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

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Compliant Impedance control for a Redundant Manipulator During Human Robot Interaction

Compliant Impedance Control for a Redundant Manipulator Duri...

引用

International Conference on Automation and Computing (ICAC)

作者： Yiming Jiang Chenguang Yang Zhaojie Ju Andy Annamalai Honghai Liu Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China Zienkiewicz Center for Computational Engineering Swansea University Swansea UK School of Computing University of Portsmouth Portsmouth UK Moray College University of Highlands and Islands Elgin UK

ISBN: (纸本)9781538648919

Robot control with a compliant motion behaviour is important to guarantee the safety of human robot interaction. In this paper, we aim to guarantee the desired task impedance of the end-effector and to ensure a compliant behaviour of a redundant robot during human robot interactions. A task space impedance control scheme is proposed by designing a transferred impedance error, such that the robot end-effector can be governed to follow a target impedance model. Additionally, a low-priority controller is designed using the null space projection, such that compliant joint motion is guaranteed without affecting the main task. The stability of the whole system is illustrated using a conditional Lyapunov theorem. Simulation studies based on a plane redundant robot is carried out to demonstrate the validity of the proposed controller.

关键词： Robots Impedance Task analysis Aerospace electronics Null space Torque Force

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An Infinite-Dimensional Luenberger-like Observer for Water Waves

An Infinite-Dimensional Luenberger-like Observer for Water W...

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第37届中国控制会议

作者： Yang YU Hai-Long PEI Cheng-Zhong XU Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Engineering Technology Research Center of GuangdongCollege of Automation Science and EngineeringSouth China University of Technology LAGEP Batiment CPEUniversity Claude Bernard-Lyon 1

The paper deals with the observation problem by using an infinite dimensional observer for the water wave system governed by linearized water wave partial differential *** consider that the water wave system evolves in some infinitedimensional Hilbert *** output measurement of dynamical system is supposed to be the water wave surface *** infinite-dimensional exponentially convergent Luenberger-like observer is proposed to estimate the states of water water system:water velocity potential and surface *** simulations by the finite difference scheme are carried out to validate the proposed observer.

关键词： infinite dimension system observer convergence finite difference method

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Euler-precision formula ZD3NgyP-Z applied to discrete control simulation of agitation tank

Euler-precision formula ZD3NgyP-Z applied to discrete contro...

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2017 Chinese Automation Congress, CAC 2017

作者： Zhang, Yunong Zhang, Jianxin Ding, Yaqiong Gong, Huihui Li, Jian Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Reseach Institute Foshan528300 China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Guangzhou510006 China

ISBN: (纸本)9781538635247

In this paper, a new type of Euler-precision 3-node g-proportional (3NgP) formula is proposed and investigated in the general framework of Zhang discretization (ZD), which is named formula ZD3NgPZ with subtype Z corresponding to the second (as well as student) coauthor. By Taylor expansion, we prove that formula ZD3NgPZ approximating the fst-order derivative can achieve an error pattern of O(g). Numerical experiments of approximation are conducted to show the efficacy of the formula. In the meanwhile, formula ZD3NgPZ is used in the discrete control and simulation of agitation tank system. Finally, numerical experiments of discretization are conducted and analyzed to illustrate the efficacy and accuracy of formula ZD3NgPZ applied to agitation tank system. © 2017 IEEE.

关键词： Tanks (containers)

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Dynamic Characteristics Analysis of Cruise Missile controlled by Grid Fin 28

Dynamic Characteristics Analysis of Cruise Missile Controlle...

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第28届中国控制与决策会议

作者： XU Zhaoqing Pei Hailong College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked ControlMinistry of EducationSouth China University of Technology

ISBN: (纸本)9781467397155

The dynamic characteristics of certain cruise missile which is controlled by grid fin is analyzed in this *** aerodynamic force of grid fin is analyzed when the grid fin rotates in flying,then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory,the beginning state of the cruise is chosen as the feature point,and then the dynamical coefficient are calculated,then the longitudinal and lateral perturbation equations are *** dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation *** transfer functions and the dynamic responses under the step deflection of grid fin are *** results indicate that the grid fin can provide favorable stability,the maneuverability of Bank-to-turn is much larger than Skid-to-turn..

关键词： cruise missile grid fin dynamic characteristics dynamic response

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Satellite Formation control and Navigation Experiment Platform Based on UAVs 35

Satellite Formation Control and Navigation Experiment Platfo...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked ControlMinistry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

In order to simulate the in-orbit movement of formation satellites,the unmanned helicopter is utilized to set up the microgravity environment relative navigation ground simulation *** platform can provide the movement of six degrees of freedom and can simulate the formation satellite flying in three-dimensional *** test platform includes host computer system,communication system,UAVs formation control system,satellite attitude simulation system,and so *** are equipped with laser radar and visible light *** control and navigation of multi-body can be achieved under complex network *** platform can be used for the test of satellite autonomous formation simulation,joint fleet navigation,and so *** algorithm of multi-body formation,multi-source and multi-target tracking based on sensor network,multi-body navigation and remote control can be verified on this platform.

