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Adaptive Parameter Estimation and control Design for Robot Manipulators With Finite-Time Convergence

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2018年第10期65卷 8112-8123页

作者： Yang, Chenguang Jiang, Yiming He, Wei Na, Jing Li, Zhijun Xu, Bin South China Univ Technol Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China Univ Sci & Technol China Dept Automat Hefei 230026 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Kunming Univ Sci & Technol Fac Mech & Elect Engn Kunming 650093 Yunnan Peoples R China Northwestern Polytech Univ Sch Automat Xian 710072 Shaanxi Peoples R China Northwest Polytech Univ Shenzhen Res Inst Shenzhen 518057 Peoples R China

For parameter identifications of robot systems, most existing works have focused on the estimation veracity, but few works of literature are concerned with the convergence speed. In this paper, we developed a robot control/identification scheme to identify the unknown robot kinematic and dynamic parameters with enhanced convergence rate. Superior to the traditional methods, the information of parameter estimation error was properly integrated into the proposed identification algorithm, such that enhanced estimation performance was achieved. Besides, the Newton-Euler (NE) method was used to build the robot dynamic model, where a singular value decomposition-based model reduction method was designed to remedy the potential singularity problems of the NE regressor. Moreover, an interval excitation condition was employed to relax the requirement of persistent excitation condition for the kinematic estimation. By using the Lyapunov synthesis, explicit analysis of the convergence rate of the tracking errors and the estimated parameters were performed. Simulation studies were conducted to show the accurate and fast convergence of the proposed finite-time (FT) identification algorithm based on a 7-DOF arm of Baxter robot.

关键词： Adaptive control finite time robotic manipulator parameter estimation unknown kinematics and dynamics

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ROBUST MPC FOR LINEAR systems WITH STRUCTURED TIME-VARYING UNCERTAINTIES AND SATURATING ACTUATOR

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ASIAN JOURNAL OF control 2017年第3期19卷 1197-1204页

作者： Zhang, Langwen Xie, Wei Wang, Jingcheng South China Univ Technol Coll Automat Sci & Technol Guangzhou 510640 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Minist Educ China Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China

In this paper, a synthesis of model predictive control (MPC) algorithm is presented for uncertain systems subject to structured time-varying uncertainties and actuator saturation. The system matrices are not exactly known, but are affine functions of a time varying parameter vector. To deal with the nonlinear actuator saturation, a saturated linear feedback control law is expressed into a convex hull of a group of auxiliary linear feedback laws. At each time instant, a state feedback law is designed to ensure the robust stability of the closed-loop system. The robust MPC controller design problem is formulated into solving a minimization problem of a worst-case performance index with respect to model uncertainties. The design of controller is then cast into solving a feasibility of linear matrix inequality (LMI) optimization problem. Then, the result is further extended to saturation dependent robust MPC approach by introducing additional variables. A saturation dependent quadratic function is used to reduce the conservatism of controller design. To show the effectiveness, the proposed robust MPC algorithms are applied to a continuous-time stirred tank reactor (CSTR) process.

关键词： Robust model predictive control structured uncertain systems polytopic uncertain actuator saturation saturation dependent

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Robust ADRC for Nonlinear Time-varying System with Uncertainties 6

Robust ADRC for Nonlinear Time-varying System with Uncertain...

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2017 IEEE 6th Data Driven control and Learning systems Conference (DDCLS’17)

作者： Xiangyang Li Wei Ai Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology IEEE Center for Advanced Control Technologies Department of Electrical and Computer EngineeringCleveland State University

ISBN: (纸本)9781509054626

Active disturbance rejection control(ADRC) exemplifies the spirit of the data-driven control(DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at high level of effectiveness can be extracted from the input-output data by the use of the extended state observer(ESO). On the other hand, it is shown in this paper that the robustness of ADRC depends on the effectiveness of ESO. Furthermore, taking advantage of the rich body of knowledge in the existing field of robust control, the estimation error in ESO is analysed and, for the purpose of improved robustness, a unique nonlinear component is added to the conventional ADRC law. The modified ADRC which is a kind of robust ADRC law is validated in simulation for a nonlinear time-varying system with parametric and functional uncertainties. It is shown that the proposed robust ADRC law provides more effective tracking performance than the conventional ADRC when the bandwidth of ESO is not wide enough.

