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Input-to-State Stabilizing a General Nonlinear System with Time-Varying Input Delay and Disturbances

IFAC-PapersOnLine 2017年第1期50卷 7169-7174页

作者： Cai X. Meng L. Lin C. Zhang W. Liu L. Liu Y. College of Mathematics Physics and Information Engineering Zhejiang Normal University Jinhua 321004 China Xingzhi College Zhejiang Normal University Jinhua 321004 China Laboratory of Intelligent Control and Robotics Shanghai Uniersity of Engineering Science Shanghai 201620 China College of Electric and Information Engineering Henan University of Science and Technology Luoyang 471003 China School of Electrical Engineering Zhengzhou University Zhengzhou 450001 China

We investigate input-to-state stabilization for a general nonlinear system with input delay and disturbances. With an infinite-dimensional backstepping transformation, the original system is transferred to a target system. A delay-compensating and disturbances attenuating control law is designed for this kind of nonlinear systems. Stability of the target system is first proved by constructing a Lyapunov functional. Equivalence of norms for original and target system is deduced. Further, input-to-state stabilization for the original system under the delay-compensating control law is drawn. © 2017

关键词： disturbances attenuation input delays input-to-state stabilization inverse optimality Nonlinear system

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Dynamic modeling of a parafoil system considering flap deflection

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Journal of Southeast University(English Edition) 2017年第4期33卷 416-425页

作者： Tao Jin Sun Qinglin Chen Zengqiang He Yingping Tianjin Key Laboratory of Intelligent Robotics Technology Nankai University Tianjin 300350 China College of Computer and Control Engineering Nankai University Tianjin 300350 China Aerospace Life-Support Industries L td . Aviation Industry Corporation of China Xiangyang 441003 China

In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigid body,a six degrees-of-freedom(DOF)dynamic model of a parafoil system including three DOF for translational motion and three DOF for rotational motion,is established according to the K rchhoff motion *** the flexible winged paafoil system flying at low altitude is more susceptibleto winds,the motion characteristics of the parafoil system Wth and Wthout winds are simulated and ***,the ardropm test is used to further verify the *** comparison results show that the simulation trajectory roughly overlaps with the actual flight *** horzontnl velocity of the simulation model is in good accordance with the airdrop test,with a deviation less than0.5m/s,while its simulated vertical velocity fuctuates slightly under the infuence of the wind,and shows a similar trend to the ardrop *** is concludedthat the established model can well describe the characteristics of the parafoil system.

关键词： parafoil system dynamic modeling and simulation fig h t chaacterstic airdrop experiment fap defection

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Calculating Basis Siphons of Petri Nets Based on Semi-tensor Product of Matrices 35

Calculating Basis Siphons of Petri Nets Based on Semi-tensor...

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第35届中国控制会议

作者： HAN Xiaoguang CHEN Zengqiang LIU Zhongxin ZHANG Qing College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781509009107

In this paper, we address the problem of calculating basis siphons in Petri nets(PNs) by resorting to the semi-tensor product(STP) of matrices. The proposed appraoch is based on our previous results on the calculation of siphons and minimal siphons in PNs, whose key notion is that of the siphon equation(SE) of PNs. First, we discuss the properties of the SE of PNs in the framework of STP. Second, an efficient recursion algorithm is proposed, which can be applied to computing all basis siphons for any PNs. Some results on the computational complexity of the proposed algorithm, in this paper, are also provided, as well as comparison with the existing approach. Last, an example is presented to illustrate the theoretical results. The proposed approach proved highly effective in calculating all basis siphons of PNs and only requires matrix manipulations.

关键词： Basis siphons Discrete event systems(DESs) Petri nets(PNs) Semi-tensor product(STP) of matrices Siphon equation(SE)

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On Trajectory Tracking for an Under-actuated Helicopter 35

On Trajectory Tracking for an Under-actuated Helicopter

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第35届中国控制会议

作者： LI Junfang LI Yi Gao Qiang SUN Mingwei CHEN Zengqiang Tianjin Key Laboratory of Intelligent Robotics Nankai University Dept of Automation College of Computer and Control Engineering Nankai University Dept of Automation College of Automation Tianjin University of Technology

ISBN: (纸本)9781509009107

This paper tackles the problem of the attitude tracking control for the 3-DOF helicopter. A robust tracking control scheme is proposed based on active disturbance rejection control(ADRC). Aiming at the 3-DOF helicopter manufactured by Quanser Inc, a high order nonlinear ESO is designed to implement the real-time estimation and online compensation of the external disturbance. Simulation results show high performance and good robustness in the presence of the external disturbance.

关键词： helicopter active disturbance rejection controller high order ESO trajectory tracking control

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Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

Trust Consensus Protocol for Heterogeneous Underwater Roboti...

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作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems

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Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

Autonomous docking experiment in the sea for visual-servo ty...

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SICE Annual Conference

作者： Khin Nwe Lwin Kenta Yonemori Myo Myint Akira Yanou Mamoru Minami Department of Intelligent Robotics and Control Laboratory University of Okayama Okayama Japan

ISBN: (纸本)9781509009374

Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.

关键词： Cameras Three-dimensional displays Solid modeling Visual servoing Vehicles Real-time systems Genetic algorithms

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： State estimation

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A novel concept of attitude control for large multirotor-UAVs based on moving mass control

A novel concept of attitude control for large multirotor-UAV...

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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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Linear Active Disturbance Rejection control and its Application on Attitude control of a Quad-Rotor Robot

Linear Active Disturbance Rejection Control and its Applicat...

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第27届中国过程控制会议（CPCC2016）

作者： Yi Li Zengqiang Chen Mingwei Sun Qinglin Sun College of Computer & Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper,linear active disturbance rejection control(LADRC)technique is proposed,including thetracking differentiator(TD),linear extended state observer(LESO)and nonlinear state error feedback(NLSEF).Typicalalgorithms for each component are given as *** order to control the attitudes of a quad-rotor robot as we expected,three sorts of continuous LADRC

关键词： Linear Active Disturbance Rejection control and its Application on Attitude control of a Quad-Rotor Robot Active

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Model-free Adaptive control based upon Diagonal Recurrent Neural Network

Model-free Adaptive Control based upon Diagonal Recurrent Ne...

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第27届中国过程控制会议（CPCC2016）

作者： Zengqiang Chen Junling Zhang Qinglin Sun College of Computer & Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

Model-free control(MFC)method based on Diagonal Recurrent Neural Network(DRNN)is presented for aclass of nonlinear SISO *** control method makes DRNN as the controller,using dynamic error backpropagation algorithm(DBP... 详细信息

关键词： Model-free Adaptive control based upon Diagonal Recurrent Neural Network

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