关键词： formation satellites unmanned helicopter test platform

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Euler-precision ZED formula 3NgPED-G extended to future minimization with theoretical guarantees and numerical experiments 2

Euler-precision ZED formula 3NgPED-G extended to future mini...

引用

2nd IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2017

作者： Zhang, Yunong Gong, Huihui Li, Jian Huang, Huanchang Yang, Min School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Reseach Institute Shunde528300 China

ISBN: (纸本)9781467389778

In this paper, we propose and investigate a new Euler-precision 3-node g-proportional finite difference formula [also named Zhang finite difference (ZFD) formula 3NgPFD-G], which achieves an error pattern of O(g), where g denotes the sampling gap. Moreover, the proposed formula is extended to future minimization (FM). Specifically, the ZFD formula 3NffPFD-G and its extension to discretize continuous-time Zhang neural network (CTZNN) model for solving FM are first of all put forward. Secondly, the ZFD formula 3NgPFD-G is proved to effectively approximate the 1st-order derivative by Taylor expansion, and results of discrete-time Zhang neural network (DTZNN) model for solving FM are obtained by adopting the formula above to discretize the CTZNN model. Finally, expository numerical approximation and discretization experiments are conducted and analyzed to illustrate the efficacy and superiority of the ZFD formula 3NgPFD-G and its extension to FM. © 2017 IEEE.

关键词： Neural network models

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Solving ordinary differential equations by ZED 4IgSFD-L method 36

Solving ordinary differential equations by ZED 4IgSFD-L meth...

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36th Chinese control Conference, CCC 2017

作者： Zhang, Yunong Yang, Xuyun Huang, Huanchang Li, Wan Lai, Fangzheng School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Research Institute Foshan528300 China

ISBN: (纸本)9789881563934

Ordinary differential equations (ODEs) are commonly used in physical system and automation researches, describing the relationship among variables. Hence there are practical significances to discuss and to research the solutions of ODEs. The initial value problem (IVP) is one of the important parts, and we usually use traditional methods, e.g. Euler method, to obtain the solutions. In this paper, we propose a new method named ZFD (Zhang finite difference) 4IgSFD-L method. Note that this method is developed by using ZFD formula 4IgSFD-L (4-instant g-square finite difference with subtype L) based on Taylor expansion, with g denoting sampling gap and g 2). © 2017 Technical Committee on control Theory, CAA.

关键词： Taylor series Differential equations Electronic mail Layout autonomous systems Trajectory

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An online identification method for small unmanned helicopter base on TVARMA model

An online identification method for small unmanned helicopte...

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2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016

作者： Liu, Zun Long, Pei Hai South China University of Technology Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9781509033645

This paper establishes an online identification algorithm which can provide the model status in real time base on TVARMA model for small unmanned helicopter. First, the TVARMA model used for describing the small unmanned helicopter is shown. After that, a recursive algorithm is elaborated to solve the parameters in the TVARMA model. Then a flight experiment data is used to identify the TVARMA model as an example, analysis and compare are made in the end to prove that the TVARMA model is accurate and this identification method is also effective. © 2016 IEEE.

关键词： Helicopters

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Application of Kalman Filtering Algorithm in Laser Triangulation Measurement

Application of Kalman Filtering Algorithm in Laser Triangula...

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第36届中国控制会议

作者： WEN Xiao-qin LIANG Jun-yuan Ministerial Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and EngineeringSouth China University of Technology

In order to improve the measurement precision of the laser displacement ***,the cause of the error caused by the measured surface features is analyzed from the measurement principle of laser ***,according to the result of error analysis,the Kalman filter algorithm is applied to the sensor data to carry out error ***,the experiments were carried out with LS-100 CP laser displacement sensor and *** experimental results show that the Kalman filter algorithm in the application of laser triangula tion measurement is feasible,effective and have a good practical value.

关键词： Kalman filter algorithm triangulation method data processing measurement precision

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Dynamic Characteristics Analysis of Elastic Missile 7

Dynamic Characteristics Analysis of Elastic Missile

引用

2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： XU Zhaoqing Pei Hailong South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467383189

The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this *** aerodynamic force and moment and structure mode are *** unsteady aerodynamics additional caused by vibration is researched through simplified theory;the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory *** elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation *** outputs can provide raw data for stability analysis,precision analysis,control and guidance system *** response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight,but the variation of bank angle will be great,this result is matched with the experiment phenomenon.

关键词： Laplace simulation Dynamic Characteristics Analysis of Elastic Missile

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