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IEEE International Symposium on intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Open-/Closed-loop Active Learning for Data-driven Predictive control

arXiv

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arXiv 2024年

作者： Feng, Shilun Shi, Dawei Shi, Yang Zheng, Kaikai The State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China The Department of Mechanical Engineering Faculty of Engineering University of Victoria VictoriaBCV8N 3P6 Canada

An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and closed-loop stages. The learning objective is to minimize the volume of the set of admissible systems. First, a performance measure based on historical data and the input sequence is introduced to characterize the upper bound of the volume of the set of admissible systems. On the basis of this performance measure, an open-loop active learning strategy is proposed to minimize the volume by actively designing inputs during the open-loop stage. For the closed-loop stage, an closed-loop active learning strategy is designed to select and learn from informative closed-loop data. The efficiency of the proposed closed-loop active learning strategy is proved by showing that the unselected data cannot benefit the learning performance. Furthermore, an adaptive predictive controller is designed in accordance with the proposed data acquisition approach. The recursive feasibility and the stability of the controller are proved by analyzing the effect of the closed-loop active learning strategy. Finally, numerical examples and comparisons illustrate the effectiveness of the proposed data acquisition strategy. Copyright © 2024, The Authors. All rights reserved.

关键词： Active learning

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Dynamic State Estimation Using Event-Trigger Master-Slave Nonlinear Filter for WAMS Applications

Dynamic State Estimation Using Event-Trigger Master-Slave No...

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Data Driven control and Learning systems (DDCLS)

作者： Qing Yuan Fengdi Zhang Hengheng Gong Luyu Li Sen Li Xiaozhong Liao Zhen Li Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing P. R. China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing P. R. China Beijing Institute of Radio Measurement Beijing P. R. China

ISBN: (纸本)9781538626191

The real-time state estimation becomes greatly important with the wide application of phasor measurement unit (PMU) in distributed generation (DG) for wide-area measurement systems (WAMS). In view of estimation, particle filter (PF) is capable of providing the best performance but at the cost of heavy computation burden. Besides, the growing grid size sustainably boosts the amount of data communication from PMU, causing the congestion. An event-trigger master-slave nonlinear filter (ET-MSNF) is proposed to guarantee the estimation accuracy and get the communication bandwidth relieved. The local slave filter at the generator node carries out the local estimation and event-trigger strategy using unscented transformation, which is identical to the center slave. The master filter at the center is designed using Monte Carlo method to improve the center's estimation accuracy by the cooperation with the center slave. Such master-slave filtering structure can fully utilize the computation capability both at the center and node. Simulation on the standard IEEE 39-bus system verify the performance of ET-MSNF.

关键词： Generators Monte Carlo methods Phasor measurement units Master-slave Wide area measurements State estimation

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Hybrid protocol for distributed non-differentiable extended monotropic optimization

Hybrid protocol for distributed non-differentiable extended ...

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International Conference on control and Automation (ICCA)

作者： Xia Jiang Xianlin Zeng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China Beijing Advanced Innovation Center for Intelligent Robots and Systems (Beijing Institute of Technology) Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China School of Electronic and Information Engineering Tongji University Shanghai China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper presents a hybrid protocol design for distributed non-differentiable extended monotropic optimization problems, which have various applications in large-scale optimization and evolutionary computation. The considered objective function is the sum of local non-differentiable objective functions, which are assigned to different agents in multi-agent networks, with local set constraints and affine equality constraints. Each agent can only access to its local non-differentiable objective function, local set constraint and equality constraint, and exchange information with its neighbors to obtain the global optimal solution. For this type of optimization problems, we propose a distributed state-dependent hybrid method over multi-agent networks. In addition, we properly design the jump map and jump set to improve the transient performance and accelerate the consensus process of existing distributed continuous-time methods. With invariance principle of hybrid dynamical systems, we prove that the proposed hybrid protocol converges to the global optimal solution. We verify that the proposed hybrid method has a good convergence property and transient performance through numerical experiments.

关键词： Optimization Protocols Linear programming Dynamical systems Heuristic algorithms Convergence Transient analysis

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An Adaptive Disturbance Rejection controller for Artificial Pancreas

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IFAC-PapersOnLine 2020年第2期53卷 16372-16379页

作者： Deheng Cai Wei Liu Eyal Dassau Francis J. Doyle Iii Xiaoling Cai Junzheng Wang Linong Ji Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China Department of Endocrine and Metabolism Peking University People’s Hospital Beijing China. Harvard John A. Paulson School of Engineering and Applied Sciences Harvard University Cambridge MA 02138 USA.

