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17th International Conference on control, Automation and systems (ICCAS)

作者： Zhang, Yunong Guo, Jinjin Qiu, Binbin Shi, Yang Yang, Zhi 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

ISBN: (纸本)9788993215144

In this paper, a new formula called Zhang discretization 4-instant g-square with subtype Q (i.e., ZD4IgS_Q) is proposed, which is used for discretizing continuous-time zeroing neurodynamics (CTZN) model. Besides, in order to solve future nonlinear systems of equations (FNSoE), also termed discrete time-varying nonlinear systems of equations, a ZD4IgS_Q-type discrete-time zeroing neurodynamics (DTZN) model with O(g(3)) steady-state residual error pattern is acquired by adopting the formula ZD4IgS_Q. For comparison purposes, an Euler-type DTZN model with O(g(2)) steady-state residual error pattern is also presented. Abundant numerical experimental results show that, compared with Euler-type DTZN model, the ZD4IgS_Q-type DTZN model has better computational performance in terms of solving FNSoE.

关键词： Zhang discretization formula Continuous-time zeroing neurodynamics (CTZN) model Future nonlinear system of equations (FNSoE) Discrete-time models

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Robust controller Design for BTT Missile Equipped with Grid Fin 35

Robust Controller Design for BTT Missile Equipped with Grid ...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.

关键词： BTT missile H control dynamic characteristics grid fin

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Stabilization of Three Time-Varying Linear systems Using ZG Method with Pseudo Division-by-Zero Phenomena Displayed 4

Stabilization of Three Time-Varying Linear Systems Using ZG ...

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4th International Conference on systems and Informatics (ICSAI)

作者： Zhang, Yunong Guo, Jinjin Qiu, Binbin Li, Jian Yang, Zhi Sun Yat Sen Univ 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)9781538611074

In this paper, we research the stabilization of three time-varying linear (TVL) systems with pseudo division-by-zero (PDBZ) phenomena displayed. Thereinto, Zhang-gradient (also known as zeroing-gradient, ZG) method consisting of Zhang neurodynamics (ZN) and gradient neurodynamics (GN) is applied to designing three ZG stabilization controllers. Through correlative numerical experiments, we more intuitively see that the ZG method is capable of realizing the stabilization control of three TVL systems. In addition, the ZG method is also able to solve the PDBZ (pseudo division-by-zero) problems. Moreover, we discuss the effects of design parameters as well as random initial values on three TVL systems, respectively.

关键词： Stabilization Time-varying linear (TVL) systems Pseudo division-by-zero (PDBZ) phenomena Zhang-gradient (ZG) method

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Acceleration-Level Fault-Tolerant Scheme for Redundant Manipulator Motion Planning and control: Theoretics 43

Acceleration-Level Fault-Tolerant Scheme for Redundant Manip...

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43rd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Zhan, Yunong Yin, Ziyu Huang, Huanchang He, Liangyu Jin, Long Sun Yat Sen Univ 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 Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538611272

In this paper, to achieve the fault-tolerant capability for redundant manipulators, a dimension-reduction method is presented and investigated at the joint-acceleration level. By incorporating such a dimension-reduction method and the limits of joint angle, joint velocity as well as joint acceleration (i.e., the physical constraints on joints), an acceleration fault-tolerant scheme for redundant manipulator motion planning and control (or say, motion-planning-and-control, MPaC) is thus proposed and investigated. The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints. For the online solution of the proposed scheme, the PLPE (piecewise-linear projection equation) oriented numerical algorithm is adopted to obtain the final QP solver. The derived QP resulting from the proposed scheme combines the abilities of fault tolerance, joints limits avoidance and repetitive motion, which can achieve the repetitive motion before and after the fault tolerance.

关键词： Fault tolerance joint-acceleration level motion planning and control quadratic program (QP) redundant manipulator system

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Numerical and Practical Experiments of Acceleration-Level Fault-Tolerant Scheme for Redundant Manipulator MPaC 17

Numerical and Practical Experiments of Acceleration-Level Fa...

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17th International Conference on control, Automation and systems (ICCAS)

作者： Gong, Huihui Yin, Ziyu Chen, Dechao Jin, Long 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

ISBN: (纸本)9788993215144

A fault-tolerant scheme at the acceleration-level for motion planning and control (MPaC) of redundant manipulator is proposed and presented by incorporating the dimension-reduction method and neural-dynamics based quadratic program (QP) including solution. More importantly, numerical and practical experiments based on a six-link planar redundant robot manipulator are presented in this paper to substantiate the physical realizability, efficacy and accuracy of the fault-tolerant scheme for redundant manipulator MPaC and the neural-dynamics based QP.

关键词： Fault tolerance redundant manipulator motion planning and control (MPaC) quadratic program (QP) numerical experiments practical experiments

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ADRC for Nonlinear Time-Variant systems with Unknown orders 35

ADRC for Nonlinear Time-Variant Systems with Unknown orders

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第35届中国控制会议

作者： LI Xiangyang AI Wei TIAN Senping Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.

