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Neuro-adaptive observer based control of flexible joint robot

NEUROCOMPUTING 2018年 275卷 73-82页

作者： Liu, Xin Yang, Chenguang Chen, Zhiguang Wang, Min Su, Chun-Yi South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea SA1 8EN W Glam Wales Concordia Univ Dept Mech & Ind Engn Montreal PQ H3G 1M8 Canada

Due to high nonlinearity, strong coupling and time-varying characteristics of flexible joint robot manipulators, their control design is generally a challenging problem. There are inevitable uncertainties associated with their kinematics and dynamics, so that accurate models would not be available for control design. Furthermore, practically we may face the problem that state variables required by the controller are not measurable. In this paper, we focus on the study of control system design using a neural network observer to solve the aforementioned unmeasurable problem. First, we propose an observer based on Radial Basis Function (RBF) neural network to estimate state variables of the normal system. We then design the controller based on dynamic surface control method for a single link flexible joint manipulator whose model is unknown. The unknown model of the manipulator is constructed by RBF neural network. The stability of the observer and controller is shown by Lyapunov method. Finally, simulation studies are performed to test and verify the effectiveness of the proposed controller. (c) 2017 Elsevier B.V. All rights reserved.

关键词： Flexible joint manipulator system Dynamic surface control Neural network State observer

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Output Tracking of Time-Varying Linear and Nonlinear systems Using ZN and ZG controllers with Pseudo Division-by-Zero Phenomena Shown 30

Output Tracking of Time-Varying Linear and Nonlinear Systems...

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30th Chinese control and Decision Conference (CCDC)

作者： Guo, Jinjin Yang, Xuyun Zhang, Yunong Li, Jian Yang, Min SYSU Sch Informat Sci & Technol Guangzhou 510006 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 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 Peoples R China

ISBN: (纸本)9781538612446

This paper introduces Zhang neurodynamics (ZN) method and Zhang-gradient (ZG) method used to design ZN and ZG controllers for the output tracking of systems, especially time-varying nonlinear system. Thereinto, ZG method is composed of the ZN method and gradient neurodynamics (GN) method. By applying the ZN method and the ZG method, respectively, to the output tracking control problems of time-varying linear (TVL) system and time-varying nonlinear (TVN) system, specific ZN controllers and ZG controllers are obtained. Particularly, TVL system and TVN system discussed in this paper may both have pseudo division-by-zero phenomena. From the numerical results, though ZN controllers and ZG controllers perform the output tracking of TVL system and TVN system well, the infinite value of the former and the finite value of the latter at singular instants verify that the ZG method is more effective in dealing with pseudo division-by-zero problem.

关键词： Time-varying linear system Time-varying nonlinear system Output tracking control problem ZN controller ZG controller Pseudo division-by-zero phenomena

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Discrete Time-Varying Four Fundamental Operations Implemented by Euler Forward Difference 36

Discrete Time-Varying Four Fundamental Operations Implemente...

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第36届中国控制会议

作者： Yunong Zhang Huihui Gong Jian Li Binbin Qiu Min Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781538629185

Time-varying problems are widely encountered in various engineering fields,such as signal processing,construction monitoring,and ***,traditional arithmetics intrinsically aim at time-invariant problems *** running on relatively low-speed processing units,traditional arithmetics may generate quite large and unacceptable lagging *** this paper,the problems of discrete time-varying four fundamental operations(TVFFO) are *** order to eliminate the lagging errors,based on Zhang dynamics(ZD) and Euler forward difference(EFD) formula,discrete computing models,which are named Euler-implemented discrete ZD(EIDZD) models,are proposed and *** that the EIDZD models are with an error pattern 0(g),where g denotes the sampling ***,illustrative numerical experiments of EIDZD models are also conducted,which show the high accuracy of EIDZD models.

关键词： Time-varying four fundamental operations（TVFFO） Zhang dynamics（ZD） Continuous time-varying models Euler forward difference（EFD） Euler-implemented discrete ZD（EIDZD） models Numerical experiments

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Different-Level Dynamic Quadratic Minimization Using Square Root Matrix Based Zhang Equivalency 30

Different-Level Dynamic Quadratic Minimization Using Square ...

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30th Chinese control and Decision Conference (CCDC)

作者： Yang, Min Huang, Huanchang Li, Jian Hu, Haifeng Zhang, Yunong SYSU Sch Informat Sci & Technol Guangzhou 510006 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 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 Peoples R China

ISBN: (纸本)9781538612446

For quadratic minimization (QM), it is usually assumed that the solution objective is time-invariant and at the same level. However, the QM is always time-varying (i.e., naturally and implicitly dynamic) and may be at different levels (i.e., explicitly dynamic) in practice. In this paper, different from the general QM, a novel different-level dynamic QM (DLDQM) is proposed and investigated. First, the DLDQM solving is split up into two general time-varying QM (TVQM) solving. Then, a solution model is thus proposed and investigated for the DLDQM, by applying square root matrix based Zhang equivalency and Moore-Penrose (MP) generalized inverse. In addition, it is worth pointing out that solving the DLDQM is a new and important attempt of this research. Finally, illustrative numerical experiments are conducted with numerical results presented and analyzed.

