Abstract This paper is concerned with the stabilization problem of wireless networkedcontrolsystems with network-induced delays of time-varying Markovian characterization. The effects of the sample rate changing on ...
Abstract This paper is concerned with the stabilization problem of wireless networkedcontrolsystems with network-induced delays of time-varying Markovian characterization. The effects of the sample rate changing on the network induced delay is the main topic. At first place, the time delay matrices changing stochastically and arbitrarily are considered. A state feedback controller is designed to guarantee the resulting close-loop system stochastically stable. Following that, a bridge is built to give out a uniform work. A numerical example is presented to illustrate the effectiveness and potential of the developed theoretical results.
Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To combine position...
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Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To combine position and active swing control, the trolley motion and load hoisting are carefully designed here, and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres, counteracting their reverse effects on the load swing. A robust control algorithm, based on the model of the crane system, is proposed to realize the trolley and hoisting motions, allowing for load variations and parameter uncertainties. This new solution to motion control of a gantry crane works very well, and is stable and adaptive to large load variations. As demonstrated in the simulation experiments, it lands the load rapidly and exactly at target and stops it dead, with nearly zero swing.
Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations f...
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For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity ...
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For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's walking motion, where the optimal objectives of kinematic similarity and dynamic stability can be simultaneously considered and easily balanced. With an inverted pendulum model based dynamics formulation of zero moment point (ZMP) in the framework of Lie group, the optimal objectives and constraints on both kinematics and dynamics are formulized into a second order cone programming problem. The simulation experiments show that the proposed method is promising for adapting HMCD online as well as simultaneously achieving and balancing the kinematic similarity and dynamic stability.
Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To ...
详细信息
Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To combine position and active swing control, the trolley motion and load hoisting are carefully designed here, and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres, counteracting their reverse effects on the load swing. A robust control algorithm, based on the model of the crane system, is proposed to realize the trolley and hoisting motions, allowing for load variations and parameter uncertainties. This new solution to motion control of a gantry crane works very well, and is stable and adaptive to large load variations. As demonstrated in the simulation experiments, it lands the load rapidly and exactly at target and stops it dead, with nearly zero swing.
作者：
Qinan LiWeidong ChenJingchuan WangDepartment of Automation
Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240Chinaand State Key Laboratory of Robotics and System (HIT)Harbin 150001China
Shared control is a common used method for human and wheelchair cooperation. However, most of the previous shared control methods didn’t think much of the effect caused by the difference in the user’s control abilit...
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Shared control is a common used method for human and wheelchair cooperation. However, most of the previous shared control methods didn’t think much of the effect caused by the difference in the user’s control ability. The control weight of a user in these methods is irrelevant to the user’s capability or the driving conditions. In this paper, a dynamic shared control method is proposed to adapt wheelchair’s assistance to the variations of user performance and the environmental changes. Three evaluation indices including safety, comfort and obedience are designed to evaluate wheelchair performance in real time. A minimax multi-objective optimization algorithm is adopted to calculate the user’s control weight. The results of lab experiments and elderly home field tests show that this method can adapt the degree of wheelchair’s autonomy to the user’s control ability and it makes driving wheelchair much easier for elder people.
This paper introduces networked tank gunnery skill training based on haptic interaction. "Hand in hand" training mode is implemented by constructing a networked haptic display system. A teacher and a tra...
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This paper introduces networked tank gunnery skill training based on haptic interaction. "Hand in hand" training mode is implemented by constructing a networked haptic display system. A teacher and a trainee can respectively manipulate his own haptic device to realize skill transferring. In this process, the trainee can experience the teacher's motor skill and can be corrected by the teacher. A local network is built to connect two haptic devices and computers. Two modes for tank gunnery skill training are designed in this system: haptic guidance and real-time correction. A prototype system is established to testify the effectiveness of such a new type "Hand in hand" training system.
One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties incl...
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The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced ...
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In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, te...
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ISBN:
(纸本)9781457721366
In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.
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