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Guest Editorial for Special Issue on Cyber-Physical systems

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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A torque control strategy of brushless direct current motor with current observer

A torque control strategy of brushless direct current motor ...

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (纸本)9781479970995

This paper presents a torque control strategy of brushless DC (BLDC) motor based on current observer and state feedback control algorithm. Based on establishment and in depth analysis of the BLDC mathematical model, BLDC motor torque control is transformed into BLDC motor current control. Then a full dimensional current state observer is designed to estimate armature current of BLDC motor. After observing armature current with current state observer, it is fed back to the feedback state controller and the current reference input port to generate current control signal and current error signal, respectively. The control signal and error signal can be used to control the torque of BLDC motor. After completing the torque control algorithm of BLDC motor, a simulation model is developed using Matlab/Simulink. The capability and performance of the torque control algorithm of BLDC motor is verified.

关键词： Torque Torque control Brushless DC motors Mathematical model Observers

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Cloud control systems

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自动化学报 2015年第2期2卷 134-142页

作者： Xia Yuanqing the School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future.

关键词： Cloud control systems (NCSs) networked control systems cloud computing cyber-physical systems (CPSs) big data

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FPAA-based control of Bilateral Teleoperation systems

FPAA-based Control of Bilateral Teleoperation Systems

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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