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2nd International Conference on key Engineering Materials and Computer Science, KEMCS 2013

作者： Lin, Meijin Luo, Fei Xu, Yuge Luo, Long Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Technology South China University of Technology Gangdong Guangzhou 510641 China Foshan university Guangdong Foshan 528000 China

ISBN: (纸本)9783037857274

Shuffled frog leaping algorithm (SFLA) is a meta-heuristic algorithm, which combines the social behavior technique and the global information exchange of memetic algorithms. But the SFLA has the shortcoming of low convergence speed while solving complex optimization problems. Particle swarm optimization (PSO) is a fast searching algorithms, but easily falls into the local optimum for the diversity scarcity of particles. In the paper, a new hybrid optimization called SFLA-PSO is proposed, which introduced PSO to SFLA by combining the fast search strategy of PSO and global search strategy of SFLA. Six benchmark functions are selected to compare the performance of SFLA-PSO, basic PSO, wPSO and SFLA. The simulation results show that the proposed algorithm SFLA-PSO possesses outstanding performance in the convergence speed and the precision of the global optimum solution. © (2013) Trans Tech Publications, Switzerland.

关键词： Particle swarm optimization (PSO)

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties

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IEEE Transactions on Neural Networks and Learning systems 2013年第9期24卷 1400-1413页

作者： Li, Zhijun Su, Chun-Yi Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510641 China Concordia University Montreal QC H3G 1M8 Canada

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies. © 2012 IEEE.

关键词： Remote control

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Improved vision-based algorithm for unmanned aerial vehicles autonomous landing

Improved vision-based algorithm for unmanned aerial vehicles...

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2nd International Conference on Innovation Manufacturing and Engineering Management, IMEM 2012

作者： Zhao, Yunji Pei, Hailong School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan454000 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SouthChina University of Technology Guangzhou 510640 China

ISBN: (纸本)9783037855881

In vision-based autonomous landing system of UAV (Unmanned Aerial Vehicle), the efficiency of object detection and tracking will directly affect the control system. An improved algorithm of SURF (Speed Up Robust Features) will resolve the problem which is inefficiency of the SURF algorithm in the autonomous landing system of UAV. The improved algorithm is composed of three steps: first, detect the region of the target using the Cam shift algorithm;second, detect the feature points in the region of the above acquired using the SURF algorithm;third, do the matching between the template target and the region of target in frame. The results of experiments and theoretical analysis testify the efficiency of the algorithm. © (2013) Trans Tech Publications, Switzerland.

关键词： Efficiency

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Transformation design of mixed injection molding production line

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2nd International Conference on Mechanical Automation and Materials Engineering, ICMAME 2013

作者： Zhou, Xi En Luo, Fei Deng, Xiao Yan Che, Feng Jiao Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Institute of Automation Science and Engineer South China University of Technology Guangzhou 510641 China Huiyang Allan plastic electrical industrial Co.LTD Huizhou 516035 China

ISBN: (纸本)9783037857830

Due to the problems of the traditional mixed injection molding production, such as unsatisfactory of the injection molding machine cylinder temperature control, the dispersed devices, the low automation degree and the lack of supervision for the whole production process, the production line of the mixed injection molding machine has been modified. The fuzzy self-adaptive PID control method is used to improve the temperature control accuracy and stability. Two sets of equipments of the injection molding machine have been communicated via the bus technology to realize automation production. And the computer monitoring system has been designed by VB technology to monitor the operating status and parameters of the entire production process. This transformation design can achieve to shorten production cycle, reduce labor costs and covering area, and also improve the production automation level and efficiency. © (2013)Trans Tech Publications,Switzerland.

关键词： Injection molding

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A Novel Hybrid Optimization Method of Shuffled Frog Leaping Algorithm and Particle Swarm Optimization

A Novel Hybrid Optimization Method of Shuffled Frog Leaping ...

