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检索条件"机构=Key Laboratory of Autonomous System and Networked Control"

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Adaptive Generalized Projective Synchronization of a New Fractional Chaotic system with uncertain parameters

Adaptive Generalized Projective Synchronization of a New Fra...

引用

第30届中国控制与决策会议

作者： Jiaoru Huang Kun Zhong Fucai Qian The International Joint Research Center of Autonomous Systems and Intelligent Control Xi'an Technological University Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

This paper investigates the generalized projective synchronization scheme of a new fractional chaotic system, which can display a four-wing chaotic attractor when the order of system is in the range of 0.82 and ***, considering the situation with unknown parameters, an adaptive nonlinear controller is obtained for synchronization and parameters identification based on fractional-order Lyapunov stability theorem. The fractional-order adaptation law, which can update parameters estimation errors online, is derived to ensure the stability of synchronization error system. Numerical simulations are used to verify the results.

关键词： Four-wing chaotic attractors uncertain parameter generalized projective synchronization parameter identification

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Reliability analysis of a novel magneto-rheological regenerative suspension system under road excitation

Reliability analysis of a novel magneto-rheological regenera...

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2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018

作者： Zhang, Hailong Tinghui, Zhang Shuyu, Shen Wang, Enrong Yan, Wei Rakheja, Subhash Su, Chun-Yi School of Electric and Automation Engineering Nanjing Normal University Nanjing Jiangsu China South China University of Technology Guangzhou510640 China Concordia University MontrealQCH3G M18 Canada Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781538618547

Due to energy and environment demands, as well as a developing trend of magneto-rheological (MR) semi-active suspension, the study on key technologies of the novel MR power regenerative suspension system, in which a tubular linear permanent-magnet synchronous motor (TPMLM) is equipped in parallel with MR damper (MRD), has important theoretical and engineering significances. In this paper, the dynamical model of the MR suspension and finite element model of TPMLM are established, respectively, so as to set up the combination simulation platform of the regenerative suspension system. The frequency response is observed to reveal the influence of the installed TPMLM on vehicle suspension characteristics. Further, the semi-active suspension performance and regenerated power are analyzed under the harmonic and random road surface excitations to verify and improve the proposed design method. The proposed MR regenerative suspension is potentially valuable in application of new energy automobiles especially electric vehicle. © 2018 IEEE.

关键词： Permanent magnets

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Output Tracking of Time-Varying Linear and Nonlinear systems Using ZN and ZG controllers with Pseudo Division-by-Zero Phenomena Shown

Output Tracking of Time-Varying Linear and Nonlinear Systems...

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第30届中国控制与决策会议

作者： Jinjin Guo Xuyun Yang Yunong Zhang Jian Li Min Yang School of Information Science and Technology Sun Yat-sen University SYSU Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper introduces Zhang neurodynamics(ZN) method and Zhang-gradient(ZG) method used to design ZN and ZG controllers for the output tracking of systems, especially time-varying nonlinear system. Thereinto, ZG method is composed of the ZN method and gradient neurodynamics(GN) method. By applying the ZN method and the ZG method, respectively, to the output tracking control problems of time-varying linear(TVL) system and time-varying nonlinear(TVN) system, specific ZN controllers and ZG controllers are obtained. Particularly, TVL system and TVN system discussed in this paper may both have pseudo division-by-zero phenomena. From the numerical results, though ZN controllers and ZG controllers perform the output tracking of TVL system and TVN system well, the infinite value of the former and the finite value of the latter at singular instants verify that the ZG method is more effective in dealing with pseudo division-by-zero problem.

关键词： Time-varying linear system Time-varying nonlinear system Output tracking control problem ZN controller ZG controller Pseudo division-by-zero phenomena

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Different-Level Dynamic Quadratic Minimization Using Square Root Matrix Based Zhang Equivalency

Different-Level Dynamic Quadratic Minimization Using Square ...

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第30届中国控制与决策会议

作者： Min Yang Huanchang Huang Jian Li Haifeng Hu Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

For quadratic minimization(QM), it is usually assumed that the solution objective is time-invariant and at the same level. However, the QM is always time-varying(i.e., naturally and implicitly dynamic) and may be at different levels(i.e., explicitly dynamic) in practice. In this paper, different from the general QM, a novel different-level dynamic QM(DLDQM) is proposed and investigated. First, the DLDQM solving is split up into two general time-varying QM(TVQM) solving. Then, a solution model is thus proposed and investigated for the DLDQM, by applying square root matrix based Zhang equivalency and Moore-Penrose(MP) generalized inverse. In addition, it is worth pointing out that solving the DLDQM is a new and important attempt of this research. Finally, illustrative numerical experiments are conducted with numerical results presented and analyzed.

关键词： Different-level dynamic quadratic minimization(DLDQM) Square root matrix Zhang equivalency MoorePenrose(MP) generalized inverse

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Jerk-Level Cyclic Motion Planning and control for Constrained Redundant Robot Manipulators Using Zhang Dynamics:Theoretics

Jerk-Level Cyclic Motion Planning and Control for Constraine...