关键词： Different-level dynamic quadratic minimization (DLDQM) Square root matrix Zhang equivalency Moore-Penrose (MP) generalized inverse

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DISCRETE-TIME LU CHAOTIC systems SYNCHRONIZATION WITH ONE ZND controlLER INPUT AND ZEAD FORMULAS 17

DISCRETE-TIME LU CHAOTIC SYSTEMS SYNCHRONIZATION WITH ONE ZN...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Huang, Huan-Chang Zhang, Jian-Xin Li, Jian Yang, Min Zhang, Yu-Nong SYSU Sch Informat Sci & Technol Guangzhou 510006 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China SYSU CMU Shunde Int Joint Reseach Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Peoples R China

ISBN: (纸本)9781538652145

The discrete-time Lu chaotic systems synchronization with only one input is focused on in this paper, by using the controller designed by Zhang neural dynamics (ZND) method. Besides, Zhang et al discretization (i.e., ZeaD) formulas of four points are displayed. Discrete-time models are thus proposed by using ZeaD formulas to discretize Lu chaotic systems synchronization equipped with the ZND controller. In addition, numerical experiments are conducted to verify the effectiveness of the discrete-time models for synchronization control of Lu chaotic systems.

关键词： Discrete-time contorl Lu chaotic systems synchronization ZeaD formulas Discrete-time models Zhang neural dynamics

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Emotion-Aroused Human Behaviors Perception Using RNNPB

Emotion-Aroused Human Behaviors Perception Using RNNPB

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International Conference on Modelling, Identification and control (ICMIC)

作者： Jie Li Chenguang Yang Junpei Zhong Shilu Dai Lab of Autonomous Systems and Networked Control South China University Guangzhou China National Institute of Advanced Industrial Science and Technology Tokyo Japan

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： 1/f noise

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Computer Simulations and Comparisons of Jerk-Level Cyclic Motion Planning and control for CRRM 37

Computer Simulations and Comparisons of Jerk-Level Cyclic Mo...

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37th Chinese control Conference (CCC)

作者： Chen, Dechao Yang, Min Huang, Huanchang Li, Jian Zhang, Yunong SYSU 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

ISBN: (纸本)9789881563958

In this paper, a jerk-level cyclic motion planning and control (CMPC) scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators (CRRM). Furthermore, the path-tracking simulations are presented to substantiate the effectiveness and accuracy of the jerk-level CMPC scheme. Comprehensive and detailed comparisons between the presented jerk-level CMPC scheme and other existing schemes [i.e., the Jacobian pseudo-inverse based (JPIB) scheme, the minimum jerk norm (MJN) scheme and the acceleration-level cyclic motion planning (ALCMP) scheme] illustrate that the presented CMPC scheme resolved at jerk level is superior and more applicable.

关键词： Constrained redundant robot manipulators (CRRM) jerk level cyclic motion planning and control (CMPC) scheme computer simulations comparisons

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Jerk-Level Cyclic Motion Planning and control for Constrained Redundant Robot Manipulators Using Zhang Dynamics: Theoretics 30

Jerk-Level Cyclic Motion Planning and Control for Constraine...

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30th Chinese control and Decision Conference (CCDC)

作者： Yang, Min Zhang, Yunong Huang, Huanchang Chen, Dechao Li, Jian Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 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 Peoples R China

ISBN: (纸本)9781538612446

In this paper, based on Zhang dynamics method (ZDM), a cyclic motion planning (CMP) scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical limits. Unlike existing works resolved at velocity level or acceleration level, the scheme in this paper is resolved at jerk level. To achieve superior performance, the jerk-level CMP scheme is improved by the feedback control, which further leads to a jerk-level cyclic motion planning and control (CMPC) scheme. The cyclic motion criterion and the avoidance of joint physical limits (e.g., joint-angle, joint-velocity, joint-acceleration and joint-jerk limits) are both considered into the jerk-level CMP and CMPC schemes. More importantly, the correctness of the presented jerk-level schemes is guaranteed by the corresponding engineering-type theoretical analyses and results. Then, the jerk-level CMPC scheme is reformulated as a dynamical quadratic program (DQP) which can be solved by a piecewise-linear projection equation neural network (PLPENN), and also can be solved by a suitable numerical algorithm.

关键词： Constrained robot manipulators Joint drift phenomenon Jerk level Feedback control Theoretics

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GPS/SINS/MC Integrated Navigation Algorithm Research Based on Zero Velocity Update 36

GPS/SINS/MC Integrated Navigation Algorithm Research Based o...

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第36届中国控制会议

作者： Fuchun Liu Shengjie Cao Yifeng Chen Xuan Su College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control（ASNC）Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781538629185

The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update（ZUPT） technology is used for the error correction in this *** a relevant algorithm,the zero velocity detection algorithm is applied in the carrier *** method has achieved an integrated navigation system filtering algorithm based on *** simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.

关键词： Integrated Navigation Zero Velocity Update Kalman Filter

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Research on Indoor Robot SLAM of RBPF Improved with Geometrical Characteristic Localization 29

Research on Indoor Robot SLAM of RBPF Improved with Geometri...

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第29届中国控制与决策会议

作者： Liu Fuchun Chen Yifeng Li Yunze College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control(ASNC)Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509046584

LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamiliar environment with uncertain position and orientation. On the issue of setting the dynamic threshold value to zone the LIDAR scanning points in the process of constructing the geometry map, with the consideration of the character of RPLIDAR which is used in our research, this paper has analyzed and proposed the specific dynamic threshold values, which make the zoning of LIDAR scanning points more reasonable. In order to improve the robustness of SLAM, we have used regular particle filter(RPF) as the location algorithm. In order to solve the problem of unable to add auxiliary information under the traditional MCL framework, we have taken full use of the high accuracy character of the geometry matching and locating, and have used the result of it to improve the importance density function of RPF. Based on the idea of Rao-Blackwellization, the improved RBPF-SLAM has been proposed. The validity and feasibility of the improved RBPF-SLAM have been proved with simulations and experiments.

关键词： Simultaneous Localization and Mapping LIDAR robot particle filter

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