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Cooperative transportation control of multiple mobile manipulators through distributed optimization

Science China. Information Sciences 2018年第12期61卷 120201-1--120201-1--120201-17页

作者： Chen Jie Kai Shixiong School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex SystemsMOE Beijing 100081

This paper investigates the problem of distributed control of multiple redundant mobile manipulators to collectively transport an object tracking a desired trajectory with energy and manipulability optimized. To solve this optimization problem, formation control tasks are introduced as equality constraints with the variables being the velocities. In this paper, we propose a distributed proximal gradient algorithm searching for the optimal solution, with which the stability of the closed-loop system is proved. Simulations demonstrate the effectiveness of the proposed distributed optimization scheme and proximal algorithm.

关键词： multiple mobile manipulators cooperative transportation control motion planning energy and manipulability distributed optimization

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Analysis and elimination method of the effects of cables on LVRT testing for offshore wind turbines

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IOP Conference Series: Earth and Environmental Science 2018年第4期121卷

作者： Zimin Jiang Xiaohao Liu Changgang Li Yutian Liu Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan 250061 China

The current state, characteristics and necessity of the low voltage ride through (LVRT) on-site testing for grid-connected offshore wind turbines are introduced firstly. Then the effects of submarine cables on the LVRT testing are analysed based on the equivalent circuit of the testing system. A scheme for eliminating the effects of cables on the proposed LVRT testing method is presented. The specified voltage dips are guaranteed to be in compliance with the testing standards by adjusting the ratio between the current limiting impedance and short circuit impedance according to the steady voltage relationship derived from the equivalent circuit. Finally, simulation results demonstrate that the voltage dips at the high voltage side of wind turbine transformer satisfy the requirements of testing standards.

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An improved adaptive exponential time-varying sliding-mode control for FDRPMSM 7

An improved adaptive exponential time-varying sliding-mode c...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Dong, Ning Xie, Wei Chen, Zhen Zhao, Jing Liu, Xiangdong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, an improved adaptive time-varying sliding mode controller (SMC) is designed for five-phase dual-rotor permanent magnet synchronous motor (FDRPMSM). It focuses on three objectives: 1) maintaining the high tracking performance to the reference speed;2) keeping robustness when load torque varies;3) chattering suppression performance *** FDRPMSM is adopted hysteresis-current controlled PWM, thus, the proposed controller is designed for speed controller. This controller is proposed to solve the problem that suppressing the chattering when system state is near the sliding-mode hyper *** order to weaken influence of load torque varying, the load torque observer is introduced in the control system. Simulation results show that the proposed speed controller have better performances and robustness characteristics comparing with PI controller and conventional exponential time-varying SMC. © 2016, Fuji Technology Press. All rights reserved.

关键词： controllers

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Self-triggered control of heterogeneous multiagent systems with input saturation

Self-triggered control of heterogeneous multiagent systems w...

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Chinese control Conference (CCC)

作者： Shengli Du Di Wu Yongfeng Gao Xu Li Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing P. R. China School of Control Science and Engineering Dalian University of Technology Dalian P. R. China School of Aeronautics and Astronautics Dalian University of Technology Dalian P. R. China

This paper is concerned with the semi-global output synchronization problem of a heterogeneous network under self-triggered control. A distributed self-triggered control scheme in which only local information is used to compute the triggering instants is proposed. In addition, the Zeno behavior can be excluded in the designed scheme. By adopting the low-gain technique, it is shown that the input saturation nonlinearity can be avoided if the parameter of the parameterized feedback gain is chosen small enough. The algorithm for implementing the self-triggered rule is also presented in the paper.

关键词： Multi-agent systems Synchronization Eigenvalues and eigenfunctions control systems Laplace equations Symmetric matrices Riccati equations

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Estimation of image Jacobian Matrix with time-delay compensation based on Kalman filtering with colored noise 5

Estimation of image Jacobian Matrix with time-delay compensa...

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5th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Wang, Xinmei Liu, Zhenzhu Wei, Wu Liu, Feng School of Automation China University of Geosciences Hubei430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei430074 China College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong510640 China

In order to compensate for the impact of time delay on the estimation of object feature point image and image Jacobian matrix and improve the control precision of image-based visual servo system, a Kalman filtering algorithm with colored noise is proposed to obtained the current motion state estimation of the feature point with time-delay compensation in the image space, then the accurate image Jacobian matrix under time delay can be obtained. For the above, the following work will be done in this paper: (1) the current motion state estimation of the feature point in the image space is predicted by Kalman filtering algorithm, combined with practical applications, measurement noise is usually as colored noise and can be regarded as a one-order Markov sequence excited by Gauss white noise, then a Kalman filtering recursive model can be derived according to the variance minimization principle of the estimation error;(2) to obtain the measurement vectors estimation which cannot be acquired in the Kalman filtering model owing to the existence of time delay, the relationship between the motion state of the feature point at the prior and later point is established, and a polynomial is fitted by using some of the observed data under the relationship to realize the measurement vectors estimation in the time-delay period. Thus the estimation of the motion state of the feature point at the current time in the image space can be obtained, and the estimation of image Jacobian matrix with time-delay compensation can be obtained. Experimental results validate the feasibility and superiority of this method.

关键词： Time delay

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A necessary and sufficient stability criterion for networked predictive control systems.

