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Design of Robotic Visual Servo control Based on Neural Network and Genetic Algorithm

International Journal of Automation and computing 2012年第1期9卷 24-29页

作者： Hong-Bin Wang Mian Liu Key Lab of Industrial Computer Control Engineering of Hebei Province Institute of Electrical EngineeringYanshan UniversityQinhuangdao 066004PRC

A new visual servo control scheme for a robotic manipulator is presented in this paper, where a back propagation （BP） neural network is used to make a direct transition from image feature to joint angles without requiring robot kinematics and camera calibration. To speed up the convergence and avoid local minimum of the neural network, this paper uses a genetic algorithm to find the optimal initial weights and thresholds and then uses the BP Mgorithm to train the neural network according to the data given. The proposed method can effectively combine the good global searching ability of genetic algorithms with the accurate local searching feature of BP neural network. The Simulink model for PUMA560 robot visual servo system based on the improved BP neural network is built with the Robotics Toolbox of Matlab. The simulation results indicate that the proposed method can accelerate convergence of the image errors and provide a simple and effective way of robot control.

关键词： Visual servo image Jacobian back propagation （BP） neural network genetic algorithm robot control

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Optimization of schedule with multi-objective for tandem cold rolling mill based on IAGA

Optimization of schedule with multi-objective for tandem col...

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2010 International Conference on Mechanic Automation and control engineering, MACE2010

作者： Che, Haijun Han, Xinyan Yang, Jingming Li, Lianfei Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9781424477388

To tackle the multi-objective problem in the process of tandem cold rolling, a mathematical model of multi-object optimization is presented. Taking equal relatively power and prevent slippage as objective functions. Aiming to the problem of Standard Genetic Algorithm (SGA), such as premature convergence, oscillation and over-randomization in iterative process, an Improved Adaptive Genetic Algorithm (IAGA) is applied to optimize the system. The algorithm decides the crossover rate and mutation rate of chromosome based on individual adaptive value in calculation process, make the start phase mutate obviously and later phase stable slowly and ensure the population development, seeking balance and entire convergence. Simulated results show that, in comparison with the actual rolling schedule, the optimization rolling schedule makes the reasonable distribution of tandem cold rolling power, gives the full play to equipment capacity, reduces the rate of slippage, improves the product quality, and the proposed method is demonstrated to be competent. ©2010 IEEE.

关键词： Multiobjective optimization

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Adaptive finite time consensus control of multiple mechanical systems under a switching graph 35

Adaptive finite time consensus control of multiple mechanica...

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第35届中国控制会议

作者： WANG Hongbin ZHOU Zhen WANG Yueling Key Lab of Industrial Computer Control Engineering of Hebei Province Yansnan University

ISBN: (纸本)9781509009107

In this paper,adaptive finite time consensus control problem is investigated for multiple mechanical systems with *** adaptive distributed control algorithms are proposed for the multiple mechanical systems under a switching undirected graph,which is addressed through a novel Markov *** any detailed information of the system model,the adaptive distributed controller has a faster and higher precision tracking *** is shown that the states of the mechanical systems can reach a consensus within finite *** finally,an illustrative simulation on the multiple robotic manipulators is given to demonstrate the effectiveness of the proposed controller.

关键词： Finite time consensus Adaptive control Multiple mechanical system Markov chain

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Friction compensation control of space manipulator considering the effects of gravity 35

Friction compensation control of space manipulator consideri...

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第35届中国控制会议

作者： QIN Li JIA Xiao-jing LIU Cai-feng LIU Fu-cai Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781509009107

All space manipulators are debugged on the ground and on-orbit serviced in space. Compared with in ground gravity environment their friction characteristics in space microgravity environment have great changes. For sake of tracking the desired trajectory, in both ground and space, considering these characteristics, a friction compensation control method based on an Active Disturbance Rejection control(ADRC) is proposed and its effectiveness is validated on a planar 2-DOF free-floating space manipulator. The friction models and the dynamic models under different gravity environment have been derived based on the torque balance, the Kane equation and the Lagrange method. Particle Swarm Optimization(PSO) is put forward to optimize parameters of ADRC so as to improve the efficiency of designing process. Compared with PD controller in tracking simulation under different gravity environment, the results verify the advantage of the proposed improved control method.

关键词： space manipulator gravity friction compensation ADRC Trajectory tracking PSO

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A novel multi-objective decomposition particle swarm optimization based on comprehensive learning strategy 36

A novel multi-objective decomposition particle swarm optimiz...

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第36届中国控制会议

作者： Lixin Wei Rui Fan Xin Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781538629185

Comprehensive learning particle swarm optimization（CLPSO） algorithm has a good performance in overcoming premature convergence and avoiding getting stuck in local minima, which are shortcomings in particle swarm optimization. It can solve complex, multi-modal of single-objective problems, but it has not such performance in handling multi-objective optimization problems because of the difficulty of selective solution mechanism. In this article, a multi-objective decomposition particle swarm optimization based on comprehensive learning strategy is proposed, which uses a comprehensive learning strategy for multi-objective problems to prevent premature convergence;updates the leading particles by decomposition method to enhance the distribution of solutions;adds the archive to preserve non-dominated solutions, and adopts mutation in archive to avoid falling into local optimum. The proposed approach is compared with three multi-objective evolutionary algorithms and the results indicate that the proposed approach is competitive respect to which it is compared in most of the test problems adopted.

