybrid control and virtual fixture approach for the telerobot. The human operator can sense the slave interaction condition and adjust the master device via the surface electromyographic signal. This hybrid control method integrates the proportional-derivative control and the variable stiffness control, and involves the muscle activation at the same time. It is proposed to quantitatively analyse the human operator's control demand to enhance the control performance of the teleoperation system. In addition, due to unskilful operation and muscle physiological tremor of the human operator, a virtual fixture method is developed to ensure accuracy of operation and to reduce the operation pressure on the human operator. Experimental results demonstrated the effectiveness of the proposed method for the teleoperated robot.

关键词： Telerobots variable stiffness muscle activation hybrid control virtual fixture

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Dual Arm Cooperation Based on Visual Servo control 9

Dual Arm Cooperation Based on Visual Servo Control

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9th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent systems (IEEE-CYBER)

作者： Gan, Junbao Yang, Chenguang Cheng, Long Feng, Ying South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England Chinese Acad Sci Inst Automat Key Lab Complex Syst & Intelligence Sci Beijing 100190 Peoples R China

ISBN: (纸本)9781728107707

In this paper, a position-based visual servo method is proposed to perform the high-accuracy precision grasping and collaborative tasks for dual arm robot. Firstly, an adaptive color identification procedure is presented to cope with the problem that the color of the object will change when the object is in different positions for object identification. Secondly, we employ the position-based visual servo method to build a control loop including the sensor data streams obtained from the visual system, the force / torque sensors and the joint encoders. Based on these data, the joint velocity value and the on-line motion trajectory of manipulator could be obtained, which led to a good performance on grasping a fixed object and tracking online. Finally, we implement three experiments to verify the effectiveness of the position-based visual servo method in this paper. The experimental results demonstrate the proposed method can effectively identify target objects with a good positioning accuracy and high capture success rate for collaborative tasks.

关键词： Visual servoing

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