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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： He, Wei Zhang, Shuang Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783902823458

In this paper, the control design and stability analysis are presented for a three-dimensional string system with the payload dynamics. A set of partial-ordinary differential equations (PDEs-ODEs) are developed by using the Hamilton's principle to describe the motion of the three-dimensional string system. The dynamic model considers the comprehensive effects of environmental loads, which are critical for the analysis of a string system. Based on the Lyapunov's direct method and the properties of the string system dynamics, three boundary control inputs are applied at the boundary to suppress the vibrations of the system under the external disturbances. Uniformly boundedness of the three-dimensional dynamics with the proposed control is achieved. Exponential stability is proved via the Lyapunov's direct method when there is no distributed disturbance. Simulation examples are provided by using the finite difference method, and some useful conclusions are drawn. Copyright © 2013 IFAC.

关键词： Partial differential equations

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Approximation-based control of an uncertain robot with output constraints

Approximation-based control of an uncertain robot with outpu...

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Zhang, Shuang Xiao, Shengtao Ge, Weiliang Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China

ISBN: (纸本)9783902823458

In this paper, we consider the problem of tracking a desired trajectory for an uncertain robot in the presence of constraints and uncertainties. The dynamics of the uncertain robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and disturbances, the adaptive neural networks are used to approximate the unknown model of the robot and handle the unknown disturbance. Uniform ultimate boundedness of the closed loop system is guaranteed by using a Barrier Lyapunov Function (BLF). Extensive simulations for a robot with constraints are carried out to illustrate the effectiveness of the proposed control. Copyright © 2013 IFAC.

关键词： Lyapunov functions

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Electronic Throttle Control System: Modeling, Identification and Model-Based Control Designs

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engineering（科研） 2013年第7期5卷 587-600页

作者： Robert N. K. Loh Witt Thanom Jan S. Pyko Anson Lee Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering Oakland University Rochester USA

Electronic throttle control (ETC) system has worked its way to becoming a standard subsystem in most of the current automobiles as it has contributed much to the improvement of fuel economy, emissions, drivability and safety. Precision control of the subsystem, which consists of a dc motor driving a throttle plate, a pre-loaded return spring and a set of gear train to regulate airflow into the engine, seems rather straightforward and yet complex. The difficulties lie in the unknown system parameters, hard nonlinearity of the pre-loaded spring that pulls the throttle plate to its default position, and friction, among others. In this paper, we extend our previous results obtained for the modeling, unknown system parameters identification and control of a commercially available Bosch’s DV-E5 ETC system. Details of modeling and parameters identification based on laboratory experiments, data analysis, and knowledge of the system are provided. The parameters identification results were verified and validated by a real-time PID control implemented with an xPC Target. A nonlinear control design was then proposed utilizing the input-output feedback linearization approach and technique. In view of a recent massive auto recalls due to the controversial uncontrollable engine accelerations, the results of this paper may inspire further research interest on the drive-by-wire technology.

关键词： ETC System System Identification Nonlinear Control Input-Output Feedback Linearization xPC Target-Based Control System

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Active motion compensation in robotic cardiac surgery

Active motion compensation in robotic cardiac surgery

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European Control Conference (ECC)

作者： G. P. Moustris A. I. Mantelos C. S. Tzafestas School of Electrical & Computer Engineering Intelligent Robotics & Automation Laboratory Athens GR

ISBN: (纸本)9781479901890

Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.

关键词： Robots Surgery Aerospace electronics Manifolds Cameras Heart Tracking

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Performance Comparison of Source Routing Tactics for WSN of Grid Topology

Performance Comparison of Source Routing Tactics for WSN of ...

