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34th Chinese control Conference, CCC 2015

作者： Wei, Yuli Sun, Tairen Liu, Guohai School of Electrical Information and Engineering Jiangsu University Zhenjiang China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China

ISBN: (纸本)9789881563897

Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer, which is adjusted by tracking error and sliding surface estimation error, is proposed to estimate disturbances. The composite adaptive estimation based tracking control is constructed in feedforward-feedback composite control strategy. The effectiveness of the designed controllers is illustrated by theoretical analysis and simulations results. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Active disturbance rejection control Extended state observer Sliding mode control Surface vessel Trajectory tracking

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面向认知公差的精密冲压工艺适应性设计方法

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2015年第5期16卷 387-394页

作者： Xun GONG Yi-xiong FENG Zi-wu REN Jin CHENG Jian-rong TAN The State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Robotics and Micro Systems Center Soochow University

目的:精密冲压工艺过程中环境变量的波动导致工件出现破裂和皱褶等缺陷。探讨精密冲压工艺过程中环境变量(工件材质、冲压速度、压力、模具间隙和温度变化等)对冲压质量的影响,研究适应性工艺设计方法,提高精密冲压工件的质量。创新点:1... 详细信息

目的:精密冲压工艺过程中环境变量的波动导致工件出现破裂和皱褶等缺陷。探讨精密冲压工艺过程中环境变量(工件材质、冲压速度、压力、模具间隙和温度变化等)对冲压质量的影响,研究适应性工艺设计方法,提高精密冲压工件的质量。创新点:1.通过马尔科夫模型方程,推导出环境变量与精密加工波动公差之间的关系;2.建立试验模型,成功模拟适应性冲压工艺过程。方法:1.通过实验分析,推导出冲压过程中的晶粒流动和强度变化对成型零件的尺寸公差波动产生较大的影响(图2和3);2.通过理论推导,构建环境变量与加工波动公差之间的关系,得到适应性的工艺参数调节方案(公式16);3.通过仿真模拟,运用适应性设计方法在精密冲压过程中对工艺参数进行适应性调节,验证所提方法的可行性和有效性(图5)。结论:1.精密冲压过程中工艺参数需要根据不同的环境变量进行调节;2.环境变量与加工波动公差之间存在映射关系,运用隐马尔科夫模型实现关联表征;3.运用适应性设计方法对精密冲压工艺参数进行调节,加工波动公差明显减小,工件质量得到提高。

关键词：适应性设计公差工况驱动精密冲压工艺

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An analysis of sampling effect on bilateral teleoperation system transparency 34

An analysis of sampling effect on bilateral teleoperation sy...

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34th Chinese control Conference, CCC 2015

作者： Ting, Yang Fu, Yi Li Tavakoi, Mahdi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China Department of Electrical and Computer Engineering University of Alberta EdmontonAB Canada

ISBN: (纸本)9789881563897

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Bilateral teleoperation continuous-time control discrete-time control hybrid parameters system performance

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Guest Editorial for Special Issue on Cyber-Physical systems

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 233-234页

作者： Youxian Sun Xinping Guan Jiming Chen Yilin Mo Zhejiang University the Chinese Academy of Engineering the Institute of Industrial Process Control and the National Engineering Research Center of Industrial Automation Zhejiang University Department of Automation Shanghai Jiao Tong University University Research Management Office Shanghai Jiao Tong University the Key Laboratory of Systems Control and Information Processing Ministry of Education of China the prestigious Innovative Research Team of the National Natural Science Foundation of China(NSFC) Department of Control Science and Engineering group of Networked Sensing and Control in the State Key laboratory of Industrial Control Technology Institute of Industrial Process Control at Zhejiang University the School of Electrical and Electronic Engineering at Nanyang Technological University

Ⅰ.Introduction CYBER-PHYSICAL system is a system of collaborating computational elements to control physical *** coordination and the tight link between computational,virtual and physical resources in cyber-physical system will have a pervasive effect on our everyday *** development of cyber-physical system will create new opportunities for the introduction of services that will enhance the quality of life

关键词： for WSAN Guest Editorial for Special Issue on Cyber-Physical systems of into on WSN is

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Dynamics Modeling and Postural Stability control of a Unicycle Robot

Dynamics Modeling and Postural Stability Control of a Unicyc...

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2015 International Conference on Fluid Power and Mechatronics

作者： Long Zhao Xiaobin Zhang Qiang Xu Junhong Ji State Key Laboratory of Robotics and Systems Harbin Institute of Technology

This paper presents a dynamic model of a unicycle robot which consists of a wheel and two momentum wheels. However, the dynamic model of the unicycle robot built in this paper is non-linear. By expanding the non-linear items in Taylor series around an equilibrium point, the non-linear dynamic model of the unicycle robot is linearized. And the linearized dynamic model of the unicycle robot is simplified into state equation. Based on the linearized state equation, a state feedback algorithm is designed to maintain postural stability of the unicycle robot. After completing the postural stability control algorithm, a simulation model is developed using Simulink. The capability and performance of the algorithm is verified.

