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American control Conference

作者： Yao Zhang Bin Xian Bo Zhao Xiang Liu Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.

关键词： Radio frequency Nonlinear dynamical systems Stability analysis Trajectory Tracking loops control design Equations

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Hovering control of a nano quadrotor unmanned aerial vehicle using optical flow

Hovering control of a nano quadrotor unmanned aerial vehicle...

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Chinese control Conference (CCC)

作者： Bin Xian Yang Liu Xu Zhang Meihui Cao Fu Wang The Institute of Robotics and Autonomous System The Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin Tianjin CN

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Image motion analysis Computer vision Optical imaging Optical sensors Adaptive optics Optical filters Optical feedback

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Nonlinear Asymptotic Attitude Tracking control for an Unmanned Helicopter with Input Constraints

Nonlinear Asymptotic Attitude Tracking Control for an Unmann...

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American control Conference

作者： Xiang Liu Bin Xian Yao Zhang Xu Zhang Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight is taken into account by using the robust bounded terms in the controller design. The asymptotic convergence of the tracking error is guaranteed with the Lyapunov-based stability analysis.

关键词： Helicopters Rotors Attitude control Vectors Servomotors Stability analysis Equations

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A universal pattern generator for biped walking on 3D slopes

A universal pattern generator for biped walking on 3D slopes

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IEEE International Conference on robotics and Biomimetics

作者： Wen Zhang Qiang Huang Zhangguo Yu Xuechao Chen Chenglong Fu Jing Li Gan Ma Libo Meng Ying Wu Weimin Zhang Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Department of Mechanical Engineering Tsinghua University Beijing China

ISBN: (纸本)9781479973989

Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

关键词： Legged locomotion Foot Robot kinematics Three-dimensional displays Trajectory Generators

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An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps

An Extended Probabilistic Self-Localization Algorithm Using ...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Tianyi Li Ming Yang Liuyuan Deng Yong He Chunxiang Wang Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of China Research Institute of Robotics Shanghai Jiao Tong University

Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.

关键词： GPS Map An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps Hybrid

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Slip prevention of a humanoid robot by coordinating acceleration vector

Slip prevention of a humanoid robot by coordinating accelera...

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International Conference on Information and Automation (ICIA)

作者： Zhangguo Yu Jing Li Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Yan Liu Wen Zhang Weimin Zhang Xiaopeng Chen Junyao Gao Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.

关键词： Acceleration Robot kinematics Vectors Humanoid robots Mathematical model Equations

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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

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High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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Bipedal walking with toe-off, heel-strike and compliance with external disturbances

Bipedal walking with toe-off, heel-strike and compliance wit...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xuechao Chen Yuhang Zhou Qiang Huang Zhangguo Yu Gan Ma Libo Meng Chenglong Fu Key Laboratory of Intelligent Control and Decision of Complex System China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechanical Engineering Tsinghua University Beijing

ISBN: (纸本)9781479971756

Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.

关键词： Legged locomotion Foot Torso Robot kinematics Acceleration Joints

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Sliding Mode control with Nonlinear Disturbance Observer for a Class of Underactuated system

Sliding Mode Control with Nonlinear Disturbance Observer for...

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第三十二届中国控制会议

作者： HUANG Jian DING Feng WANG Yongji State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Control Science and Engineering Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

In this study,a sliding mode controller based on nonlinear distnrbance observer is investigated to control a class of underactnated system which is in cascaded *** using strict feedback,the underactnated system is presented as a special cascade normal form convenient for controller design.A sliding mode controller is designed to stabilize underactnrated plant directly and drive the variables to the sliding *** order to improve performance and robustness,a nonlinear disturbance observer was designed to compensate for external disturbances and model *** theoretical results axe illustrated by simulations on the *** simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： underactuated system cascaded form sliding mode control nonlinear disturbance observer

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