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28th Chinese control and Decision Conference

作者： Li, Xiangyang Tian, Senping Ai, Wei South China Univ Technol Sch Automat Sci & Engn Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9781467397148

The traditional iterative learning control (ILC) algorithm improves the control performance by updating the control input to implicitly compensate the periodic uncertainties. In order to enhance the convergence rate of ILC, a new concept, iterative extended state observer (IESO), is presented which can estimate explicitly the periodic uncertainties during the process of iterations and be used to update the control input directly. The explicit estimation of the uncertainty by the linear IESO in the iteration domain is used to construct a new ILC algorithm based on active disturbance rejection (ADR). The ADR-based ILC algorithm and its corresponding theorem are given in detail and proven by using Lyapunov-like approach. Simulation results verify the effectiveness of the proposed ILC algorithm, and the iterative learning efficiency is improved greatly by using ADR-based ILC algorithm.

关键词： Iterative Learning control (ILC) Extended State Observer (ESO) Iterative Extended State Observer (IESO) Active Disturbance Rejection Based Iterative Learning control (ADR-based ILC) Lyapunov-like Approach

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Matrix ODE Tool for Solution of Matrix-valued ODE with Application to Online Time-varying Matrix Inversion 13

Matrix ODE Tool for Solution of Matrix-valued ODE with Appli...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yunong Zhang Nanhao Wang Jiadi Wang Chen Peng Yingbiao Ling 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

ISBN: (纸本)9781509013463

In modern engineering researches, dynamics of systems are often studied by well-design computer simulations,and these dynamics are usually depicted in the form of vectoror matrix-valued ordinary differential equation(ODE) systems.A common approach for solution of matrix-valued ODE in MATlab is to use the Kronecker product and vectorization technique. However, the vectorization procedure may be troublesome, and it can be difficult if not impossible to vectorize a complicated matrix-valued ODE(especially when it is nonlinear).Differing from the traditional approach, this paper proposes an elegant, compact and effective tool(named MatrixO DE)for solving a matrix-valued ODE with arbitrary right hand side. As a complement and extension of the built-in solvers in MATlab, the proposed MatrixO DE tool allows solving a matrix-valued ODE using matrix language directly, i.e., users do not need to perform matrix-vector transformations. Application of the proposed MatrixO DE tool to online time-varying matrix inversion further substantiates its effectiveness for matrix-valued ODE solving.

关键词： Special software for simulation dynamical equations scientific computation matrix-valued ODE time-varying matrix inversion

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Sigmoid Function Aided Zhang Dynamics control for Output Tracking of Time-Varying Linear System with Bounded Input 35

Sigmoid Function Aided Zhang Dynamics Control for Output Tra...

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第35届中国控制会议

作者： ZHANG Yunong ZHANG Deyang QIU Bibbin WANG Jinjin LI Jian 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

ISBN: (纸本)9781509009107

This paper investigates the output-tracking control of time-varying linear（TVL） *** that the input is always limited in a range due to actuator physical constraints or energy-saving *** combining the Zhang dynamics（ZD） and the sigmoid function,an effective controller,termed sigmoid function aided ZD（SFAZD） controller,is designed for tracking the TVL *** verifications substantiate that the proposed SFAZD controller can achieve accurate tracking results,and limit the input in the range during the tracking process.

关键词： Tracking control Time-Varying Linear System Zhang Dynamics Sigmoid Function Bounded Input

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Complete Framework of Jerk-Level Inverse-Free Solutions to Inverse Kinematics of Redundant Robot Manipulators 35

Complete Framework of Jerk-Level Inverse-Free Solutions to I...

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第35届中国控制会议

作者： ZHANG Yunong HE Liangyu LUO Jiawei TAN Hongzhou 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

ISBN: (纸本)9781509009107

By applying the gradient dynamics(GD) and Zhang dynamics(ZD) to the motion planning and control for redundant robot manipulators at the joint-jerk level,three novel types of inverse-free solutions,namely Z2G1 type,Z1G2 type and Z0G3 type,are thus proposed,developed and investigated in this *** solutions only need to calculate the transpose of Jacobian matrix rather than the complex pseudo-inverse of Jacobian matrix,more efficiently resolving the complicated time-varying inverse-kinematics(IK) problem for robot ***,the path-tracking applications based on a 4-link robot manipulator show that the manipulator's motion is pretty smooth,fully illustrating the effectiveness,accuracy and superiority of such inverse-free ***,it is the first time for the researchers to propose a relatively complete inverse-free solution framework at the joint-jerk *** proposed approaches can provide effective solutions to the motion planning and control at different levels(e.g.,the joint-velocity,joint-acceleration and joint-jerk levels),having a wider application range and also obtaining a perfect tracking performance for redundant robot manipulators.

关键词： Joint-Jerk Level Robot Manipulators Motion Planning and control Inverse-Free Solutions Framework

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Modified static anti-windup for saturated systems with sector-bounded and slope-restricted nonlinearities

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2016年第16期26卷 3441-3459页

作者： Wang, Naizhou Pei, Hailong Tang, Yong South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Sch Mech & Automot Engn Key Lab Surface Funct Struct Mfg Guangdong Higher Educ Inst Guangzhou 510640 Guangdong Peoples R China

This paper proposes modified static anti-windup techniques for saturated systems with sector-bounded and slope-restricted nonlinearities by augmenting the pre-designed controller with the so-called differential compensator to process the slope restriction. By using a purely quadratic Lyapunov function and with a modified sector condition dealing with actuator saturation, LMI-based synthesis conditions are presented to address the problems of the estimates of the region of attraction and L2 performance analysis of the closed-loop system. Numerical examples illustrate the effectiveness of the proposed approaches. Copyright (c) 2016 John Wiley & Sons, Ltd.