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第30届中国控制与决策会议

作者： Min Yang Yunong Zhang Huanchang Huang Dechao Chen Jian Li School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper,based on Zhang dynamics method（ZDM）,a cyclic motion planning（CMP） scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical *** existing works resolved at velocity level or acceleration level,the scheme in this paper is resolved at jerk *** achieve superior performance,the jerk-level CMP scheme is improved by the feedback control,which further leads to a jerk-level cyclic motion planning and control（CMPC） *** cyclic motion criterion and the avoidance of joint physical limits（e.g.,joint-angle,joint-velocity,joint-acceleration and joint-jerk limits） are both considered into the jerklevel CMP and CMPC *** importantly,the correctness of the presented jerk-level schemes is guaranteed by the corresponding engineering-type theoretical analyses and ***,the jerk-level CMPC scheme is reformulated as a dynamical quadratic program（DQP） which can be solved by a piecewise-linear projection equation neural network（PLPENN）,and also can be solved by a suitable numerical algorithm.

关键词： Constrained robot manipulators Joint drift phenomenon Jerk level Feedback control Theoretics

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Computer Simulations and Comparisons of Jerk-Level Cyclic Motion Planning and control for CRRM

Computer Simulations and Comparisons of Jerk-Level Cyclic Mo...

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第37届中国控制会议

作者： Dechao Chen Min Yang Huanchang Huang Jian Li Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper, a jerk-level cyclic motion planning and control（CMPC） scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators（CRRM）. Furthermore, the path-tracking simulations are presented to substantiate the effectiveness and accuracy of the jerk-level CMPC scheme. Comprehensive and detailed comparisons between the presented jerk-level CMPC scheme and other existing schemes [i.e., the Jacobian pseudo-inverse based（JPIB） scheme, the minimum jerk norm（MJN） scheme and the acceleration-level cyclic motion planning（ALCMP） scheme] illustrate that the presented CMPC scheme resolved at jerk level is superior and more applicable.

关键词： Constrained redundant robot manipulators （CRRM） jerk level cyclic motion planning and control （CMPC） scheme computer simulations comparisons

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About Step-Length of ZeaD（Zhang et al Discretization） Formula 4IgSY for Future Minimization via Fan Equations

About Step-Length of ZeaD（Zhang et al Discretization） Form...

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第30届中国控制与决策会议

作者： Yunong Zhang Zhiyuan Qi Huihui Gong Jian Li Binbin Qiu School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

Future minimization,i.e.,discrete time-varying minimization,is a difficult and meaningful *** has been successfully solved by Zhang et al using zeroing dynamics(ZD) and discretization *** this paper,a type of discrete-time ZD(DT-ZD) model,which is obtained via utilizing Zea D(Zhang et al Discretization) formula 4 I2)S Y,is analyzed and investigated to ensure its ***,via theoretical guarantees,we propose the step-length domain,or say,the effective domain of the step-length,which makes the discrete-time model ***,we make further efforts to obtain the step-length optimum which provides the optimal stability of the DT-ZD ***,numerical experiments are performed to validate the step-length domain and the step-length optimum of the DT-ZD model for future minimization.

关键词： Future minimization Zeroing dynamics(ZD) Zhang et al discretization(ZeaD) formula Step-length domain Optimum

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Three-State Space Reformulation and control of MD-Included One-Link Robot system Using Direct-Derivative and Zhang-Dynamics Methods 29

Three-State Space Reformulation and Control of MD-Included O...

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第29届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu Yaqiong Ding Deyang Zhang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper,a nonlinear one-link(1L) robot system with motor dynamics(MD) included is investigated, and a novel method, i.e.,Zhang-dynamics(ZD) method, is applied to solve the tracking control problem of this nonlinear system. A ZD controller of the nonlinear MD-included 1L robot system is designed. The simpleness and effectiveness of ZD method are proved through theoretical analysis. Moreover, computer-simulation results substantiate the high performance of the ZD controller. It is worth pointing out that our research provides the feasibility of applying ZD method in more and more practical fields.

关键词： Tracking control Nonlinear system One-Link Robot system Motor Dynamics Zhang-Dynamics Method

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New ZFD（Zhang Finite Difference） Formula 4IgSFDL for Time-Varying Reciprocal and Inverse Computation 29

New ZFD（Zhang Finite Difference） Formula 4IgSFDL for Time-...

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第29届中国控制与决策会议

作者： Yunong Zhang Chumin Li Penghao He Min Yang Xuyun Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Time-varying reciprocal and inverse computation are considered as fundamental problems in scientific and engineering fields,which are more complicated than static ***-time Zhang dynamics（CTZD）model is a powerful method for such complicated *** obtain a discrete-time Zhang dynamics（DTZD） model,a new formula of 4-instant g-square finite difference（4IgSFD） is proposed in this *** that the formula has a truncation error of O（g）,where g denotes the sampling *** the aid of the formula 4IgSFD,the 4IgSFD-type DTZD model is *** 4IgSFD-type DTZD model has a high calculative precision with truncation error of O（g）.Through numerical experiments,the convergence and stability of 4IgSFD-type DTZD model are illustrated via time-varying reciprocal and inverse computation.

关键词： Finite Difference Time-Varying Reciprocal and Inverse Computation 4IgSFDL-Type DTZD Model Numerical Experiments Residual Error

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From Euclid Division of Constant Integers to Zhang Division of Time-Varying Variables 2

From Euclid Division of Constant Integers to Zhang Division ...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Yunong Zhang Min Yang Maotai Zou Sheng Wu Binbin Qiu School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

Static Euclid division has been studied for many decades. In this paper, we focus on time-varying division(or termed, Zhang division). As Zhang dynamics(ZD) and gradient dynamics(GD) have shown powerf

ISBN: (纸本)9781467389808

关键词： Mathematical model Trajectory Solid modeling Computational modeling Solids Numerical models Hardware

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