关键词： comprehensive learning particle swarm optimization multi-objective optimization decomposition

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Vibration suppress of flexible spacecraft considering the effects of gravity 34

Vibration suppress of flexible spacecraft considering the ef...

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第三十四届中国控制会议

作者： GAO Juan-juan CHEN Xin JIA Xiao-jing LIU Fu-cai Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781467374439

Considering that gravity on the ground alignment phase is different from that in space application phase, an adaptive backstepping sliding mode control method is proposed to achieve the attitude control and vibration suppression of the flexible spacecraft under different gravity environment. Fully considering the change of dynamic models, the sliding mode controller is designed according to the backstepping theory to control the flexible spacecraft under the influence of model and disturbances uncertainties, and the adaptive control laws are proposed to estimate the disturbances and gravity item online. The control strategy can guarantee the stability of the system based on the Lyapunov theory. The simulation results show that the controller is effective in attitude control and vibration suppression of the flexible spacecraft under different gravity environment, and has important value for theoretical research and engineering application.

关键词： Flexible spacecraft,Gravity,Vibration suppression,Backstepping sliding mode,Adaptive

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Adaptive Robust control of Multi-Machine Power Systems with control Time Delay

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Journal of Harbin Institute of Technology(New Series) 2018年第4期25卷 48-55页

作者： Zhongqiang Wu Feng Li Chunqi Du Wei Zhang Key Lab of Industrial Computer Control Engineering of Hebei Province College of Electrical EngineeringYanshan University

The adaptive H_∞ control problem of multi-machine power system in the case of disturbances and uncertain parameters is discussed,based on a Hamiltonian *** the effect of time delay during control and transmission,a Hamilton model with control time delay is ***-Krasovskii function is selected,and a controller which makes the system asymptotically stable is *** controller not only achieves the stability control for nonlinear systems with time delay,but also has the ability to suppress the external disturbances and adaptive ability to system parameter *** simulation results show the effect of the controller.

关键词： multi machine power systems time delay H∞ control uncertain parameters disturbance

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Stereo vision robot obstacle detection based on the SIFT

Stereo vision robot obstacle detection based on the SIFT

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Global Congress on Intelligent Systems

作者： Shao, Nuan Li, Hui-Guang Liu, Le Zhang, Zhan-Ling College of Electrical Engineering Yanshan University Key Lab. of Industrial Computer Control Engineering of Hebei Province Qinhuangdao 066004 China

ISBN: (纸本)9780769543048

This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According to the characteristics of the model, we proposed the binocular stereo vision calibration method based on parallel optical axis;Finally, the pixel coordinates of matching points are extracted with SIFT feature matching algorithm and completed the distance detection of the obstacle. The experimental results demonstrated the feasibility and effectiveness of the method. © 2010 IEEE.

关键词： Stereo vision

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Application of virtual instrument in sewage multiparameter online monitoring system

Application of virtual instrument in sewage multiparameter o...

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2009 International Workshop on Intelligent Systems and Applications, ISA 2009

作者： Zang, Huaigang Feng, Simeng Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China

ISBN: (纸本)9781424438945

Based on the design concept of virtual instrument and the design method of function modulation, using PC machine and data acquisition card as hardware system, proposed a design of sewage multi-parameter online monitoring system which based on application program platform of lab.IEW. The system has friendly human-machine interface, the function is comprehensive and it is easy to operate. It has achieved the sewage multiparameter collecting, recording, controlling and management automatic, and enhanced the automaticity of the sewage collecting and examination. The test indicated that the system worked well, achieved the anticipated target. © 2009 IEEE.

关键词： Sewage

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A Fast Channel State Information Feedback Scheme Based on Compressive Sensing for Underwater Acoustic MIMO Systems 35

A Fast Channel State Information Feedback Scheme Based on Co...

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第35届中国控制会议

作者： MA Hui JIAO Jianzhou CHEN Jianmei LI Xinbin Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781509009107

In this paper,a compressive feedback scheme based on compressed sensing is investigated to reduce feedback load and enhance the sum throughput at low feedback rates for underwater acoustic MIMO ***,to avoid the outof-date channel state information at the transmitter under the high dynamic underwater channel,we present a modified SL0（M-SLO） algorithm to recover the CSI at the transmitter,which adopts more steep approximate hyperbolic tangent function to approximate the l norm in the *** minimization problem of the l norm canbe transformed into a convex optimization problem for the smoothed ***,in order to solve the problem of slow convergence and inaccuracy estimation caused by notched ejfect of the gradient method,hybrid optimization algorithm that combines the advantages of the gradient method and the revised Newton method is introduced to improve the accuracy of sparse *** simulations show that the recovery accuracy and speed are improved by the proposed M-SL0 algorithm comparing with SL0,OMP ***,CSI feedback based compressive sensing performs better than the feedback based on a vector quantitation codebook.

关键词： compressive feedback compressed sensing M-SLO recovery algorithm channel state information

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