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Adaptive Angle-Constrained Enclosing control for Multirobot systems Using Bearing Measurements

IEEE TRANSACTIONS ON AUTOMATIC control 2024年第2期69卷 1324-1331页

作者： Lu, Ke Dai, Shi-Lu Jin, Xu South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510641 Peoples R China Univ Kentucky Dept Mech & Aerosp Engn Lexington KY 40506 USA

This article proposes a constrained control framework to solve the moving-target enclosing problem for nonholonomic multirobot systems, where the safety and precision constraints are considered during the encircling motion. Based on bearing measurements, the target-robot and interrobot angles are constrained to satisfy the requirements of limited sensing range and collision avoidance. The precision constraint further guarantees all robots converging to a small neighborhood of the desired enclosing formation. With the help of adaptive estimators, universal barrier Lyapunov functions are employed to the constrained control framework despite the lack of target's velocity. Simulation results verify the effectiveness of the proposed control algorithm.

关键词： Angle constraints collision avoidance enclosing control limited sensing range nonholonomic mobile robots

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Fractional-order electromagnetic modeling and identification for PMSM servo system

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ISA TRANSACTIONS 2024年 147卷 527-539页

作者： Gan, He Cao, Zhiyan Chen, Pengchong Luo, Ying Luo, Xin Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Hubei Peoples R China South China Univ Technol Sch Automat Sci & Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510641 Peoples R China Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China

An accurate electromagnetic model is essential for an optimal controller tuning of the high-performance servo system. This paper proposes a fractional-order electromagnetic model of a permanent magnet synchronous motor (PMSM) servo system and an identification methodology of this model. The reason why the investigated electromagnetic model should be a fractional-order one is addressed with a detailed explanation. The influence of voltage source inverter nonlinearity, which may cause system identification error, is analyzed. An improved inverter nonlinearity model and compensation method are proposed to promote the accuracy of the model parameter identification. Compared with the existing typical electromagnetic models of the PMSM servo system, the current open -loop and closed-loop experiments prove that the proposed fractional-order electromagnetic model with time delay is more accurate for the actual physical system. The effectiveness of the proposed nonlinearity modeling and compensation scheme of the inverter is also verified on an experimental PMSM servo system.

关键词： Fractional-order modeling Permanent magnet synchronous motor Inverter nonlinearity Servo system Time delay

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Interaction between vortex shedding and flap oscillation in separation control of a stalled aerofoil

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AEROSPACE SCIENCE AND TECHNOLOGY 2025年 163卷

作者： Yang, Yannian Li, Pengyu Zhou, Yongsheng Zhou, Tao Liu, Yu Probsting, Stefan South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked Control Minist EducSch Automat Sci & Engn Guangzhou 510640 Peoples R China Southern Univ Sci & Technol Dept Mech & Aerosp Engn Shenzhen 518055 Peoples R China

Flow control for lifting surfaces at high angle of attack is essential to increase the lift coefficient. Inspired by covert feathers of birds, a passive rotatable flap is added to the suction surface of an aerofoil to analyze its effectiveness and flow control mechanism from the perspective of fluid structure interaction. The lift coefficients of the aerofoil are measured by a balance, increasing near the stall angle and reaching maximum augmentation of 25% with the flap. Particle image velocimetry measurements show that the transition of trailing edge shear layer to vortex shedding occurs later due to the flap, and the separation zone becomes smaller, which work together to enhance the lift-to-drag ratio. Flap movement is influenced by unsteady trailing edge vortex shedding, with the flap pop-up angle increasing together with the aerofoil angle of attack and reaching a maximum value around 84 degrees, beyond which it decreases again. Moreover, the experimental data observes the low frequency flow pulsation and flap oscillation in addition to the high frequency trailing edge vortex shedding, which has a modulation effect on the flow fluctuation and flap oscillation magnitude.

关键词： Vortex flap interaction Separation control Aerofoil stall

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Application of Hybrid Variable Admittance Force Tracking and Fixed-time Position control for Robot Interaction Tasks 12

Application of Hybrid Variable Admittance Force Tracking and...

