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Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

Journal of Beijing Institute of Technology 2014年第3期23卷 358-367页

作者：郝仁剑王军政赵江波汪首坤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

关键词： adaptive robust electrical cylinder friction compensation LuGre model

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Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

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Journal of Beijing Institute of Technology 2013年第4期22卷 497-503页

作者：王立鹏王军政赵江波吴江丰 Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

关键词： line element adaptively segment linear variable differential transformer （LVDT） non-linear compensation correction

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Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot slidingand reduce impingement

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Journal of Beijing Institute of Technology 2016年第1期25卷 91-99页

作者：马立玲杨超峰王立鹏王军政 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this ***,the foot trajectory is designated as the improved composite cycloid foot ***,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the *** with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this ***,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are *** validity of the proposed algorithm is confirmed through the co-simulation and *** results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.

关键词： landing angle gait planning foot trajectory friction cone sliding impingement

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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

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Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Localization and mapping in urban area based on 3D point cloud of autonomous vehicles

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Journal of Beijing Institute of Technology 2016年第4期25卷 473-482页

作者：王美玲李玉杨毅朱昊刘彤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points （ICP） algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles＇ importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles＇ poses, which would decrease particle numbers, increase algorithm speed and restrain particles＇ impoverishment. The calculation of particles＇ importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.

关键词： simultaneous localization and mapping （SLAM） Rao-Blackwellized particle filter （ RB-PF） VoxelGrid filter ICP algorithm Gaussian model urban area

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Optimal Tuning of Plant-Friendly PID controllers

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Journal of Beijing Institute of Technology 2010年第3期19卷 331-336页

作者：史大威王军政马立玲 Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

A plant-friendly proportional-integral-derivative （PID） controller optimization framework is proposed to make tradeoffs among set-point response,controller output variations and *** objective function is chosen as the weighted sum of the integral of squared time-weighted error and the integral of squared timeweighted derivative of the control variable with respect to set-point response,while the robustness of the system is guaranteed by constraints on gain and phase *** to the complex structure of the constraints,the problem is solved by genetic *** analysis show the proposed method could efficiently reduce the controller output variations while maintaining a short settling *** on the simulation results,iterative tuning rules for the weighting factor in the objective function are obtained,which allows efficient simple proportional-integral（PI） tuning formulae to be derived.

关键词： PID control plant-friendliness genetic algorithm constrained optimization

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Adaptive Robust Dead-Zone Compensation control of Electro-Hydraulic Servo systems with Load Disturbance Rejection

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Journal of systems Science & complexity 2015年第2期28卷 341-359页

作者： HE Yudong WANG Junzheng HAO Renjian Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

A backstepping method based adaptive robust dead-zone compensation controller is pro- posed for the electro-hydraulic servo systems （EHSSs） with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. The constant part is regarded as a parameter of the system to be estimated real time. The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method, a dead-zone compensator is incor- porated in the EH$S without constructing a dead-zone inverse. Combining backstepping method, an adaptive robust controller （ARC） with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all the uncertain parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.

关键词： Adaptive robust control dead-zone servo systems tuning method. compensation disturbance rejection electro-hydraulic

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Optimal fusion estimation for stochastic systems with cross-correlated sensor noises

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Science China(Information Sciences) 2017年第12期60卷 57-70页

作者： Liping YAN Yuanqing XIA Mengyin FU School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is concerned with the optimal fusion of sensors with cross-correlated sensor *** taking linear transformations to the measurements and the related parameters, new measurement models are established, where the sensor noises are decoupled. The centralized fusion with raw data, the centralized fusion with transformed data, and a distributed fusion estimation algorithm are introduced, which are shown to be equivalent to each other in estimation precision, and therefore are globally optimal in the sense of linear minimum mean square error(LMMSE). It is shown that the centralized fusion with transformed data needs lower communication requirements compared to the centralized fusion using raw data directly, and the distributed fusion algorithm has the best flexibility and robustness and proper communication requirements and computation complexity among the three algorithms(less communication and computation complexity compared to the existed distributed Kalman filtering fusion algorithms). An example is shown to illustrate the effectiveness of the proposed algorithms.

关键词： optimal estimation distributed fusion Kalman filter cross-correlated noises linear transformation

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Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

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Journal of systems Engineering and Electronics 2013年第4期24卷 655-665页

作者： Fang Deng Jie Chen Chen Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.

关键词： parameter estimation state estimation unscented Kalman filter （UKF） strong tracking filter wavelet transform.

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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