检索结果-内蒙古大学图书馆

Challenging simulation practice (failure and success) on implicit tracking control of double-integrator system via Zhang-gradient method

引用

MATHEMATICS AND COMPUTERS IN SIMULATION 2016年 120卷 104-119页

作者： Zhang, Yunong Zhai, Keke Chen, Dechao Jin, Long Hu, Chaowei Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

Zhang-gradient (ZG) method is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods which are two powerful methods for online time-varying problems solving. ZG controllers are designed using the ZG method to solve the tracking control problem of a certain system. In this paper, the design process of the ZG controllers with explicit as well as implicit tracking control of the double-integrator system is presented in detail. In addition, the corresponding computer simulations are conducted with different values of the design parameter lambda to illustrate the effectiveness of ZG controllers. However, even though the ZG controllers are powerful, there is still a challenge in the simulation practice. Specifically, different settings of simulation options in MATlab ordinary differential equation (ODE) solvers may lead to different simulation results (e.g., failure and success). For better comparison, the successful and failed simulation results are both presented. The differences in simulation results remind us to pay more attention to MATlab defaults and options when we conduct such simulations. (C) 2015 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

关键词： Zhang-gradient (ZG) controllers Double-integrator system Tracking control MATlab ODE solver Options

来源：评论

学校读者我要写书评

暂无评论

QP-based refined manipulability-maximizing scheme for coordinated motion planning and control of physically constrained wheeled mobile redundant manipulators

引用

NONLINEAR DYNAMICS 2016年第1期85卷 245-261页

作者： Zhang, Yunong Yan, Xiaogang Chen, Dechao Guo, Dongsheng Li, Weibing Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

By following the pseudoinverse-type formulation, a corresponding quadratic program (QP)-based rough manipulability-maximizing (RoMM) scheme is obtained. In consideration of the drawbacks of the RoMM scheme, a novel QP-based refined manipulability-maximizing (ReMM) scheme is proposed and investigated in this paper for coordinated motion planning and control of a physically constrained wheeled mobile redundant manipulator (WMRM). Such a scheme treats the mobile platform and the redundant manipulator as a combined robotic system, showing an interesting trend of combining motion planning and reactive control methodologically and systematically. In addition, physical limits of mobile manipulators are incorporated into the scheme formulation, which enables the proposed ReMM scheme to keep all the resolved variables within their physical limits. Besides, the proposed ReMM scheme is finally reformulated as a unified QP. For testing the ReMM scheme, the WMRM composed of a two-wheel-drive mobile platform and a six-degrees-of-freedom manipulator is presented and investigated, together with its kinematics analysis. Comparative simulations performed on such a WMRM substantiate the efficacy, accuracy and superiority of the proposed ReMM scheme, as compared to the RoMM scheme.

关键词： Manipulability maximizing Coordinated motion planning and control Wheeled mobile redundant manipulators Quadratic program

来源：评论

学校读者我要写书评

暂无评论

Minimum jerk norm scheme applied to obstacle avoidance of redundant robot arm with jerk bounded and feedback control

引用

IET control THEORY AND APPLICATIONS 2016年第15期10卷 1896-1903页

作者： Chen, Dechao Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

In this study, a minimum jerk norm (MJN) scheme with an obstacle avoidance constraint is proposed and applied to a redundant robot arm, of which the joint jerks keep bounded for a human-friendly robot control. To achieve superior tracking performances of the redundant robot arm, the proposed jerk bounded MJN scheme is improved by the feedback control. More importantly, the effectiveness on obstacle avoidance of the proposed scheme is guaranteed by the variable-magnitude escape jerk theorem. Besides, for the purpose of implementation on the practical robot system, the corresponding discrete formulas with their theoretical analyses are presented. Then the proposed scheme is reformulated as a dynamical quadratic program which is solved by a piecewise-linear projection equation neural network. Furthermore, the path-tracking simulation and comparison substantiate the effectiveness and accuracy of such a scheme with the smooth and human-friendly joint variables applied to the obstacle avoidance of a six degrees of freedom jerk bounded robot arm. At last, the experimental application conducted on a practical redundant robot arm system further shows the physical realisability and the safety of the proposed scheme.

