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World Congress on Intelligent control and Automation (WCICA)

作者： Cheng Zhang Hailong Pei Key Laboratory of Autonomous System and Network Control (Ministry of Education) South China University of Technology Guangzhou Guangdong China SOA Key Laboratory of Technology for Safeguarding of Marine Rights and Interests and Application Guangzhou Guangdong China

In this paper, Universal Kriging (UK) technology combined with Model Predictive control (MPC) algorithm is exploited to estimate the unknown situation of oil dispersion for just one unmanned aerial vehicle (UAV) to predict and track the objective boundary automatically. The advantage of the Kriging method is that it is an optimal interpolator in the sense that the estimates are unbiased and the minimum variance is known, so that it can relatively accurately construct the environment map. In addition, the advantage of the MPC is its constraint handling capacity. These two uncorrelated technologies, however, can be combined to realize some special functions. The simulation based on an advection diffusion equation demonstrates the proposed method is feasible and effective.

关键词： Trajectory Mathematical model Optimal control Vectors Numerical models Predictive control Estimation

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Adaptive Output Feedback control Using Fault Compensation and Fault Estimation for Linear system with Actuator Failure

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International Journal of Automation and computing 2013年第5期10卷 463-471页

作者： Jun Wang Hai-Long Pei Nai-Zhou Wang Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology College of Automation Science and Engineering South China University of Technology

The problem of linear systems subject to actuator faults（outage,loss of efectiveness and stuck）,parameter uncertainties and external disturbances is *** active fault compensation control law is designed which utilizes compensation in such a way that uncertainties,disturbances and the occurrence of actuator faults are account *** main idea is designing a robust adaptive output feedback controller by automatically compensating the fault dynamics to render the close-loop *** to the information from the adaptive mechanism,the updating control law is derived such that all the parameters of the unknown input signal are ***,a disturbance decoupled fault reconstruction scheme is presented to evaluate the severity of the fault and to indicate how fault accommodation should be *** advantage of fault compensation is that the dynamics caused by faults can be accommodated *** proposed design method is illustrated on a rocket fairing structural-acoustic model.

关键词： Fault compensation fault-tolerant control robust adaptive control fault reconstruction actuator failure

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in autonomous Robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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Solving the Problem of Runge Phenomenon by Pseudoinverse Cubic Spline

Solving the Problem of Runge Phenomenon by Pseudoinverse Cub...

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IEEE International Conference on Computational Science and Engineering, CSE

作者： Dechao Chen Tianjian Qiao Hongzhou Tan Mingming Li Yunong Zhang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781479979820

The Runge phenomenon illustrates that equidistant polynomial interpolation of the Runge function will cause wild oscillation near the endpoints of the interpolation interval as the order of the interpolation polynomial increases. In this paper, the pseudo inverse cubic spline (PCS) is presented to accurately approximate the Runge function at equidistant interpolation nodes and solve the problem of Runge phenomenon. PCS is constructed by employing the right pseudo inverse to figure out the minimum norm solution of the cubic spline's second-order derivatives. Thus, unlike the traditional cubic splines that additionally rely on endpoint constraints, PCS only employs the information of interpolation nodes. By PCS, the Runge function is effectively approximated without causing oscillation. Numerical experiments substantiate the efficacy and accuracy of PCS.

关键词： Splines (mathematics) Interpolation Polynomials Chebyshev approximation Oscillators

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ZG control of Populations of Lotka-Volterra Equations Using Interaction Coefficients as Inputs

ZG Control of Populations of Lotka-Volterra Equations Using ...

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IEEE International Conference on Computational Science and Engineering, CSE

作者： Yunong Zhang Yinyan Zhang Dechao Chen Zhengli Xiao Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9781479979820

Lotka-Volterra equations describe the population relationship between two species, i.e., predator and prey. In many circumstances, it is necessary to introduce a control method into such a predator-prey system. Different from traditional methods, by applying Zhang-gradient (ZG) method and using interaction coefficients of Lotka-Volterra equations as inputs, the population control problem of the predator-prey system is solved in this paper. Besides, various coefficient controllers according to the ZG method for different control purposes based on the predator-prey system are designed. In addition, simulation results substantiate the effectiveness of the ZG coefficient controllers.

关键词： Trajectory Sociology Statistics Mathematical model Equations Simulation Predator prey systems

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From Newton Fractals to Gradient Fractals in Addition to Zhang Fractals

From Newton Fractals to Gradient Fractals in Addition to Zha...

