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Chinese control Conference (CCC)

作者： Chenyi Wang Minggang Gan Zhi Qiao Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing School of Automation Beijing Institute of Technology Beijing

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Observers Torque Mathematical model Equations Actuators Synchronous motors Uncertainty

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Teleoperation of a Virtual iCub Robot under Framework of Parallel System via Hand Gesture Recognition

Teleoperation of a Virtual iCub Robot under Framework of Par...

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IEEE International Conference on Fuzzy Systems

作者： Chen Li Hongbin Ma Chenguang Yang Menyin Fu School of Automation as well as State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479920747

This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference Systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.

关键词： Solid modeling Mathematical model MATLAB Robot kinematics Gesture recognition Fuzzy logic

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Sliding Mode control Using linear extended state observer(LESO) and hysteresis compensator based on Bouc-Wen model in sinusoidal position control of a piezoelectric actuator

Sliding Mode Control Using linear extended state observer(LE...

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Chinese control Conference (CCC)

作者： Zhi Qiao Minggang Gan Chenyi Wang School of Automation Beijing Institute of Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing

In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.

关键词： Hysteresis Mathematical model Data models Robustness Computational modeling Sliding mode control

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Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

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Journal of Systems Engineering and Electronics 2013年第4期24卷 655-665页

作者： Fang Deng Jie Chen Chen Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.

关键词： parameter estimation state estimation unscented Kalman filter （UKF） strong tracking filter wavelet transform.

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Color moving object detection method based on automatic color clustering

Color moving object detection method based on automatic colo...

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Chinese control Conference (CCC)

作者： Jing Li Junzheng Wang Jiali Mao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing Beijing CN

Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can't be described by simple gray information completely. In order to achieve automatic color moving object detection, the method based on automatic color clustering is especially proposed. Because the difference between adjacent pixels in an image is very small, the initial cluster center can be moved in the maximum distance. The proposed method can reduce the number of iterations and quicken convergence speed, meanwhile determine the number of color cluster and the location of the color object automatically. The proposed algorithm is validated in the actual system, experimental results show that the proposed method can automatically achieve color clustering for color image, while detect color objects.

关键词： Image color analysis Clustering algorithms Image segmentation Color Classification algorithms Object segmentation Object detection

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Event-Triggered Networked Predictive controller Design for Linear Systems with Communication Delay

Event-Triggered Networked Predictive Controller Design for L...

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第三十三届中国控制会议

作者： Di Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479947249

This paper is concerned with the controller design for networked control systems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.

关键词： Networked control system,Networked predictive control,Event-triggered control,Lyapunov function

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Further Improvements in Stability Analysis of Linear Systems with Interval Time-varying Delay

Further Improvements in Stability Analysis of Linear Systems...

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第25届中国过程控制会议

作者： Jian Sun Sheng-Lan Xiao School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.

关键词： Time-delay system,Delay-dependent stability,Interval delay,Linear matrix inequality

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HCLC integration design and high-precision control of a joint for space manipulator 20

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20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

作者： Jiang, Zhihong Li, Hui Dong, Que Zhang, Xiaodong Tang, Zixing Rao, Wei Mo, Yang Ji, Chenjun Huang, Qiang IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9783319070575

A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for space manipulator joint with high-cohesion and low-coupling (HCLC) performance. Moreover, the mechanical and electrical interfaces of designed joint are especially suitable for space manipulator. First, To achieve higher system performance, the joint is designed as a whole for perfect match among components including permanent magnet synchronous motor (PMSM), motor controller and driver, sensors, space environment controller, reducer, routing and other mechanisms, which could eliminate redundant shell packages and mounting surfaces existed in traditional manipulator joint. Second, a new method is presented to design the rotors of two resolvers as joint sensors at the same axis shared with motor rotor, this kind of design has the advantages of redundant and high-precision sensing for the positions of motor rotor and joint, and joint position signal is differential sensing and has high robustness. Then, a kind of high-precision controller is presented for space manipulator based on a new PMSM model with model difference, and this controller is robust to joint nonlinear factors, such as friction and other disturbance torque. Finally, the experimental results showed the designed joint had fine performances with high power density, high controlling precision and high operation stability and so on, and it is suitable for the application of space manipulator. © Springer International Publishing Switzerland 2014.

关键词： controllers

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Fast trajectory planning of reactive operation considering manipulability for a humanoid

Fast trajectory planning of reactive operation considering m...

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World Congress on intelligent control and Automation (WCICA)

作者： Yan Liu Jing Li Zhangguo Yu Wen Zhang Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Fei Meng Weimin Zhang Junyao Gao Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper, efforts are made to generate trajectory for these operations. Firstly, an extended manipulability index is proposed to optimize the key poses so that the humanoid robot has the manipulability considering joint limits at the key poses, which makes it convenient to adjust the trajectory. Secondly, a fast approach to generating the whole trajectory consisting of all the key poses and the strategies to realize the trajectory adjustment when specifications change are proposed. Finally, the ZMP (Zero Moment Point) displacement excited by the reactive operations is also given to decide whether the generated trajectory is feasible. The effectiveness of the method is demonstrated through simulations.

关键词： Trajectory Joints Humanoid robots Indexes Jacobian matrices Optimization

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Cooperative Adaptive Fuzzy control of High-Order Nonlinear Multi-Agent Systems with Unknown Dynamics

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IFAC Proceedings Volumes 2014年第3期47卷 9774-9779页

作者： Jie Huang Hao Fang Jie Chen Lihua Dou Fang Deng School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China Fujian Institute of Education Fuzhou 350025 China

This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.

关键词： Multi-agent systems Distributed control Consensus High-order Backstepping Fuzzy logic systems

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