关键词： collision avoidance redundant manipulators feedback neural nets redundant robot arm system jerk bounded robot arm path-tracking simulation piecewise linear projection equation neural network dynamical quadratic program discrete formulas variable magnitude escape jerk theorem jerk bounded MJN scheme human-friendly robot control joint jerks obstacle avoidance constraint feedback control jerk bounded control minimum jerk norm scheme

来源：评论

学校读者我要写书评

暂无评论

Deterministic learning enhanced neutral network control of unmanned helicopter

引用

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC systems 2016年第6期13卷 1-12页

作者： Jiang, Yiming Yang, Chenguang Dai, Shi-lu Ren, Beibei South China Univ Technol Key Lab Autonomous Syst & Networked Control Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Texas Tech Univ Dept Mech Engn Lubbock TX 79409 USA

In this article, a neural network-based tracking controller is developed for an unmanned helicopter system with guaranteed global stability in the presence of uncertain system dynamics. Due to the coupling and modeling uncertainties of the helicopter systems, neutral networks approximation techniques are employed to compensate the unknown dynamics of each subsystem. In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is also integrated into the control design, such that the resulted neural controller is always valid without any concern on either initial conditions or range of state variables. In addition, deterministic learning is applied to the neutral network learning control, such that the adaptive neutral networks are able to store the learned knowledge that could be reused to construct neutral network controller with improved control performance. Simulation studies are carried out on a helicopter model to illustrate the effectiveness of the proposed control design.

关键词： Unmanned helicopter global neural control deterministic learning

来源：评论

学校读者我要写书评

暂无评论

Sine neural network (SNN) with double-stage weights and structure determination (DS-WASD)

引用

SOFT COMPUTING 2016年第1期20卷 211-221页

作者： Zhang, Yunong Qu, Lu Liu, Jinrong Guo, Dongsheng Li, Mingming Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

To solve complex problems such as multi-input function approximation by using neural networks and to overcome the inherent defects of traditional back-propagation neural networks, a single hidden-layer feed-forward sine-activated neural network, sine neural network (SNN), is proposed and investigated in this paper. Then, a double-stage weights and structure determination (DS-WASD) method, which is based on the weights direct determination method and the approximation theory of using linearly independent functions, is developed to train the proposed SNN. Such a DS-WASD method can efficiently and automatically obtain the relatively optimal SNN structure. Numerical results illustrate the validity and efficacy of the SNN model and the DS-WASD method. That is, the proposed SNN model equipped with the DS-WASD method has great performance of approximation on multi-input function data.

关键词： Sine neural network (SNN) Double-stage weights and structure determination (DS-WASD) Function approximation Linear independence

来源：评论

学校读者我要写书评

暂无评论

China Population Prediction with the Aid of Fast,Optimal and Accurate WASD Neuronet Compared with BP Neuronet 35

China Population Prediction with the Aid of Fast,Optimal and...

引用

第35届中国控制会议

作者： ZHANG Yunong HE Penghao WEN Jianfeng HE Liangyu 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 Department of Computer Science Guangdong Polytechnic Normal University

ISBN: (纸本)9781509009107

Population is one of the most significant factors affecting the social and economic development of a ***,China is facing a big challenge of population *** is important for Chinese government to pay continuous attention to the population situation and take measures so as to keep the economic ***,the effectiveness of these measures depends crucially on the accurate prediction of China *** methods,including the feedforward neuronet equipped with back-propagation（BP） algorithm,have been proposed in order to improve the prediction ***,these methods possibly have their inherent *** this paper,the authors construct an enhanced feedforward neuronet,i.e.,a 3-layer feedforward power-activated neuronet（PAN） equipped with the weights-and-structure-determination algorithm（for short,WASD-PAN）,to predict China *** experiments show that China population will continue to increase at a low rate in the next *** authors also compare the WASD-PAN with the back-propagation neuronet BP-PAN,with numerical experimental results showing the excellent performance of the former.

