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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail Process control Educational institutions control design

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang 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 Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning system Electronic mail Algorithm design and analysis MATLAB

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Meanshift algorithm based on kernel bandwidth adaptive adjust

Meanshift algorithm based on kernel bandwidth adaptive adjus...

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Chinese control Conference (CCC)

作者： Yunji Zhao Hailong Pei Baoluo Liu School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 China Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education Guangzhou 510640 China Department of Computer and Information Engineering Luoyang Institute of Science and Technology Henan 471023 China

Object tracking algorithm based on Meanshift algorithm with fixed kernel bandwidth does not realize object tracking correctly with the scale of object changed. According to this, a scheme of kernel bandwidth adaptive adjustment and predictions of object cancroids based on Kalman filter is proposed in this paper. In this algorithm, Object location predicted based on Kalman filter is used to initialize the Meanshift algorithm. The variation tendency of the kernel bandwidth is also determined based on Kalman filter. Experiment results demonstrate that this algorithm can realize the kernel bandwidth adaptive adjustment and object location prediction. The robustness of the tracking algorithm is also enhanced.

关键词： Prediction algorithms Kalman filters Electronic mail Kernel Bandwidth Robustness Conferences

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Dynamical Balance Optimization and control of Quadruped Robots Under Perturbing External Force

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IFAC Proceedings Volumes 2013年第20期46卷 199-205页

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

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.

关键词： quadruped robot forces distribution external wrench motion/force control

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Development of the Ground control Station for a quadrotor unmanned aerial vehicle based on Java programming

Development of the Ground Control Station for a quadrotor un...

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31st Chinese control Conference, CCC 2012

作者： Yang, Liu Bin, Xian Fu, Wang Shibo, Liu Xun, Gu Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous System Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563811

The four-rotor unmanned aerial vehicle (UAV), known as quadrotor UAV, has been a hot area for the research of unmanned aerial vehicles. Ground control Station (GCS), as an essential part of quadrotor UAV system, plays a very important role in applications of quadrotor UAV. Most ordinary GCS are stand alone ones, and lack extending abilities. Considering this defect and the real requirements of monitoring and control of UAV, this paper provides a new GCS based on VC++ and Java programming techniques. The major novelty of this GCS is of the Web access to real-time flight data. Plus, the proposed GCS posses the standard functions, such as data receiving in real time, storing the data and displaying the data. Experiment results are provided to show that the GCS operates well, with good human-machine interaction and extending abilities. © 2012 Chinese Assoc of Automati.

关键词： Unmanned aerial vehicles (UAV)

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang 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

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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Data acquisition and processing of the onboard sensor system of a quadrotor unmanned aerial vehicle

Data acquisition and processing of the onboard sensor system...

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World Congress on Intelligent control and Automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting 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 Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning system Data acquisition Process control Attitude control Servers Automation

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Nonlinear boundary tracking control for mobile robot

Nonlinear boundary tracking control for mobile robot

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Chinese control Conference (CCC)

作者： Tairen Sun Liangliang Li Yuebang He School of Electrical and Information Engineering Jiangsu University Zhenjiang China School of Computational Science Zhongkai University of Agriculture and Engineering Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Eduction South China University of Technology Guangzhou China

ISBN: (纸本)9781467325813

In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholo-nomic mobile robot to track the desired environmental boundary. Based on kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn't always hold for mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat's Lemma and illustrated by simulation results.

关键词： Mobile robots Robot kinematics Kinematics Robot sensing systems Vectors Pollution measurement

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Robust ℋ∞ horizon optimization control for sampled-data systems with constraints

Robust ℋ∞ horizon optimization control for sampled-data sy...

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Chinese control Conference (CCC)

作者： Fuchun Liu Hailong Pei Yueying Zhao Min Li College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control (ASNC) Ministry of Education South China University of Technology Guangzhou 510640 China Department of Automation Guangzhou Kangda Vocational Technical College 511363 China School of Electronic Information and Control Engineering Shandong Polytechnic University Jinan 250353 China

In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data control systems with output constraints have been investigated base on jump system model of sampled-data system using constant Lyapunov function (CLF) approach. The online algorithm of the H ∞ receding horizon optimization design for the norm-bounded parametric uncertain system is proposed. The optimal state-feedback H ∞ controllers are obtained and these controller can provide a performance tradeoff with respect to output constraints, i.e., the control strategy offers the capability of relaxing the performance level automatically in order to obey output constraints in the case of a larger disturbance. When the disturbance is restored to a usual situation, this control strategy can also improve the performance of system automatically.

关键词： Electronic mail Robustness control systems Predictive models Modeling Optimization Predictive control

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Readers, Writers, Reviewers, and Editors

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IEEE TRANSACTIONS ON SOFTWARE ENGINEERING 2010年第2期36卷 145-146页

作者： Nuseibeh, Bashar Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou China

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