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IEEE International Symposium on Dependable, Autonomic and Secure Computing (DASC)

作者： Wenxiang Li Yunhe Wu Chunsheng Zhu Yajie Ma Key Laboratory of Metallurgical Industry Process Systems in Hubei Province Wuhan University of Science and Technology Wuhan China Wuhan University of Science and Technology School of Information Science and Engineering Wuhan China Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China

The nodes near sink in wireless sensor networks are featured with heavy transmission loads, so these performance bottleneck nodes are prone to running out of energy early with shortened network lifetime. Routing tactic plays important role on transmission performance and energy consumption of network. In this paper, we enumerate typical source routing tactics in Grid topology, include 1) Random Equal Probability Forwarding, 2) Line Forwarding, 3) Source-Zigzag Forwarding, 4) Destination-Zigzag Forwarding, and 5) Balance Forwarding. We analysis the traffic load distribution among nodes for these routing tactics, and calculate the load of performance bottleneck nodes and transmission delay in one data collection cycle. Based on the energy consumption model, we further make comparison on the energy consumptions of transmission and standing-by for these tactics. Numerical results show that Balance Forwarding tactic leads to the least overall energy consumption on performance bottleneck nodes, and Line Forwarding and Random Equal-Probability Forwarding lead to high energy consumption.

关键词： Routing Energy consumption Topology Delays Telecommunication traffic Network topology Educational institutions

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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Enhancing Surgical Accuracy Using Virtual Fixtures and Motion Compensation in Robotic Beating Heart Surgery

Enhancing Surgical Accuracy Using Virtual Fixtures and Motio...

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Mediterranean Conference on Control & automation

作者： G. P. Moustris A. I. Mantelos C. S. Tzafestas School of Electrical & Computer Engineering National Technical University of Athens Intelligent Robotics & Automation Laboratory

ISBN: (纸本)9781479909964

This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using a trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.

关键词： Surgery Robots Fixtures Force Heart Aerospace electronics Manifolds

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Variations of biogeography-based optimization and Markov analysis

Variations of biogeography-based optimization and Markov ana...

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作者： Ma, Haiping Simon, Dan Fei, Minrui Xie, Zhikun Department of Electrical Engineering Shaoxing University Shaoxing Zhejiang China Department of Electrical and Computer Engineering Cleveland State University Cleveland OH United States Shanghai Key Laboratory of Power Station Automation Technology Shanghai University Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China

Biogeography-based optimization (BBO) is a new evolutionary algorithm that is inspired by biogeography. Previous work has shown that BBO is a competitive optimization algorithm, and it demonstrates good performance on various benchmark functions and real-world optimization problems. Motivated by biogeography theory and previous results, three variations of BBO migration are introduced in this paper. We refer to the original BBO algorithm as partial immigration-based BBO. The new BBO variations that we propose are called total immigration-based BBO, partial emigration-based BBO, and total emigration-based BBO. Their corresponding Markov chain models are also derived based on a previously-derived BBO Markov model. The optimization performance of these BBO variations is analyzed, and new theoretical results that are confirmed with simulation results are obtained. Theoretical results show that total emigration-based BBO and partial emigration-based BBO perform the best for three-bit unimodal problems, partial immigration-based BBO performs the best for three-bit deceptive problems, and all these BBO variations have similar results for three-bit multimodal problems. Performance comparison is further investigated on benchmark functions with a wide range of dimensions and complexities. Benchmark results show that emigration-based BBO performs the best for unimodal problems, and immigration-based BBO performs the best for multimodal problems. In addition, BBO is compared with a stud genetic algorithm (SGA), standard particle swarm optimization (SPSO 07), and adaptive differential evolution (ADE) on real-world optimization problems. The numerical results demonstrate that BBO outperforms SGA and SPSO 07, and performs similarly to ADE for the real-world problems. © 2012 Elsevier Inc. All rights reserved.

关键词： Markov processes

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Erratum to “Consensus seeking over directed networks with limited information communication” [Automatica 49 (2) (2013) 610–618]

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Automatica 2014年第9期50卷 2430-2431页

作者： Dequan Li Qipeng Liu Xiaofan Wang Zongli Lin School of Science Anhui University of Science and Technology Huainan 232001 Anhui Province PR China Department of Automation Shanghai Jiao Tong University Shanghai 200240 PR China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 PR China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

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