关键词： China Population Prediction Weights-And-Structure-Determination（WASD） Back-Propagation（BP） Neuronet

来源：评论

学校读者我要写书评

暂无评论

Matlab Simulink of Varying-Parameter Convergent-Differential Neural-Network for Solving Online Time-Varying Matrix Inverse 9

Matlab Simulink of Varying-Parameter Convergent-Differential...

引用

9th International Symposium on Computational Intelligence and Design (ISCID)

作者： Zhang, Zhijun Chen, Siyuan Zheng, Lunan Zhang, Jiayu South China Univ Technol Sch Automat Sci & Engn Guangzhou Guangdong Peoples R China South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781509035588

To deal with time-varying equations, a novel recurrent neural network, named varying-parameter convergent-differential neural network (in short, VP-CDNN), is proposed, modeled and analyzed. It is designed by a matrix-valued error function and the design parameter is time-varying, which enables the VP-CDNN to have good convergence and robustness. For illustration and comparison, a scalar-valued error function-based recurrent neural network, i.e., gradient-based neural network (GNN), is presented and developed. Matlab Simulink of both the VP-CDNN and GNN for solving online time-varying matrix inverse is constructed and presented. Comparison results verify that the proposed VP-CDNN is more effective and robust than those of GNN.

关键词： neural network matrix inverse time-varying equation neural dynamics convergence robustness

来源：评论

学校读者我要写书评

暂无评论

Continuous and discrete Zhang dynamics for real-time varying nonlinear optimization

引用

NUMERICAL ALGORITHMS 2016年第1期73卷 115-140页

作者： Jin, Long Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

Online solution of time-varying nonlinear optimization problems is considered an important issue in the fields of scientific and engineering research. In this study, the continuous-time derivative (CTD) model and two gradient dynamics (GD) models are developed for real-time varying nonlinear optimization (RTVNO). A continuous-time Zhang dynamics (CTZD) model is then generalized and investigated for RTVNO to remedy the weaknesses of CTD and GD models. For possible digital hardware realization, a discrete-time Zhang dynamics (DTZD) model, which can be further reduced to Newton-Raphson iteration (NRI), is also proposed and developed. Theoretical analyses indicate that the residual error of the CTZD model has an exponential convergence, and that the maximum steady-state residual error (MSSRE) of the DTZD model has an O(tau (2)) pattern with tau denoting the sampling gap. Simulation and numerical results further illustrate the efficacy and advantages of the proposed CTZD and DTZD models for RTVNO.

关键词： Time-varying nonlinear optimization Derivative method Gradient dynamics (GD) Zhang dynamics (ZD) Discrete-time

来源：评论

学校读者我要写书评

暂无评论

Development of a Hybrid Motion Capture Method Using MYO Armband with Application to Teleoperation 13

Development of a Hybrid Motion Capture Method Using MYO Armb...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xu, Yanbin Yang, Chenguang Liang, Peidong Zhao, Lijun Li, Zhijun South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

ISBN: (纸本)9781509023967

In this paper, we have developed a motion capture method based on data collected by MYO armband. The method can be applied on any healthy operator wearing two MYO armbands on both upper and lower arms, respectively. The first MYO armband is worn near the centre of the operator's upper arm, the other is worn near the centre of the forearm. MYO armband has built-in eight bioelectrical sensors as well as a 9-axis IMU. The IMU sensors of the MYO are used to detect and reconstruct physical motion of shoulder and elbow joints, while the bioelectrical sensors are used to collect electromyography (EMG) signals associated with wrist motion. This hybrid method enable us to fully capture the motion of the 6-DOF (degree of freedom) of the arm. To test the proposed method, hardware-in-loop simulations studies are performed, with both physiological and physical signals received and processed in MATlab/Simulink via a low-power bluetooth interface. Results demonstrate the validness and effectiveness of the proposed method.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

引用

IEEE International Conference on Information and Automation (ICIA)

作者： Peng, Guangzhu Yang, Chenguang Jiang, Yiming Cheng, Long Liang, Peidong South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

ISBN: (纸本)9781509041022

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：