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2013 2nd International Conference on key Engineering Materials and Computer Science(KEMCS 2013)

作者： LIN Meijin LUO Fei XU Yuge LUO long Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Technology South China University of Technology Foshan university

Shuffled frog leaping algorithm(SFLA) is a meta-heuristic algorithm, which combines the social behavior technique and the global information exchange of memetic algorithms. But the SFLA has the shortcoming of low convergence speed while solving complex optimization problems. Particle swarm optimization(PSO) is a fast searching algorithms, but easily falls into the local optimum for the diversity scarcity of particles. In the paper, a new hybrid optimization called SFLA-PSO is proposed, which introduced PSO to SFLA by combining the fast search strategy of PSO and global search strategy of SFLA. Six benchmark functions are selected to compare the performance of SFLA-PSO, basic PSO, w PSO and SFLA. The simulation results show that the proposed algorithm SFLA-PSO possesses outstanding performance in the convergence speed and the precision of the global optimum solution.

关键词： Shuffled frog leaping algorithm(SFLA) Particle swarm optimization(PSO) Hybrid optimization algorithm Benchmark functions

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Static anti-windup synthesis for linear systems subject to actuator amplitude and rate saturation using an LMI approach

Static anti-windup synthesis for linear systems subject to a...

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Chinese control Conference (CCC)

作者： Naizhou Wang Hailong Pei Jun Wang Key Laboratory of Autonomous Systems and Networked Control Ministry of Education in South China University of Technology Guangzhou P. R. China

In this paper, a static anti-windup synthesis problem is addressed. The original system with amplitude and rate saturation is simplified to the synthesis of a system with only amplitude saturation. Based on the general sector condition, the static anti-windup synthesis is solved by linear matrix inequality (LMI) using Lyapunov's second method. Compared with other approaches, the designed controller need not to be strictly proper and can be applied to both stable and unstable system. Meanwhile, the best performance index can be obtained by solving a convex optimization problem. At the end of the paper, a simulation example is shown to illustrate the effectiveness of the proposed approaches.

关键词： Closed loop systems Actuators Symmetric matrices Stability criteria Linear matrix inequalities

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Pose estimation based on laser range finder for a quadrotor unmanned aerial vehicle in GPS-denied environment

Pose estimation based on laser range finder for a quadrotor ...

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32nd Chinese control Conference, CCC 2013

作者： Gu, Xun Xian, Bin Guo, Fang Zhang, Yao Zhang, Xu Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563835

The feedback of position and attitude information are important for the autonomous control of a quadrotor unmanned aerial vehicle (UAV). But in the GPS-denied environments, it is hard to obtain the quadrotor UAV's position. The pose estimation problem for a quadrotor UAV is addressed in this paper. A miniature laser range finder and a miniature attitude heading reference system (AHRS) unit are employed as the main onboard sensors. And a new pose estimation algorithm is developed to provide accurate estimation for the UAV's position and attitude which can be utilized for the flight controller in the GPS-denied environments. © 2013 TCCT, CAA.

关键词： Global positioning system

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Dynamical balance optimization and control of quadruped robots under perturbing external force

Dynamical balance optimization and control of quadruped robo...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Li, Zhijun Yu, Sijia Liu, Sibang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Robotics Institute School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 610054 China Robotics Institute University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783902823458

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations. Copyright © 2013 IFAC.

关键词： Adaptive control systems

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autonomous hovering control for a quadrotor unmanned aerial vehicle

Autonomous hovering control for a quadrotor unmanned aerial ...

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Chinese control Conference (CCC)

作者： Fu Wang Bin Xian Guoping Huang Bo Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

In this paper, an autopilot system for the quadrotor unmanned aerial vehicle (UAV) is developed by utilizing a digital signal processor (DSP) as the on-board micro-control unit (MCU). The hardware setup and the software are also developed for the autonomous flight control of the UAV. The main design procedure includes the controller board design, brushless DC motor driver design, sensor data processing software design, and flight control algorithm design. The control algorithm is developed based on the inner loop and outer loop control method. Proportional Derivative (PD) controllers are proposed for the attitude dynamics (inner loop) and position dynamics (outer loop) respectively. autonomous hovering control is achieved via the control of roll angle, pitch angle, yaw angle and altitude of the UAV. Experiments results are included to demonstrate the hovering control performance.

关键词： Digital signal processing Pulse width modulation Electronic mail Unmanned aerial vehicles Educational institutions Digital signal processors Heuristic algorithms

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