Artificial pancreas (AP) systems are designed to automate glucose management for patients with type 1 diabetes. In this work, we propose an adaptive disturbance rejection control approach for AP systems to achieve safe and effective glucose regulation. The controller is built within the framework of active disturbance rejection control, but incorporates safety operation constraints, and glucose- and velocity-dependent parameter adaptation modules for the key control parameters. In silico performance comparison between the proposed controller and an adaptive zone model predictive controller (MPC) (Shi, Dassau, and Doyle III, 2019a) is conducted on the 10-adult cohort of the FDA-accepted UVA/Padova T1DM simulator. For both announced and unannounced meals, the controller achieves comparable glucose regulation performance in terms of mean glucose (134.9 mg/dL vs. 135.4 mg/dL, p < 0.001; 149.7 mg/dL vs. 151.7 mg/dL, p < 0.001, respectively) and percentage time in [70, 180] mg/dL (93.8% vs. 92.4%, p < 0.001; 76.0% vs. 72.4%, p < 0.001, respectively) without increasing the risk of hypoglycemia. The results indicate the feasibility of achieving comparable glucose regulation performance through a non-optimization control law for AP systems.

关键词： Artificial pancreas Active disturbance rejection control Adaptive control Glucose regulation

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State Estimation of Finite-State Hidden Markov Models Subject to Stochastically Event-triggered Measurements

State Estimation of Finite-State Hidden Markov Models Subjec...

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IEEE Annual Conference on decision and control

作者： Wentao Chen Junzheng Wang Ling Shi Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781479978878

We consider the event-triggered state estimation of a finite-state hidden Markov model with a general stochastic event-triggering condition. Utilizing the change of probability measure approach and the event-triggered measurement information available to the estimator, analytical expressions for the conditional probability distributions of the states are obtained, based on which the minimum mean square error event-based state estimates are further calculated. We show that the results also cover the case of packet dropout, under a special parameterization of the event-triggering conditions. With the results on state estimation, a closed-form expression of the average sensor-to-estimator communication rate is also presented. The effectiveness of the proposed results is illustrated by a numerical example and comparative simulations.

关键词： State estimation Hidden Markov models Event trigger Probability distribution Mean square error numerical example

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Solving almost all systems of random quadratic equations

arXiv

引用

arXiv 2017年

作者： Wang, Gang Giannakis, Georgios B. Saad, Yousef Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Department of Computer Science and Engineering University of Minnesota MinneapolisMN55455 United States

This paper deals with finding an n-dimensional solution x to a system of quadratic equations of the form yi = jhai;xij2 for 1 ≤ i ≤ m, which is also known as phase retrieval and is NP-hard in general. We put forth a novel procedure for minimizing the amplitude-based least-squares empirical loss, that starts with a weighted maximal correlation initialization obtainable with a few power or Lanczos iterations, followed by successive refinements based upon a sequence of iteratively reweighted (generalized) gradient iterations. The two (both the initialization and gradient flow) stages distinguish themselves from prior contributions by the inclusion of a fresh (re)weighting regularization technique. The overall algorithm is conceptually simple, numerically scalable, and easy-to-implement. For certain random measurement models, the novel procedure is shown capable of finding the true solution x in time proportional to reading the data f(ai;yi)g1≤i≤m. This holds with high probability and without extra assumption on the signal x to be recovered, provided that the number m of equations is some constant c > 0 times the number n of unknowns in the signal vector, namely, m > cn. Empirically, the upshots of this contribution are: I) (almost) 100% perfect signal recovery in the high-dimensional (say e.g., n ≥2;000) regime given only an information-theoretic limit number of noiseless equations, namely, m = 2n - 1 in the real-valued Gaussian case;and, ii) (nearly) optimal statistical accuracy in the presence of additive noise of bounded support. Finally, substantial numerical tests using both synthetic data and real images corroborate markedly improved signal recovery performance and computational efficiency of our novel procedure relative to state-of-the-art approaches. Copyright © 2017, The Authors. All rights reserved.

关键词： Computational efficiency

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Stable PD and Internal Force control of Omnidirectional Wheeled Mobile Manipulators

Stable PD and Internal Force Control of Omnidirectional Whee...

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IEEE International Conference on Mechatronics and Automation

作者： Dong Xu Dongbin Zhao Jianqiang Yi Xuyue Deng Guosheng Yang Key Lab of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Information Engineering Henan University Kaifeng China

Omnidirectional mobile manipulator, which is composed by a three DOF omnidirectional mobile platform and a mounted manipulator, can move in any direction at any time. By reason of the redundantly actuated mechanism, the omnidirectional motion property of the mobile platform is similar to the parallel manipulator cooperatively manipulating objects, which admits internal force doing none contribution to the motion of the platform. Thus, the internal force should be controlled to reduce energy waste. Therefore, a stable PD controller is developed first for motion control of the integrated mobile manipulator system. Then, by treating the motion induced force as disturbance, a feed forward plus PI type force controller is addressed to regulate the internal force to zero. Finally, simulation results demonstrate the validity of the proposed approach.

关键词： Force control Motion control Wheels Kinematics Manipulator dynamics Automation control systems intelligent actuators Centralized control Mechatronics

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot*

Design and locomotion characteristic analysis of a novel ten...

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IEEE International Conference on Robotics and Biomimetics

作者： Jixue Mo Changqing Gao Hao Fang Qingkai Yang Department of Strategic and Advanced Interdisciplinary Research Peng Cheng Laboratory Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot’s hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment.

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