关键词： anti-windup slope-restricted nonlinearity nonlinear system linear matrix inequality (LMI)

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Teleoperation control for Bimanual robots based on RBFNN and Wave Variable

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

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Xingjian Wang Chenguang Yang Junpei Zhong Rongxin Cui Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology Zienkiewicz Centre for Computational Engineering Swansea University National Institute of Advanced Industrial Science and Technology School of Marine Science and Technology Northwestern Polytechnical University

In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction including the internal forces applied on the object must be taken into *** the dynamics models for master device,slave robot and the object are first *** the presence of the uncertainties in the dynamics model of the remote robot,a neural network method is used for compensation in the slave *** order to guarantee the stability of the teleoperation system,the wave variable approach is employed in the communication *** the controllers in both the master and the slave part are designed based on their dynamics *** the tracking convergence and system stability are proven by the Lyapunov *** 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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The Design of Multi-task Simulation Manipulator Based on Motor Imagery EEG

The Design of Multi-task Simulation Manipulator Based on Mot...

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IEEE International Conference on systems, Man, and Cybernetics (SMC)

作者： Ye, Yuhang Yang, Chenguang Li, Xinyang Ju, Zhaojie Li, Zhijun 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 SA1 8EN W Glam Wales Univ Essex Sch Comp Sci & Elect Engn Colchester CO4 3SQ Essex England Univ Portsmouth Sch Comp Portsmouth PO1 3HE Hants England

ISBN: (纸本)9781538616451

In this paper, a mind controlled multi-task manipulator based on motor imagery electroencephalogram (EEG) is proposed. Describe the system function first: In the case of only two types of control signal, the implementation of multi-task Manipulator relies on a toggle-confirmation mode of operation: the task is switched when imagining the left-hand movement, and the task is confirmed when the right-hand movement is imagined. In the BCI system, common spatial pattern (CSP) is used for feature extraction, mutual information for feature selection, and linear discriminant analysis (LDA) for pattern classification. The EEG signal is processed and classified into two categories, imagery of left-hand and right-hand movement. In this way, we can achieve the multi-task control of the manipulator under the premise of ensuring the accuracy of EEG recognition.

关键词： Manipulators Electroencephalography Brain modeling Feature extraction Switches MATlab

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Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

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JOURNAL OF ADVANCED TRANSPORTATION 2017年第1期2017卷 1-11页

作者： Li, Weihao Yang, Chenguang Jiang, Yiming Liu, Xiaofeng Su, Chun-Yi South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea SA1 8EN W Glam Wales Hohai Univ Coll IoT Engn Nanjing Jiangsu Peoples R China Hohai Univ Jiangsu Key Lab Special Robots Nanjing Jiangsu Peoples R China Changzhou Key Lab Robot & Intelligent Technol Changzhou Peoples R China

In this paper, potential field method has been used to navigate a three omnidirectional wheels' mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.

关键词： Mobile robots

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GD-aided IOL (input-output linearisation) controller for handling affine-form nonlinear system with loose condition on relative degree

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INTERNATIONAL JOURNAL OF control 2016年第4期89卷 757-769页

作者： Zhang, Yunong Chen, Dechao Jin, Long Zhang, Yinyan Yin, Yonghua Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510275 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

Input-output linearisation (IOL) may encounter a singularity problem when applied to the tracking control of affine-form nonlinear system (AFNS), which may not have a well-defined relative degree. The singularity problem has occurred in the area of control for decades. In this paper, we incorporate the gradient dynamics (GD) into IOL, which leads to the GD-aided IOL method to solve the singularity problem, with the proposition of the loose condition on relative degree. Moreover, detailed theoretical analyses on tracking-error bound and convergence performance of the corresponding GD-aided IOL controller are presented. Simulations and comparisons substantiate that the proposed GD-aided IOL method is capable of completing the tracking-control task and conquering the singularity encountered in the AFNS.

关键词： Input-output linearisation affine-form nonlinear system error bound controller design loose condition on relative degree

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Revisit and compare Ma equivalence and Zhang equivalence of minimum velocity norm (MVN) type

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ADVANCED ROBOTICS 2016年第6期30卷 416-430页

作者： Qiu, Binbin Zhang, Yunong Yang, Zhi Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510275 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

In this paper, by revisiting Ma et al.'s inspiring work (specifically, Ma equivalence, ME) and Zhang et al.'s inspiring work (specifically, Zhang equivalence, ZE), which both investigate the equivalence relationships of redundancy-resolution schemes at two different levels, but with different formulations, the general scheme formulations and equivalence analyses of ME and ZE are presented. Besides, being a case study, the ME and ZE of minimum velocity norm (MVN) type are investigated for the inverse-kinematics (IK) problem solving. Moreover, the link and difference between the MVN-type ME and ZE are analyzed, summarized and presented methodologically, systematically, and computationally in this paper. In order to numerically compare the ME and ZE of MVN type, a Rhodonea-path tracking task based on PUMA560 robot manipulator is tested and fulfilled by employing the original velocity-level MVN schemes and its equivalent acceleration-level MVN schemes of ME and ZE. The simulative and numerical results not only verify the effectiveness of the velocity-level and acceleration-level schemes of MVN-type ME and ZE, but also validate the reasonableness of such two proved equivalence relationships. More importantly, these results show quantitatively and comparatively the respective advantages and future applications of MVN-type ME and ZE for the IK problem solving.

关键词： Zhang equivalence (ZE) different levels minimum velocity norm (MVN) inverse-kinematics (IK) problem solving Ma equivalence (ME)

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