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4th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Hu, Zedong Feng, Ying Feng, Junjie Yuan, Yuxia South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9781728100647

The micro/nano positioning system built by the piezoelectric actuator is discussed in this paper. To make the positioning mechanism applicable to the real application, the coupling effect due to the changing of input frequencies and loads need to be considered in the hysteresis modeling method, since such effect causes the output of the piezoelectric actuating system to show more complex hysteretic properties. A modified rate-dependent Prandtl-Ishlinskii (RDPI) model is developed in this paper to describe the output characteristics by involving the input frequencies and the load together in the dynamic threshold function. Based on the established model, a robust guaranteeing preselected tracking controller is designed to weaken the influence of nonlinear characteristic on the actuating precision effectively. The formulated controller can guarantee the stability of the closed-loop system and ensure the positioning precision by selecting the proper tracking function. The correctness and precision of the proposed controller have been validated by the simulation results.

关键词： Load modeling Hysteresis Piezoelectric actuators Mathematical model Robots Conferences Mechatronics

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Adaptive Backstepping control for Piezoelectric Micro Actuating System with Input Saturation 5

Adaptive Backstepping Control for Piezoelectric Micro Actuat...

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

作者： Li, Ying 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

Piezoelectric actuators have been attached more importance in the field of high-precision micro actuating due to their excellent performance. However, the presence of the hysteresis nonlinearity and input saturation problems in this smart material actuators have caused adverse effects on their performance, including reduced operational accuracy and damage to the actuators. To eliminate the negative effects of hysteresis and compensate for input saturation, an adaptive backstepping controller with an anti-windup auxiliary compensation system is developed in this paper. The proposed approach shows good tracking performance for the piezoelectric micro actuating system introducing, which also proves that the anti-windup technology can handle the input saturation effects well.

关键词： Piezoelectric actuators

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Robust Output Voltage Tracking with Prescribed Performance for Single-Phase UPS Inverters

Robust Output Voltage Tracking with Prescribed Performance f...

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2024 China Automation Congress, CAC 2024

作者： Luo, Jialei Liu, Wei Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9798350368604

This paper deals with the robust output voltage tracking problem with prescribed performance for single-phase voltage source uninterruptible power supply inverters. We construct two linear internal models to reproduce the steady-state information, based on which we transform our problem into the robust stabilization problem with prescribed performance of an augmented system. Then, we incorporate a novel error transformation into the existing framework for the robust output regulation problem to design a stabilization controller, based on which we synthesize our control law to make the tracking error converge to zero asymptotically while always satisfying the prescribed performance. © 2024 IEEE.

关键词： Uninterruptible power systems

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An Improved Approach for Gesture Recognition

An Improved Approach for Gesture Recognition

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Chinese Automation Congress (CAC)

作者： Kuang, Donghai Yang, Chenguang Wang, Min Peng, Guangzhu South China Univ Technol Key Lab Autonomous Syst & Networked Control Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781538635247

Hand gesture recognition is highly valued for its potential applications in contactless human-computer interaction (HCI). Aiming at the problem that the gesture recognition system based on ordinary camera is susceptible to different lighting conditions and complex background environment, an improved algorithm based on depth image for fingertip detection and gesture recognition is proposed. Firstly, the depth image is obtained by zed stereo camera. The position of the hand is detected and segmented by depth information and color information, It is proposed to combine the convex hull and the k-curvature detection fingertip to detect the number and position of the fingertip, The angle between the tip and the palm of the hand, the angle between the two adjacent fingertips and the distance between the fingertip and the palm of the hand. Finally, the five kinds of digital gestures are identified by the support vector machine (SVM). The experiment results show that the method can accurately detect the count and location of the fingertips, and the average recognition rate of 5 kinds of digital gestures is 94. 9%. The Features used in this paper are simple, real-time, and have good robustness.

关键词： Feature extraction Gesture recognition Support vector machines

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Non-Overshooting Output Regulation of Linear systems via Positive systems Method 6

Non-Overshooting Output Regulation of Linear Systems via Pos...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Deng, Xuanjin Liu, Wei School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education Guangzhou China

ISBN: (纸本)9798350353594

This paper investigates the non-overshooting output regulation problem by using the analysis and synthesis approaches of positive systems. Combining linear programming with gain matrix decomposition technique, a state feedback control law with two different kinds of design parameters is designed to ensure the stability and positivity of the corresponding closed-loop systems, which leads to the solvability of the non-overshooting output regulation problem of linear systems. Finally, an example is given to verify the effectiveness of the proposed design. © 2024 IEEE.

关键词： State feedback

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Active Disturbance Rejection control Design for the Power on Ultrasonic Transducer 41

Active Disturbance Rejection Control Design for the Power on...

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第41届中国控制会议

作者： Fuchun Liu Bin Li Haixing Deng Ming Zeng School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The Ultrasonic scalpel has good medical characteristics and is widely used in the medical *** the core component of the ultrasonic scalpel system,the ultrasonic transducer usually needs to control its power for good cutting ***,the mathematical model of the ultrasonic transducer is complex and easily influenced by the load and ***,it is challenging to design a power controller that satisfies all situations with different temperatures and *** this paper,we will analyze the equivalent model of the ultrasonic transducer and simplify the controlled object ***,an ADRC controller,which has the advantage of placing less emphasis on the mathematical model and compensating for the disturbances,will be ***,the performance of the ADRC control system will be tested according to a simulation experiment.