关键词： ADRC local model extended state observer nonlinear time-variant system unknown order data-driven control

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Euler-Precision ZFD Formula 3NgPFD_G Extended to Future Minimization with Theoretical Guarantees and Numerical Experiments

Euler-Precision ZFD Formula 3NgPFD_G Extended to Future Mini...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Yunong Zhang Huihui Gong Jian Li Huanchang Huang Min Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Reseach Institute

In this paper, we propose and investigate a new Eulerprecision 3-node g-proportional finite difference formula [also named Zhang finite difference(ZFD) formula 3 NgPFDG], which achieves an error patte

ISBN: (纸本)9781467389808

关键词： Zhang finite difference (ZFD) 1st-order derivative Future minimization (FM) Theoretical guarantees Numerical experiments formula error model Frequency modulation FACTORY MUTUAL Optical gain Taylor series Finite differences

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Solving Ordinary Differential Equations by ZFD 4IgSFDL Method

Solving Ordinary Differential Equations by ZFD 4IgSFDL Metho...

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第36届中国控制会议

作者： Yunong Zhang Xuyun Yang Huanchang Huang Wan Li Fangzheng Lai School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

Ordinary differential equations(ODEs) are commonly used in physical system and automation researches,describing the relationship among *** there are practical significances to discuss and to research the solutions of *** initial value problem(IVP) is one of the important parts,and we usually use traditional methods,*** method,to obtain the *** this paper,we propose a new method named ZFD(Zhang finite difference) 4IgSFD

关键词： ZFD 4IgSFDL Method IVP of ODE Numerical Experiments High Accuracy

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Exploration of Muscle Fatigue Effects in Bioinspired Robot Learning from sEMG Signals

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COMPLEXITY 2018年第1期000卷

作者： Wang, Ning Xu, Yang Ma, Hongbin Liu, Xiaofeng Plymouth Univ Sch Comp Elect & Math Plymouth PL4 8AA Devon England Chinese Univ Hong Kong Shenzhen Res Inst Shatin Hong Kong Peoples R China South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Beijing Inst Technol Sch Automat Zhong Guan Cun South St Beijing 100081 Peoples R China Changzhou Key Lab Robot & Intelligent Technol Changzhou 213022 Peoples R China Hohai Univ Jiangsu Key Lab Special Robots Changzhou 213022 Peoples R China Hohai Univ Coll IoT Engn Changzhou 213022 Peoples R China

To investigate the effects of muscle fatigue on bioinspired robot learning quality in teaching by demonstration (TbD) tasks, in this work, we propose to first identify the emerging muscle fatigue phenomenon of the human demonstrator by analyzing his/her surface Electromyography (sEMG) recordings and then guide the robot learning curve with this knowledge in mind. The time-varying amplitude and frequency sequences determining the subband sEMG signals have been estimated and their dominant values over short time intervals have been explored as fatigue-indicating features. These features are found carrying muscle fatigue cues of the human demonstrator in the course of robot manipulation. In robot learning tasks requiring multiple demonstrations, the fatiguing status of human demonstrator can be acquired by tracking the changes of the proposed features over time. In order to model data from multiple demonstrations, Gaussian mixture models (GMMs) have been employed. According to the identified muscle fatigue factor, a weight has been assigned to each of the demonstration trials in training stage, which is therefore termed as weighted GMMs (W-GMMs) algorithm. Six groups of data with various fatiguing status, as well as their corresponding weights, are taken as input data to get the adapted W-GMMs parameters. After that, Gaussian mixture regression (GMR) algorithm has been applied to regenerate the movement trajectory for the robot. TbD experiments on Baxter robot with 30 human demonstration trials show that the robot can successfully accomplish the taught task with a generated trajectory much closer to that of the desirable condition where little fatigue exists.

关键词： Demonstrations

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Teleoperation control for Bimanual robots based on RBFNN and Wave Variable 9th

Teleoperation Control for Bimanual robots based on RBFNN and...

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9th International Conference on Modelling, Identification and control (ICMIC)

作者： Wang, Xingjian Yang, Chenguang Zhong, Junpei Cui, Rongxin Wang, Min South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Natl Inst Adv Ind Sci & Technol Tokyo Japan Northwestern Polytech Univ Sch Marine Sci & Technol Fremont CA USA

ISBN: (纸本)9781509065738

In this paper, a dual arm control method in a teleoperation system is introduced. For a bimanual robot, moving a common object precisely requires real-time cooperation between the two arms. In such conditions the force interaction including the internal forces applied on the object must be taken into account. Therefore the dynamics models for master device, slave robot and the object are first analysed. Because the presence of the uncertainties in the dynamics model of the remote robot, a neural network method is used for compensation in the slave part. In order to guarantee the stability of the teleoperation system, the wave variable approach is employed in the communication part. Then the controllers in both the master and the slave part are designed based on their dynamics models. Then the tracking convergence and system stability are proven by the Lyapunov function. Several simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.

关键词： Bimanual Robot Teleoperation control Wave Variable RBF NN

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