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37th Chinese control Conference, CCC 2018

作者： Weidong, Liu Haiming, Liu Jinhui, Guo South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China

ISBN: (纸本)9789881563941

Considering the batch assembly with multiple function requirements (FR), the multi-object selective assembly (SA) technology based on the hybrid particle swarm algorithm is introduced in this paper. Firstly, the SA model is discussed, and a multi-object optimization problem is illustrated based on the assembly chains;additionally, the hybrid particle swarm algorithm is used to solve the multi-object selective assembly problem. The matching matrix of batch parts is designed as the particle. The local non-inferior particles and the global non-inferior particles of each iteration population are calculated. The particle population is update by crossover and mutation operations. After all the iterations, the final global non-inferior particles are selected as the matching strategy of batch parts. Based on the optimized matching strategy, the assembly success rate is calculated, and each assembly accuracy and its precision is guaranteed. The process of multi-object SA based on hybrid particle swarm algorithm is introduced, and an example of batch cabin sections are illustrated to obtain the optimized matching strategy of batch parts. Contrasted to the sequential strategy and the random strategy, it can find that the multi-object SA method based on hybrid particle swarm algorithm has advantage in guaranteeing the assembly success rate, and comprehensively decreasing each assembly accuracy. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Iterative methods

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System identification and improved internal model control for yaw of unmanned helicopter

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ASIAN JOURNAL OF control 2023年第2期25卷 1619-1638页

作者： Huang, Linjie Pei, Hailong Cheng, Zihuan South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Peoples R China

The sea breeze is a low-frequency disturbance that severely damages the stability of small unmanned helicopters operating over the sea, especially for the yaw control, which is highly sensitive to disturbance. General internal model control is an appropriate method for dealing with this kind of operation conditions, whereas conventional internal model control cannot eliminate the tracking errors between a nominal model and a real model. In coping with unknown dynamics and low-frequency gust disturbances for small helicopters, this paper proposes a novel robust controller constructed with system identification and integrator-based improved general internal model. As a refinement of the conventional frame, the proposed control scheme extends the applicable scope of a controlled plant from a priori known dynamic to an unknown dynamic. Furthermore, under the proposed controller, it is guaranteed that the tracking error between the actual model and the nominal model converges to zero asymptotically. Finally, the effectiveness and advantage of the proposed control scheme are verified through comparative practical flight tests.

关键词： generalized internal model control robust tracking control small unmanned helicopter system identification unknown dynamics yaw control

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Geometric prescribed-time control of quadrotors with adaptive extended state observers

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第11期34卷 7460-7479页

作者： Wang, Liping Pei, Hailong South China Univ Technol Unmanned Aerial Vehicle Syst Sch Automat Sci & EngnGuangdong Engn Technol Res Key Lab Autonomous Syst & Networked ControlMinist Guangzhou 510640 Peoples R China South China Univ Technol Sch Automat Sci & EngnGuangdong Engn Technol Res Key Lab Autonomous Syst & Networked ControlMinist Unmanned Aerial Vehicle Syst Guangzhou 510640 Guangdong Peoples R China

This article studies an adaptive extended state observer (AESO) based prescribed-time geometric attitude stabilization problem of quadrotors with endogenous uncertainties, exogenous disturbances, and actuator saturation, which can be estimated and compensated by AESOs. The employment of the geometric representation method for system attitude can effectively avoid ambiguity or singularity problems that may arise with other representations. The temporal and scale transformations are employed to solve the global boundedness problem on infinite time instead of the prescribed-time convergence problem on finite time. By integrating the proposed controller with the backstepping technique, the system of quadrotors can be prescribed-time stable. Further, a prescribed-time geometric attitude control technique is devised such that the control signal is bounded and the state signals converge to a small domain near the equilibrium point in the prescribed time. The prescribed time is determined by the user and is independent of the initial conditions. The comparative simulations with different initial information are performed to demonstrate the effectiveness of the proposed design technique.