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12th International Conference on control Mechatronics and Automation

作者： Zhan, Hong Zeng, Chao Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China Univ Liverpool Dept Comp Sci Liverpool L69 3BX Merseyside England

ISBN: (纸本)9798331517519;9798331517526

This paper applies the proposed hybrid force and position control method to the physical robot system with interaction tasks to further improve our previous study. In the control scheme, the variable stiffness based on proportional integral derivative(PID) admittance control is adopted for interaction force tracking and the radial basis function neural network(RBFNN) based fixed-time control is designed to ensure position tracking. We have performed interaction tasks based on a Baxter robot for drawing on the plane and slope plane with different expected interaction forces and position trajectories. The experiment results indicate that the method performs well in terms of interaction force and trajectory tracking.

关键词： Force tracking Fixed-time control Robot-environment interaction

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Tracking control of Shape Memory Alloy Artificial Wrist Joint Using Sliding Mode control Strategy Based on RBF Neural Network 7

Tracking Control of Shape Memory Alloy Artificial Wrist Join...

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7th IEEE International Conference on Advanced Robotics and Mechatronics

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

ISBN: (数字)9781665483063

ISBN: (纸本)9781665483063

Shape memory alloy (SMA) is a kind of smart material that can generate deformation and recovery tension with the phase transition induced by temperature difference. SMA has been gradually used in many fields like micro robots and aerospace with its excellent flexible actuating ability. However, due to the internal material properties, there is a strong saturation hysteresis nonlinearity in SMA drivers, which leads to a severe drop in output accuracy, and even instability in some special conditions. In this paper, an artificial wrist joint was built. A sliding mode controller is proposed in this paper with the internal hysteresis estimated by the RBF networks to improve control ability. The proposed control strategy can achieve desired output performance of the artificial wrist, and the effectiveness of the proposed controller is verified with the simulation tests.

关键词： Wrist Temperature Mechatronics Shape memory alloys Radial basis function networks Hysteresis Smart materials

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Semi-Global Leader-Following Consensus for Second-Order Nonlinear Multi-Agent systems via Asynchronous Sampled-Data control

Semi-Global Leader-Following Consensus for Second-Order Nonl...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

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

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

The sampled-data leader-following consensus problem for a class of uncertain second-order nonlinear multi-agent systems is investigated in this article, where the region of attraction is semi-global. The system model contains the parameter uncertainties. In such a scenario, we construct a distributed state feedback control law by using asynchronously sampled data. Based on rigorous stability analysis of the closed-loop system, a maximum allowable value of sampling periods is given to guarantee the exact consensus. © 2022 IEEE.

关键词： Multi agent systems

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RLD-SLAM: A Robust Lightweight VI-SLAM for Dynamic Environments Leveraging Semantics and Motion Information

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第11期71卷 14328-14338页

作者： Zheng, Zengrui Lin, Shifeng Yang, Chenguang South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Peoples R China South China Univ Technol GuangDong Engn Technol Res Ctr Control Intelligent Sch Automat Sci & Engn Guangzhou Peoples R China Univ Liverpool Dept Comp Sci Liverpool L69 3BX England

Existing mainstream dynamic simultaneous localization and mapping (SLAM) can be categorized into image segmentation-based and object detection-based methods. The former achieves high accuracy but suffers a heavy computational burden, while the latter operates at higher speeds but with lower accuracy. In this article, we propose robust lightweight dynamic SLAM (RLD-SLAM), a robust lightweight visual-inertial SLAM for dynamic environments, leveraging semantics, and motion information. Our novel approach combines object detection and Bayesian filtering to maintain high accuracy while quickly acquiring static feature points. In addition, to address the challenge of semantic-based dynamic SLAM in highly dynamic scenes, RLD-SLAM leverages motion information from the inertial measurement unit to assist in tracking dynamic objects and maximizes the utilization of static feature in the environment. We conduct experiments applying our proposed method on indoor, outdoor datasets, and unmanned ground vehicles. The experimental results demonstrate that our method surpasses the current state-of-the-art algorithms, particularly in highly dynamic environments.

关键词： Mobile robot multisensor fusion robot state estimation simultaneous localization and mapping (SLAM)

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Predefined-Time Attitude Tracking control for Quadrotor UAV with Input Delay

Predefined-Time Attitude Tracking Control for Quadrotor UAV ...