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Science China(Technological Sciences) 2016年第1期59卷 2-8页

作者： SUN Jian CHEN Jie GAN MingGang School of Automation Beijing Institute of TechnologyBeijing 100081China Key Laboratory ofIntelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China

Stability of a networked predictive control system subject to network-induced delay and data dropout is investigated in this study. By modeling the closed-loop system as a switched system with an upper-triangular structure, a necessary and sufficient stability criterion is developed. From the criterion, it also can be seen that separation principle holds for networked predictive control systems. A numerical example is provided to confirm the validity and effectiveness of the obtained results.

关键词： networked control system networked predictive control stability network-induced delay data dropout

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Whispering Gallery Mode Resonances of Perovskite Nanoplatelets

Whispering Gallery Mode Resonances of Perovskite Nanoplatele...

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第四届新型太阳能电池学术研讨会

作者： Guohui Li Weimin Kong Qiangbing Liang Xingqi Ji Ting Ji Yuying Hao Yanxia Cui Key Laboratory of Advanced Transducers and Intelligent Control System (Ministry of Education) College of Physics and Optoelectronics Taiyuan University of Technology

Organic-inorganic hybridized perovskites have attracted more and more attention due to their advantages such as high absorption coefficients, direct band-gap, long carrier lifetimes, balanced electron/hole mobility, ***-scaled perovskites, which possess naturally-formed optical feedback, can excite resonance under certain incident light and realize the precise light management as *** 2014, Ha et *** lead halide perovskite nanoplatelets with regular triangular or hexagonal morphologies by vapor phase deposition techniques on mica plate [1].Later, they realized lasing based on the whispering-gallery modes at the near-infrared range using the prepared perovskite nanoplatelets [2].Here, we first synthesized lead iodide nanoplatelets with well-defined crystal boundaries and then successfully conversed the pre-grown lead iodide template into perovskite nanoplatelets by placing the substrate exactly above the methyl iodide amine powder in Ar gas condition with all valves of the quartz tube *** a continuous-wave laser at 325 nm, we measured the photoluminescence spectra of different perovskite nanoplatelets and observed the whispering gallery modes over the spontaneous emission band.

关键词： Perovskite Whispering gallery mode Nanoplatelet Vapor phase Resonance

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Structural Performance Analysis of Wall Climbing Robot

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IOP Conference Series: Materials Science and Engineering 2019年第4期569卷

作者： Li Huang Shangchun Liao College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan 430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan 430081 China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan 430081 China

With the development of artificial intelligence technology, robotics technology has become more and more mature. Ground walking robots not only develop rapidly, but also have been applied in actual production and life. However, the development of wall climbing robot technology is still in the laboratory research and small-scale application. We live in a world where progress is continuing. Large-scale buildings, bridges and ships are becoming more and more common. In these places, it is inevitable to involve the construction, maintenance and clarity of high-rise buildings and ships. In the case of dangerous and inefficient manpower work, the application of wall climbing robots can play a very good role. Therefore, the development of wall climbing robots is of vital importance both now and in the future. Starting from the performance characteristics of wall climbing robot, this paper studies and summarizes the moving mode, control mode, conditions to be satisfied and various adsorption forms of wall climbing robot, and introduces the basic research situation in the field of wall climbing robot.

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Stability analysis of load frequency control systems with two delays in each area

Stability analysis of load frequency control systems with tw...

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Annual Conference of Industrial Electronics Society

作者： Fei Long Chuan-Ke Zhang Yong He Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In networked load frequency control (LFC) systems, time-varying delays could come from two aspects: measurements' transmission from power plant to control center and control signals from the control center to plant side, because of the use of open communication networks. Those delays can affect the dynamic performance and the stability of the system. In this paper, the two delays are considered in one-area LFC system, instead of combining these two delays into one, when the delay-dependent stability analysis is carried out by using Lyaponuvtheory and linear matrix inequality (LMI) technique. Moreover, the dynamic delay interval method is employed to derive less conservative delay-dependent stability criteria for such time-delay system compared with the existing results. Finally, the effectiveness of the proposed criteria are verified by two case studies.

关键词： Delays Stability criteria Time-varying systems Power system stability Frequency control Symmetric matrices

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The Topologies Research of a Soft Switching Bidirectional DC/DC Converter

The Topologies Research of a Soft Switching Bidirectional DC...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Qi Zhang Yongping Zhang Xiangdong Sun Dong Liu Fujin Deng Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Department of Electrical Enginnering Department of Energy Technology Aalborg University Aalborg Denmark

A soft-switching solution implemented to the traditional bidirectional DC/DC converter is developed. The soft-switching cell, which composed of three auxiliary switches, one resonant capacitor and one resonant inductor, is equipped in the traditional bidirectional DC/DC converter to realize circuit ZCT or ZVT operations in both energy transmission directions. Two driving methods are presented to charging energy for different storage applications according to the storage materials' electrical characteristics. There are two methods in buck mode. The first method with low conduction losses suffers from a hard turning off process in one of the auxiliary switches, while the others experience the soft operation. As for the other method, the zero voltage or zero current transmissions in all switches are realized, however, the relative higher but fixed conduction losses are introduced by the resonant circle. And the proposed topology of bidirectional soft-switching dc-dc converter (TASBC) performs ideal soft switching at boost operations. The characteristics of the proposed converter has been verified by MATLAB simulations and experimental results.

关键词： Turning Capacitors Equivalent circuits Mathematical model Topology Soft switching Inductors

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