关键词： attitude control adaptive extended state observer backstepping prescribed-time control temporal and scale transformations

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Approximate Dynamic Inversion for Nonaffine Nonlinear systems With High-Order Mismatched Disturbances and Actuator Saturation

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IEEE ACCESS 2020年 8卷 26247-26256页

作者： Yang, Hao Pei, Hailong South China Univ Technol Key Lab Autonomous Syst & Networked Control Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Minist Educ Guangzhou 510640 Guangdong Peoples R China

In this paper, a novel disturbance-observer-based approximate dynamic inversion (ADI) approach is developed for pure-feedback nonaffine-in-control nonlinear systems (PFNNSs) in the presence of both high-order mismatched disturbances and actuator saturation. Finite-time disturbance observers (FTDOs) are utilized to estimate the disturbances and their derivatives. Then, we rebuild the system with the outputs of FTDOs. Thereafter, ADI is employed to derive the desired virtual and actual control of the nominal system, where no disturbances and saturation are presented. Furthermore, an augmented intermediate subsystem is constructed for the reduced slow subsystem to compensate for the difference between inputs with and without saturation by approximating its inversion. The stability of the closed-loop system is studied using Tikhonov & x2019;s theorem. The proposed method is applied to a numerical example and a one-link robotic system with a brush DC motor. The simulation results demonstrate the validity of the presented approach.

关键词： High-order mismatched disturbances actuator saturation finite-time disturbance observer approximate dynamic inversion singular perturbation theory

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Cooperative learning event-triggered control for discrete-time nonlinear multi-agent systems by internal and external interaction topology

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第3期34卷 1541-1565页

作者： Wen, Penghai Wang, Min Dai, Shi-Lu South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangdong Prov Key Lab Tech & Equipment Macromol A Guangzhou Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & NetworkedControl Guangdong Prov Key Lab Tech & Equipment Macromol A Guangzhou 510641 Peoples R China

This paper investigates distributed cooperative learning event-triggered control for discrete-time strict-feedback nonlinear multi-agent systems with an identical system structure and different recurrent reference orbits. A clever system decomposition method is firstly proposed to divide every n$$ n $$-order agent system into n$$ n $$ first-order subsystems, which makes it possible to solve the tough problem that every estimated neural weight cannot converge to an unique ideal value based on the existing control scheme. By constructing two interaction typologies, a novel distributed cooperative weight updating law is designed by the introduction of the internal interaction terms between n$$ n $$ subsystems of every agent, the external interaction terms between agents, and the triggering mechanism between agents. With the combination of the graph multiplication operation, the consensus theory and the matrix null space property, the proposed cooperative event-triggered control scheme guarantees that every agent can track their corresponding recurrent reference trajectories. And further the exponential convergence of all agents' neural estimated weights to a close vicinity around their mutual and unique ideal weights is verified under the condition that the directed interaction topology between agents is strongly connected and balanced. Such a weight convergence makes the proposed scheme has some significant advantages including the small data storage space, the convenient knowledge reuse, the good generalization ability, and the low communication burden. By reinvoking the saved constant weights, a static learning controller is presented for the high-performance control of similar diversified tracking tasks. Simulation studies and some comparisons are given to show the advantages and effectiveness of the presented scheme.

关键词： adaptive neural control discrete-time strict-feedback systems distributed cooperative learning event-triggered communication

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FD-SLAM: Real-time tracking and mapping in dynamic environments

FD-SLAM: Real-time tracking and mapping in dynamic environme...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Xu, Hua Yang, Chenguang Feng, Ying Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781728158594

A robot needs the ability of Simultaneous Localization and Mapping(SLAM) in an unknown environment. It can help the robot navigation and tracking. The traditional method only considers that the robot works in a static environment. But in most cases, the robot should work in a highly dynamic environment like people. This paper presents a novel SLAM system named FD-SLAM, building on ORB-SLAM2 [1], which adds the abilities of dynamic object detection and fusion of depth image and semantic image to better estimate the position of people in an image. To improve the real-time performance of FD-SLAM, it has five threads that run simultaneously in FD-SLAM: tracking, semantic segmentation, local mapping, loop closing, and point cloud mapping. FD-SLAM uses the deep neural network algorithm to detect the dynamic object and combine the depth image with the corresponding semantic image to obtain a more accurate position of a dynamic object thus reducing the impact of dynamic objects to more accurately estimate the pose of the camera. Finally, the point cloud thread uses each keyframe to create a point cloud map. We experiment with a public dataset. The results show that the absolute trajectory error of FD-SLAM is smaller than that of ORB-SLAM and DS-SLAM, and it has better real-time performance than other SLAM systems for a dynamic environment. © 2019 IEEE.