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2023 China Automation Congress, CAC 2023

作者： Li, Shuo Pei, Hailong Duan, Na College of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Electrical Engineering & Automation Jiangsu Normal University Xuzhou221116 China

ISBN: (纸本)9798350303759

In this paper, the predefined time attitude tracking flight problem for a quadrotor unmanned aerial vehicle (UAV) system with input delays is investigated. By means of a novel auxiliary system, the effects of input delay are solved. Then, on the basis of the backstepping method and predefined performance control technology, the predefined-time attitude tracking controller is constructed to make UAV attitude tracking. Simulation results verify the validity of the proposed scheme. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Two-Level Semantic-Driven Diffusion Based Hyperspectral Pansharpening

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IEEE JOURNAL OF SELECTED TOPICS IN APPLIED EARTH OBSERVATIONS AND REMOTE SENSING 2025年 18卷 4213-4226页

作者： He, Lin Liang, Wenrui Plaza, Antonio South China Univ Technol Sch Automat Sci & Engn Guangzhou 510640 Peoples R China South China Univ Technol Guangdong Engn Technol Res Ctr Unmanned Aerial Veh Guangzhou 510640 Peoples R China Minist Educ PRC Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Univ Extremadura Hyperspectral Comp Lab Caceres 10003 Spain

Over recent years, denoising diffusion probabilistic models (DDPMs) have received many attentions due to their powerful ability to infer data distribution. However, most of existing DDPM-based hyperspectral (HS) pansharpening methods over rely on local processing to perform recovery, which usually fails to reconcile global contextual semantics and local details in data. To address the issue, we propose a two-level semantic-driven diffusion method for HS pansharpening. In our method, we first extract semantics in two levels, where the low-level semantic not only leads the extraction of conditional details, but also supports the further semantic extraction while the high-level semantic is related to scene cognition. Then, the features from both the low-level and high-level semantics are conditionally injected to the denoising network to guide the high-resolution HS recovery. Experiments on multiple datasets verify the effectiveness of our method.

关键词： Semantics Pansharpening Noise reduction Feature extraction Noise Diffusion models Image restoration Decoding Cognition Training Diffusion model hyperspectral (HS) images pansharpening two-level semantics

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Multi-objective design and evaluation of a toroidal rotor for quadcopters

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PHYSICS OF FLUIDS 2024年第12期36卷

作者： Li, Pengyu Liu, Chaofan Liu, Yu Yang, Yannian South China Univ Technol Guangdong Engn Technol Res Ctr Unmanned Aerial Ve Key Lab Autonomous Syst & Networked Control Sch Automation Sci & EngnMinist Educ Guangzhou 510640 Peoples R China China Aerodynam Res & Dev Ctr State Key Lab Aerodynam Mianyang 621000 Peoples R China Southern Univ Sci & Technol Dept Mech & Aerosp Engn Shenzhen 518055 Peoples R China

For long flight duration and low noise emission, efficient and quiet quadcopters have a continuous demand. The toroidal rotor, which is ring-shaped with each blade forming a closed loop, is recognized for its potential to reduce tip vortex intensity, thereby improving aerodynamic efficiency and reducing noise levels. However, existing studies provide limited and sometimes controversial results of toroidal rotor performance relative to conventional rotors. This study aims to conduct a more comprehensive and systematic evaluation by employing a multi-objective optimization framework to design toroidal and conventional rotors for fair comparison. The optimization under the constraint of a required thrust considers objectives of aerodynamic efficiency and noise emission, with the design variable of blade twist angle. The study compares a toroidal 2-blade rotor with conventional 2-blade and 4-blade rotors. The results show that, while the toroidal rotor generates lower noise than conventional 2-blade rotors, it shows lower aerodynamic efficiency. Compared to conventional 4-blade rotors, the toroidal rotor has lower aerodynamic efficiency and larger noise emission. The trend is determined by the effect of rotational speed and blade-vortex interaction, as revealed by flow field analysis. Noise spectrum analysis allows to identify loading and thickness noise contributions and locate the primary noise sources of the toroidal rotor.

关键词： Vortex flow

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