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IEEE International Conference on Computational Science and Engineering, CSE

作者： Yunong Zhang Tianjian Qiao Bolin Liao Long Jin Junwei Chen School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9781479979820

The paper employs gradient dynamics (GD), in addition to Zhang dynamics (ZD), to generate new fractals which are quite different from the conventional Newton fractals (NF). The proposed gradient fractals (GF) have three types. Specifically, via appropriate iterative formulas derived in complex domain, the first-type and second-type fractals are generated, i.e., 1GF and 2GF. By expanding the conventional gradient formula from real domain to complex domain, the third-type fractals are thus obtained, i.e., 3GF. Besides, Zhang fractals (ZF) are yielded via solving static and time-variant equations using ZD. Numerical experiments substantiate the effectiveness of complex-valued GD and ZD for generating new fractals. Connections and differences among NF, GF and ZF are also revealed.

关键词： Fractals Noise measurement Nonlinear equations Educational institutions Logic gates Conferences

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Power-Activated WASD Neuronet Based Russian Population Estimation, Correction, and Prediction

Power-Activated WASD Neuronet Based Russian Population Estim...

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IEEE International Conference on Computational Science and Engineering, CSE

作者： Yunong Zhang Jianxi Liu Dongsheng Guo Sitong Ding Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9781479979820

In recent years, the serious situation of Russian population causes concerns of the government, which also attracts great attentions of researchers from all over the world. The research on Russian population can help the government to make positive policies for solving the crisis and boosting economic growth. In this paper, implicitly considering almost all factors that influence population development, we present a 3-layer feed forward power-activated neuronet (PAN) equipped with the weights-and-structure-determination (WASD) algorithm for the estimation, correction and prediction of Russian population. Many numerical tests are conducted via WASD-PAN using past 2013-year Russian population data. We estimate the Russian population from 1000AD to 1800AD, correct it around 1897AD, and further indicate several possibilities of Russian population in the future. With the most possibility, Russian population is predicted to decrease steadily in next decade, while it is still possible that Russian population will (finally) increase.

关键词： Sociology Statistics Market research Estimation Neurons Data models Educational institutions

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Acceleration-Level Minimum Kinetic Energy (MKE) Scheme Derived via Ma Equivalence for Motion Planning of Redundant Robot Manipulators

Acceleration-Level Minimum Kinetic Energy (MKE) Scheme Deriv...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Dongsheng Guo Keke Zhai Zhengli Xiao Hongzhou Tan Yunong Zhang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781479970063

By following Ma et al's inspiring work (or termed, Ma equivalence), this paper proposes and investigates an acceleration-level minimization scheme for motion planning of redundant robot manipulators. Such a scheme depicted in the pseudo inverse-type formulation can achieve the purpose of the minimum kinetic energy (MKE) redundancy resolution originally at the joint-velocity level, and is thus termed the acceleration-level MKE scheme. In other words, the equivalence (i.e., Mathematical equivalence, or generalized Ma equivalence) of MKE redundancy resolution at different levels is presented and discussed in this paper. Simulation results based on PUMA560 robot manipulator further substantiate the equivalence between the proposed acceleration-level MKE scheme and its original one (at the joint-velocity level).

关键词： Acceleration Manipulators Redundancy Joints Planning Trajectory

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Restoration of missing time-series data via multiple sine functions decomposition with Guangzhou-temperature application

Restoration of missing time-series data via multiple sine fu...

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International Conference on systems and Informatics (ICSAI)

作者： Yunong Zhang Weixiang Ding Wenchao Lao Ying Wang Hongzhou Tan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781479954599

The restoration of missing data is an important concern for data analysis. In this paper, an algorithmically innovative model termed multiple sine function decomposition (MSFD) model is proposed and developed for restoring the missing data about monthly average temperature (MAT) of Guangzhou, which is a representative major city of China. The proposed MSFD model is formed by successive approximation based on the existing data. After that, the MSFD model with parameters and structure determined is exploited to restore the missing data. Experimental results indicate that the proposed MSFD model can effectively estimate the intentionally removed data, and the values of the restored data are quite close to the values of the true data. In addition, with quantitative and qualitative analysis, the effectiveness of the proposed model is further illustrated.

关键词： Data models Temperature distribution Analytical models Function approximation Yttrium Approximation algorithms

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