关键词： Semantics

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Dynamic surface control of shape memory alloy actuating systems with inverse Duhem hysteresis compensation 15

Dynamic surface control of shape memory alloy actuating syst...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Rui Feng, Ying Hu, Zedong School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781538660720

Shape Memory Alloys actuators are a class of smart materials-based actuators, and show a good output performance with high force to mass ratio, biocompatibility and small size. However, the internal hysteresis nonlinearities between the input temperature and output displacement adversely affect the output accuracy and they cannot be mitigated directly because of the strong non-smooth feature of SMA materials. To improve the actuating ability of SMA system, an estimated hysteresis inverse is employed based on Duhem model as the compensation of SMA actuator in this paper. Considering the dynamics of the SMA actuating system and the compensation error, a dynamic surface controller (DSC) is designed. The simulation results validate the effectiveness of the proposed approach. © 2018 IEEE.

关键词： Hysteresis

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Fixed-Time Fuzzy control of Uncertain Robots With Guaranteed Transient Performance

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IEEE TRANSACTIONS ON FUZZY systems 2023年第3期31卷 1041-1051页

作者： Zhu, Chengzhi Yang, Chenguang Jiang, Yiming Zhang, Hui South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Hunan Univ Sch Robot & Visual Percept & Control Technol Natl Engn Lab Changsha 410082 Peoples R China

In this article, an adaptive fixed-time fuzzy control scheme is proposed for an uncertain robot manipulator with user-defined performance. A novel symmetrical barrier Lyapunov function is designed based on the error conversion mechanism and the performance function such that the tracking errors will not violate the prescribed output constraints. A novel adaptive law is constructed and incorporated into the fixed-time controller design such that all the closed-loop signals can be bounded and achieve practical fixed-time convergence regardless of the initial conditions. Finally, the feasibility and superiority of the proposed scheme are demonstrated based on simulation and experimental studies using a Baxter robot.

关键词： Robots Fuzzy logic Convergence Fuzzy control Transient analysis Adaptive systems Artificial neural networks Adaptive fuzzy control barrier Lyapunov function (BLF) fixed-time convergence robot manipulator

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Anti-windup-based Dynamic controller Synthesis for Lipschitz systems under Actuator Saturation

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 358-365页

作者： Naizhou Wang Hailong Pei Yong Tang Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology Key Laboratory of Surface Functional Structure Manufacturing of Guangdong Higher Education Institutes School of Mechanical and Automotive EngineeringSouth China University of Technology

This paper presents a new method for simultaneous synthesis of dynamic controller and static anti-windup compensator for saturated Lipschitz systems. Thanks to the reformulated Lipschitz property, the Lipschitz systems can be transformed into LPV (linear parameter-varying) systems whose system matrices are affine in a parameter matrix. Based on the modified sector condition dealing with saturation nonlinearity, the design of a nonlinear anti-windup-based controller leads to the solvability of a set of bilinear matrix inequalities (BMI) on the vertices of a bounded convex set which can be solved by the so-called iterative linear matrix inequality (ILMI) algorithm. A numerical example is presented to illustrate the effectiveness of the proposed method. © 2014 Chinese Association of Automation.

关键词： controllers Iterative methods Linear algebra Matrix algebra Numerical methods Set theory Synthesis (chemical)

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Modeling of Shape Memory Alloy Actuated System Using a Modified Rate-dependent Prandtl-Ishlinskii Hysteresis Model 5

Modeling of Shape Memory Alloy Actuated System Using a Modif...

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5th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Liang, Mingwei Feng, Ying South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9781728164793

Shape memory alloys (SMAs) are widely used as actuators to construct various robotics systems, such as, minimally invasive surgery robots, micro in-pipe robots and biomimetic micro robots. However, the nonlinear hysteresis behaviors in SMA actuators seriously degrade the control accuracy and desired performances of SMA-actuated control systems. In this paper, an experimental platform based on SMA actuator is conducted. To make the platform capable of achieving precise control, the complex hysteresis characteristics of the SMA actuators are studied. The SMA actuator in this study exhibits complicated nonlinear properties with saturation nonlinearity and asymmetric hysteresis influenced by both the duty cycle of the input voltage and the load mass, which are different from the classical rate-dependent hysteresis behaviors. To explore the nonlinear properties of the SMA actuated system, open-loop experiments under different duty cycles and loads are testified, and a modified Rate-dependent Prandtl-Ishlinskii (RDPI) model is developed to enhance modeling abilities. Fitting effects of the modified RDPI model is validated by the comparison between the modeling output and experimental data.

关键词： Biomimetics

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