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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Artificial Intelligence-based Fault Detection and Diagnosis: Towards Application in a Chemical Process

Artificial Intelligence-based Fault Detection and Diagnosis:...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Liu, Yiqi Li, Zhi Chen, Hongtian The School of Automation Science & Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou510640 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9798350337754

As the chemical processes become more and more complicated, it is crucial but also difficult to detect and diagnose faults in the system than ever. With the development of machine learning algorithms and cloud computing, to monitor chemical processes completely with the help of big data become true. However, most machine learning methods suffer from unexplainable problem. By employing Explainable Artificial Intelligence(XAI) techniques, this paper applies two kinds of unsupervised machine learning methods, One-Class Support Vector Machine and Depth-based Isolation Forest Feature Importance, to detect and diagnosis faults in a chemical process. By combining two different fault explanation methodologies, accuracy and reliability of the fault diagnosis results can be achieved by the validation in a simulated continuous stirred tank reactor. © 2023 IEEE.

关键词： Support vector machines

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Learning Nonlinear Marine Predator Algorithm for Multi-objective Optimization of Setpoints in Wastewater Treatment Operations

Learning Nonlinear Marine Predator Algorithm for Multi-objec...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Jiahua Liu Daoping Huang Yiqi Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education the School of Automation Science & Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

The nitrogen removal in wastewater treatment plants (WWTPs) usually consumes a significant amount of energy, for example, oxygen injection. To reduce energy consumption while ensure the quality in the effluent of WWTPs, this paper proposes a control strategy based on the Multi-Objective Nonlinear Marine Predator Algorithm (MONMPA). First, to address the unacceptable energy consumption issue due to fixed setpoints in the wastewater treatment process, a multi-objective setpoint optimization scheme is proposed in this paper. Second, to deal with uncontrollable inflow disturbances and uncertainty, a predictive controller with feedforward compensation for inflow disturbances is adopted to further accurately track the optimized setpoints. Finally, the proposed control strategy is compared with other standard approaches, and experimental results showed the effectiveness and superiority of this strategy.

关键词： Energy consumption Uncertainty Simulation Optimization methods Effluents Prediction algorithms Nitrogen Wastewater treatment Standards Robots

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Predefined-Time Attitude Tracking control for Quadrotor UAV with Input Delay

Predefined-Time Attitude Tracking Control for Quadrotor UAV ...

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2023 China Automation Congress, CAC 2023

作者： Li, Shuo Pei, Hailong Duan, Na College of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Electrical Engineering & Automation Jiangsu Normal University Xuzhou221116 China

ISBN: (纸本)9798350303759

In this paper, the predefined time attitude tracking flight problem for a quadrotor unmanned aerial vehicle (UAV) system with input delays is investigated. By means of a novel auxiliary system, the effects of input delay are solved. Then, on the basis of the backstepping method and predefined performance control technology, the predefined-time attitude tracking controller is constructed to make UAV attitude tracking. Simulation results verify the validity of the proposed scheme. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Frame analysis based real time related indicators measurement of industrial ethernet Powerlink 4

Frame analysis based real time related indicators measuremen...

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4th International Academic Exchange Conference on Science and Technology Innovation, IAECST 2022

作者： Wang, Jian Xie, Chuang Dong, Ce Chinese Academy of Sciences ShenYang Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing China

ISBN: (纸本)9798350320008

The protocol Powerlink which is one of real-time Ethernet protocols included in the Standard IEC FDIS61784-2, has been widely used for the communication of both IO devices in industrial fields and drives for motor control applications to provide deterministic data transmission. When the Powerlink network is running in the industrial field environment, the online measurement of time related indicators is an appropriate method to evaluate the performance of the network in real time and detect communication faults between devices. In this paper, several time related indicators are proposed and analyzed to estimate the real time performance of the network when all devices get into the operate state. Further more, an efficient method to measure the proposed indicators based on frame analysis is presented and implemented on a PC-based monitor station that stores all the frames which transfer in the network and contain timestamp added by an FPGA-based probe. The measurement method is tested on a real network consisting of one master node and two slave nodes, and some experimental results are presented. © 2022 IEEE.

关键词： Digital storage

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Aspect-Ratio and Scale Aware Rotated Defect Detection for Fiber-reinforced Composites 5

Aspect-Ratio and Scale Aware Rotated Defect Detection for Fi...

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5th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Xu, Yuanye Liu, Yuanhao University of Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Institute of Automation Chinese Acad. of Sci. Institutes for Robotics and Intelligent Mfg. Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350373820

Detecting surface defects in carbon fiber-reinforced composites (FRCs) during prepreg stacking is crucial for ensuring product quality. Traditional methods using horizontal bounding boxes (HBBs) for defect detection often lead to overlapping boxes and inaccurate results. This paper proposes an Aspect-Ratio and Scale Aware Detector network (ARSADet) specifically designed for rotated defect detection in FRCs. The network incorporates a Gabor convolutional network for feature extraction, an aspect-ratio and scale-aware label assignment method, and a newly established FRCs Oriented Defect Detection dataset (FODD). Evaluation on the FODD dataset demonstrates superior performance compared to existing methods. © 2024 IEEE.

关键词： Aspect ratio

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Smart Plant Application of autonomous Decentralized systems with the Introduction of Edge Nodes 15

Smart Plant Application of Autonomous Decentralized Systems ...

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15th International Conference on Advanced Computer Theory and Engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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Deterministic Learning-Based Robust Practical Output Regulation for Second-Order Nonlinear systems

Deterministic Learning-Based Robust Practical Output Regulat...

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Complex systems and Intelligent Science (CSIS-IAC), International Annual Conference on

作者： Qingxi Hu Wei Liu Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798331504755

ISBN: (纸本)9798331504762

This article intends to investigate the semi-global robust practical output regulation problem for a class of second-order nonlinear systems with parametric and non-parametric uncertainties based on deterministic learning method. First, by constructing the internal models, the robust output regulation problem is transformed into the semi-global robust practical stabilization problem. Second, we propose an adaptive neural control (ANC) strategy to solve the stabilization problem and utilize the radial basis function neural networks (RBF NNs) to identify unknown dynamic. Moreover, under the persistently exciting (PE) property, the unknown dynamics can be identified and the learned knowledge is saved as some constant NN weights. Finally, we design an deterministic learning-based adaptive neural control (DLANC) law with the learned knowledge to solve the output regulation problem and improve control performance.

关键词： Learning systems Uncertainty Adaptive systems Process control Artificial neural networks Radial basis function networks Regulation Nonlinear dynamical systems Complex systems Convergence

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Active Disturbance Rejection control Design for the Power on Ultrasonic Transducer 41

Active Disturbance Rejection Control Design for the Power on...

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第41届中国控制会议

作者： Fuchun Liu Bin Li Haixing Deng Ming Zeng School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The Ultrasonic scalpel has good medical characteristics and is widely used in the medical *** the core component of the ultrasonic scalpel system,the ultrasonic transducer usually needs to control its power for good cutting ***,the mathematical model of the ultrasonic transducer is complex and easily influenced by the load and ***,it is challenging to design a power controller that satisfies all situations with different temperatures and *** this paper,we will analyze the equivalent model of the ultrasonic transducer and simplify the controlled object ***,an ADRC controller,which has the advantage of placing less emphasis on the mathematical model and compensating for the disturbances,will be ***,the performance of the ADRC control system will be tested according to a simulation experiment.

关键词： ultrasonic transducer power control ADRC first-order system

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