关键词： Active Disturbance Rejection control(ADRC) Robust control Extended State Observer(ESO) Nonlinear Time-varying System

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Type-z0g3 controller of Output Tracking for Fractional Power System 3

Type-z0g3 Controller of Output Tracking for Fractional Power...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Fangzheng Lai Penghao He Jinjin Wang Dechao Chen School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

Because most systems are nonlinear in practical applications,output tracking for nonlinear system is of great interest to engineers and *** a specific class of nonlinear system,fractional po

ISBN: (纸本)9781509053643;9781509053636

Because most systems are nonlinear in practical applications,output tracking for nonlinear system is of great interest to engineers and *** a specific class of nonlinear system,fractional po

关键词： Trajectory Nonlinear systems Simulation Power system stability Sun

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From Davidenko Method to Zhang Dynamics for Nonlinear Equation systems Solving

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2017年第11期47卷 2817-2830页

作者： Zhang, Yunong Zhang, Yinyan Chen, Dechao Xiao, Zhengli Yan, Xiaogang SYSU Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

The solving of nonlinear equation systems (e.g., complex transcendental dispersion equation systems in waveguide systems) is a fundamental topic in science and engineering. Davidenko method has been used by electromagnetism researchers to solve time-invariant nonlinear equation systems (e.g., the aforementioned transcendental dispersion equation systems). Meanwhile, Zhang dynamics (ZD), which is a special class of neural dynamics, has been substantiated as an effective and accurate method for solving nonlinear equation systems, particularly time-varying nonlinear equation systems. In this paper, Davidenko method is compared with ZD in terms of efficiency and accuracy in solving time-invariant and time-varying nonlinear equation systems. Results reveal that ZD is a more competent approach than Davidenko method. Moreover, discrete-time ZD models, corresponding block diagrams, and circuit schematics are presented to facilitate the convenient implementation of ZD by researchers and engineers for solving time-invariant and time-varying nonlinear equation systems online. The theoretical analysis and results on Davidenko method, ZD, and discrete-time ZD models are also discussed in relation to solving time-varying nonlinear equation systems.

关键词： Comparison Davidenko method time-invariant nonlinear equation systems time-varying nonlinear equation systems Zhang dynamics (ZD)

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Proposing,QP-Unification and Verification of DLSM Based MKE-IIWT Scheme for Redundant Robot Manipulators 3

Proposing,QP-Unification and Verification of DLSM Based MKE-...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Min Yang Dechao Chen Weibing Li Dongsheng Guo Xiaogang Yan School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque(IIWT) minimizati

ISBN: (纸本)9781509053643;9781509053636

关键词： Manipulators Torque Minimization Acceleration Kinetic energy Performance analysis

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Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

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INTERNATIONAL JOURNAL OF systems SCIENCE 2017年第13期48卷 2713-2727页

作者： Chen, Dechao Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Peoples R China

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

关键词： Dual-arm redundant robot system dynamics algorithms jerk level joint-angle drift synchronous repetitive motion

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ZG controllers Handling VIP System with Nonzero Link Mass,Large Friction Coefficient and Different Initial Pendulum Angle 3

ZG Controllers Handling VIP System with Nonzero Link Mass,La...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Jinjin Wang Binbin Qiu Deyang Zhang Yang Shi School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

ISBN: (纸本)9781509053643;9781509053636

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

关键词： Trajectory Vehicle dynamics Mathematical model Friction Electronic mail Heuristic algorithms

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Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering

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INTERNATIONAL JOURNAL OF systems SCIENCE 2017年第1期48卷 1-12页

作者： Zhang, Yunong Zhang, Yinyan Chen, Dechao Xiao, Zhengli Yan, Xiaogang Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

In this paper, the division-by-zero (DBO) problem in the field of nonlinear control, which is traditionally termed the control singularity problem (or specifically, controller singularity problem), is investigated by the Zhang dynamics (ZD) method and the Zhang-gradient (ZG) method. According to the impact of the DBO problem on the state variables of the controlled nonlinear system, the concepts of the pseudo-DBO problem and the true-DBO problem are proposed in this paper, which provide a new perspective for the researchers on the DBO problems as well as nonlinear control systems. Besides, the two classes of DBO problems are solved under the framework of the ZG method. Specific examples are shown and investigated in this paper to illustrate the two proposed concepts and the efficacy of the ZG method in conquering pseudo-DBO and true-DBO problems. The application of the ZG method to the tracking control of a two-wheeled mobile robot further substantiates the effectiveness of the ZG method. In addition, the ZG method is successfully applied to the tracking control of a pure-feedback nonlinear system.

关键词： Division-by-zero problem nonlinear control system Zhang dynamics method Zhang-gradient method

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Discrete-Time control and Simulation of Ship Course Tracking Using ZD Method and ZFD Formula 4NgSFD 3

Discrete-Time Control and Simulation of Ship Course Tracking...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Huinan Xiao Jinjin Wang Jian Li Pei Chen School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

ISBN: (纸本)9781509053643;9781509053636

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

关键词： Marine vehicles Trajectory Electronic mail Process control Convergence Mathematical model

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