关键词： ultrasonic transducer power control ADRC first-order system

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Fixed-Time Neuro-Optimal Adaptive control With Input Saturation for Uncertain Robots

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IEEE INTERNET OF THINGS JOURNAL 2024年第17期11卷 28906-28917页

作者： Fan, Yanli Yang, Chenguang Li, Yongming South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

This article presents a neural optimization-based fixed-time adaptive control scheme for the robot systems with unknown dynamics and input saturation. During the process of information exploration, security and control efficiency issues always exist due to the complexity of the system. In this regard, a performance index function is constructed to optimize the control performance, and a nonlinear auxiliary compensation system is developed to solve the saturation effect of the actuator. By solving the Hamilton-Jacobi-Bellman (HJB) equation and utilizing the fixed-time theory, a fixed-time optimization control scheme is designed within the framework of adaptive dynamic programming. The objective of this scheme is to achieve both the optimal performance and rapid convergence. Second, universal approximators, namely neural network (NN) are employed to handle unknown uncertainties through the actor-critic-identifier structure. Among them, the critic network evaluates the system performance, the actor network implements control actions, and the identifier network estimates the unknown dynamics. Additionally, under the Lyapunov stability criterion and optimization theory, a stability analysis is conducted to demonstrate the feasibility of the devised neuro-optimal fixed-time control scheme and guarantee the convergence of all the signals within a fixed-time. Finally, simulations are performed to further validate the effectiveness of the developed control method.

关键词： Robots Optimization Convergence Mathematical models Vectors Performance analysis Optimal control Actor-critic networks fixed-time control optimized robot control

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Position control of Continuum Manipulator with Twin-Pivot Compliant Joints 10

Position Control of Continuum Manipulator with Twin-Pivot Co...

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10th International Conference on Modelling, Identification and control (ICMIC)

作者： Liu, Xin Yang, Chenguang Dai, Shilu Feng, Ying South China Univ Technol Key Lab Autonomous Syst & Networked Control Sch Automat Sci & Engn Guangzhou 510641 Peoples R China

ISBN: (纸本)9781538654163

This paper proposes a novel closed-loop PD controller based on kinematic for continuum manipulator with twin-pivot compliant joints. The purpose of the twin-pivot compliant joints is to decrease the twisting angle caused by gravity of manipulator and payload. We build the forward and inverse kinematic to control the end-effector of continuum manipulator with twin-pivot compliant joints. In this paper, first we build forward and inverse kinematic of continuum manipulator with twin-pivot compliant joints. We then build the controller based on kinematic models for a continuum manipulator with 24 Degrees of Freedom (DoF). Finally, simulation studies are carried out to test the proposed approach.

关键词： Continuum manipulator Kinematics model Twin-pivot compliant joint Jacobian for hyper-redundant systems

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Neuro-Adaptive-Based Fixed-Time Composite Learning control for Manipulators With Given Transient Performance

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IEEE TRANSACTIONS ON CYBERNETICS 2024年第12期54卷 7668-7680页

作者： Fan, Yanli Yang, Chenguang Li, Bin Li, Yongming South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

This article investigates an adaptive neural network (NN) control technique with fixed-time tracking capabilities, employing composite learning, for manipulators under constrained position error. The first step involves integrating the composite learning method into the NN to address the dynamic uncertainties that inevitably arise in manipulators. A composite adaptive updating law of NN weights is formulated, requiring adherence solely to the relaxed interval excitation (IE) conditions. In addition, for the output error, instead of knowing the initial conditions, this article integrates the error transfer function and asymmetric barrier function to achieve the specific performance for position error in both steady and transient states. Furthermore, the fixed-time control methodology and Lyapunov stability criterion are synergistically employed in order to guarantee the convergence of all signals in the manipulators to a compact neighborhood around the origin within a fixed-time. Finally, numerical simulation and experiments with the Baxter robot results both determine the capability of the NN composite learning technique and fixed-time control strategy.

关键词： Barrier Lyapunov function composite Learning fixed-time robot control transient performance

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Observer-based adaptive leader-following formation control for non-holonomic mobile robots

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IET control THEORY AND APPLICATIONS 2012年第18期6卷 2835-2841页

作者： Sun, T. Liu, F. Pei, H. He, Y. Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

This study considers the leader-following formation problem for the nonholonomic mobile robots, where the dynamics of the leader robot is unknown to the follower. First, the leader-following formation is transformed into a special trajectory tracking. Then neural network observer by the follower robot is designed to estimate the dynamics of the leader robot and based on multiple sliding surface technique control laws are designed for the follower robot to track the leader robot in the desired separation and bearing. The efficiency of the control law design is illustrated by formal proof and simulation results. Finally, conclusions are discussed.

关键词： Spatial variables control multiple sliding surface technique control laws adaptive control separation neurocontrollers control law design control system synthesis control system analysis and synthesis methods robot dynamics observer-based adaptive leader-following formation control multi-robot systems Self-adjusting control systems nonholonomic mobile robots leader robot dynamics Neurocontrol trajectory tracking position control bearing angle mobile robots neural network observer observers Simulation, modelling and identification Mobile robots follower robot

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