关键词： Dynamic model Postural stability Unicycle robot

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Leg hybrid rehabilitation based on hip-knee exoskeleton and ankle motion induced by FES

Leg hybrid rehabilitation based on hip-knee exoskeleton and ...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Xikai Tu Jian Huang Jiping He Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China School of Biological and Health Systems Engineering Arizona State University Tempe AZ USA School of Mechatronic Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509033652

To regain mobility, stroke patients need to receive repetitive and intensive therapy. Robot-assisted rehabilitation is an active area of research. Cheap robotic leg rehabilitation devices should be developed to meet the demands and assist most patients. A low cost hip-knee exoskeleton prototype powered by pneumatic muscles was developed. On this basis, Functional Electrical Stimulation (FES) induced paralyzed muscles to realize ankle joint rehabilitation training. As both of pneumatic muscle and FES induced muscle possess highly nonlinear characteristics, a sliding control algorithm called Chattering mitigation Robust Variable control (CRVC) was applied to leg hybrid rehabilitation. The combination of exoskeleton and FES is a promising way to reduce the cost and the complexity of designing hip-knee-ankle exoskeleton. The proposed hybrid method is verified by treadmill-based gait training experiments.

关键词： Muscles Exoskeletons Mathematical model Legged locomotion Iron Training

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Least Mean p-Power Extreme Learning Machine for Obstacle Avoidance of a Mobile Robot

Least Mean p-Power Extreme Learning Machine for Obstacle Avo...

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International Joint Conference on Neural Networks

作者： Jing Yang Pengpeng Chen Hai-Jun Rong Badong Chen Institute of Control Engineering School of Electronic and Information Engineering Xi'an Jiaotong University China 710049 State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Xi'an Jiaotong University China 710049 Institute of Artificial Intelligence and Robotics School of Electronic and Information Engineering Xi'an Jiaotong University China 710049

ISBN: (纸本)9781509006212

This paper proposes an obstacle avoidance method for navigation of a mobile robot in uncertain environments based on a novel neural learning algorithm, namely least mean p-norm extreme learning machine (LMP-ELM) and Q-learning. The proposed obstacle avoidance method comprises of two behavior modules, Viz., an avoidance behavior and goal-seeking behavior. At the learning phase, the two modules are independently designed using the proposed LMP-ELM and Q-Learning. And then they are combined to navigate the mobile to the goal position without colliding with obstacles based on a switching function at the running phase. The LMP-ELM is used to realize the state-action mapping of the Q-learning. In the novel LMP-ELM, the computationally simple extreme learning machine architecture is maintained but a novel error criterion, namely the least mean p-power (LMP) error criterion provides a mechanism to update the output weights sequentially. The LMP error criterion aims to minimize the mean p-power of the error that is the generalization of the mean square error criterion used in the ELM. The effectiveness of the proposed method is verified by a series of simulations.

关键词： Mobile robots Robot kinematics Collision avoidance Robot sensing systems Force

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Dynamics modeling and postural stability control of a unicycle robot

Dynamics modeling and postural stability control of a unicyc...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Long Zhao Xiaobin Zhang Qiang Xu Junhong Ji State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

关键词： Mathematical model Algorithm design and analysis Stability analysis Thermal stability Mobile robots Wheels

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Discrete-time dynamic graphical games:model-free reinforcement learning solution

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control Theory and Technology 2015年第1期13卷 55-69页

作者： Mohammed I.ABOUHEAF Frank L.LEWIS Magdi S.MAHMOUD Dariusz G.MIKULSKI Systems Engineering Department King Fahd University of Petroleum & Mineral UTA Research Institute University of Texas at ArlingtonFort Worth Texas U.S.A. State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Ground Vehicle Robotics (GVR) U.S. Army TARDEC Warren MI U.S.A.

This paper introduces a model-free reinforcement learning technique that is used to solve a class of dynamic games known as dynamic graphical games. The graphical game results from to make all the agents synchronize to the state of a command multi-agent dynamical systems, where pinning control is used generator or a leader agent. Novel coupled Bellman equations and Hamiltonian functions are developed for the dynamic graphical games. The Hamiltonian mechanics are used to derive the necessary conditions for optimality. The solution for the dynamic graphical game is given in terms of the solution to a set of coupled Hamilton-Jacobi-Bellman equations developed herein. Nash equilibrium solution for the graphical game is given in terms of the solution to the underlying coupled Hamilton-Jacobi-Bellman equations. An online model-free policy iteration algorithm is developed to learn the Nash solution for the dynamic graphical game. This algorithm does not require any knowledge of the agents＇ dynamics. A proof of convergence for this multi-agent learning algorithm is given under mild assumption about the inter-connectivity properties of the graph. A gradient descent technique with critic network structures is used to implement the policy iteration algorithm to solve the graphical game online in real-time.

关键词： Dynamic graphical games Nash equilibrium discrete mechanics optimal control model-free reinforcementlearning policy iteration

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Intelligent Setting control Method Based on CBR and iterative learning for Laminar Cooling Process

Intelligent Setting Control Method Based on CBR and iterativ...

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第26届中国过程控制会议（CPCC2015）

作者： Pian Jinxiang Zhu Yunlong Liu Jinxin Chai Tianyou Qi Aiwei School of Information and Control engineering Shenyang Jianzhu University Key Laboratory of Networked Control System Chinese Academy of Sciences State Key Laboratory of Integrated Automation for Process Industry Northeastern University

The hot rolled strip laminar cooling system is a complex industrial process, associated with features of strong nonlinear and changing operating conditions. So, the process is hard to control with traditional close loop control methods. But fortunately, there is the repeated characteristic in the laminar cooling process, which is very suited to apply the iterative learning between the strips. So, PI iterative learning method is proposed in this paper to learn the inner knowledge between the strips with similar working condition. On the other hand, in order to improve the control effect,CBR(case-based reasoning) technology is applied to adjust the parameters P and I according to the changing working conditions. The experiments are conducted with industrial operating data. The results show that, with the proposed method, it is effective to find the right operating point quickly and the strip coiling temperature can be controlled in the suitable range.

关键词： laminar cooling iterative learning CBR(case based reasoning) strip coiling temperature

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