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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

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Event-triggered state estimation for T-S fuzzy affine systems based on piecewise Lyapunov-Krasovskii functionals

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control Theory and Technology 2019年第1期17卷 99-111页

作者： Meng WANG Jianbin QIU Gang FENG Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong China State Key Laboratory of Robotics and Systems & Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

This paper investigates the problem of event-triggered H∞state estimation for Takagi-Sugeno (T-S) fuzzy affine systems. The objective is to design an event-triggered scheme and an observer such that the resulting estimation error system is asymptotically stable with a prescribed H∞performance and at the same time unnecessary output measurement transmission can be reduced. First, an event-triggered scheme is proposed to determine whether the sampled measurements should be transmitted or not. The output measurements, which trigger the condition, are supposed to suffer a network-induced time-varying and bounded delay before arriving at the observer. Then, by adopting the input delay method, the estimation error system can be reformulated as a piecewise delay system. Based on the piecewise Lyapunov-Krasovskii functional and the Finsler's lemma, the event-triggered H∞observer design method is developed. Moreover, an algorithm is proposed to co-design the observer gains and the event-triggering parameters to guarantee that the estimation error system is asymptotically stable with a given disturbance attenuation level and the signal transmission rate is reduced as much as possible. Simulation studies are given to show the effectiveness of the proposed method.

关键词： Takagi-Sugeno (T-S) fuzzy affine systems event-triggered scheme, piecewise Lyapunov-Krasovskii functional, state estimation

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A Piecewise-Markovian Lyapunov Approach to Reliable Output Feedback control for Fuzzy-Affine systems With Time-Delays and Actuator Faults

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2723-2735页

作者： Wei, Yanling Qiu, Jianbin Shi, Peng Wu, Ligang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

This paper addresses the problem of delay-dependent robust and reliable H-infinity static output feedback (SOF) control for a class of uncertain discrete-time Takagi-Sugeno fuzzy-affine (FA) systems with time-varying delay and actuator faults in a singular system framework. The Markov chain is employed to describe the actuator faults behaviors. In particular, by utilizing a system augmentation approach, the conventional closed-loop system is converted into a singular FA system. By constructing a piecewise-Markovian Lyapunov-Krasovskii functional, a new H-infinity performance analysis criterion is then presented, where a novel summation inequality and S-procedure are succeedingly employed. Subsequently, thanks to the special structure of the singular system formulation, the piecewise-affine SOF controller design is proposed via a convex program. Lastly, illustrative examples are given to show the efficacy and less conservatism of the presented approach.

关键词： Piecewise Markovian Lyapunov functional reliable output feedback control time-varying delay T-S fuzzy-affine (FA) systems

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Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

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CAAI Transactions on Intelligence Technology 2018年第1期3卷 18-27页

作者： Chen Qian Yongchun Fang Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

关键词：飞行器跟踪器人工智能发展现状

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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions 19

Magnetic Flux Servoing for Precise Localization Based on Gra...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Martinovic, Dean Orsag, Matko University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb10000 Croatia

ISBN: (纸本)9798350320695

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality. © 2023 IEEE.

关键词： Antennas

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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Kinematics analysis of lower limb rehabilitation robot based on D-H method 41

Kinematics analysis of lower limb rehabilitation robot based...

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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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Quantitative analysis of the main components in ceramic raw materials based on the desktop LIBS analyzer

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Plasma Science and Technology 2022年第8期24卷 46-54页

作者： Peng ZHANG Lanxiang SUN Haibin YU Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016People's Republic of China

The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological *** of the eight oxides and *** also the main indicators of concern in the production of building *** analysis of the eight oxides and *** performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data *** the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,*** multivariate method was further introduced and discussed to improve the analysis *** MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,*** results show that the overall prediction error can meet the requirements for the production of building *** LIBS desktop analyzer has great potential in detection applications on geological samples.

关键词： laser-induced breakdown spectroscopy fiber laser quantitative analysis matrix effects geological samples

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Short-term load forecasting of long-short term memory neural network based on genetic algorithm 4

Short-term load forecasting of long-short term memory neural...

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4th IEEE Conference on Energy Internet and Energy System Integration, EI2 2020

作者： Li, Wanting Zang, Chuanzhi Liu, Ding Zeng, Peng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Beijing China

ISBN: (纸本)9781728196060

Accurate load forecasting is conducive to the reasonable arrangement of power grid dispatching plans. Traditional load forecasting methods cannot handle the time series and nonlinear characteristics of load well. Long-short term memory (LSTM) neural networks can record long-term and short-term information, which can effectively solve this kind of problem. But the parameters of LSTM network are difficult to determine. For this reason, this paper proposes a long-short term neural network based on genetic algorithm. The learning rate and iteration number of the LSTM network are used as chromosomes, and the genes are continuously selected, crossed, and mutated to obtain more good genes. Comparing this method with the standard LSTM network, the simulation results show that the LSTM network using genetic algorithm for parameter optimization improves the prediction accuracy of the standard LSTM network by 63%. © 2020 IEEE.

关键词： Genetic algorithms

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Autonomous docking and energy sharing between two types of robotic agents

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IFAC-PapersOnLine 2018年第29期51卷 406-411页

作者： Babi, Anja Mandi, Filip Vasiljevi, Goran Mikovi, Nikola Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Unska 3 Zagreb Croatia

In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given. © 2018

关键词： Autonomous agents

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