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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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POSITIONING OF UNKNOWN FLEXIBLE PAYLOADS FOR ROBOTIC ARMS USING A WRIST-MOUNTED FORCE/TORQUE SENSOR

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 1995年第2期3卷 189-201页

作者： JAIN, S KHORRAMI, F Control /Robotics Research Laboratory School of Electrical Engineering and Computer Science Polytechnic University Brooklyn NY USA

The Problem of control design for robotic arms manipulating unknown flexible payloads is considered in this paper, A novel scheme utilizing a force/torque sensor at the wrist of the manipulator is utilized, This choice of sensor is adequate to glean information about payload vibrations without outfitting the payload with sensors and offers the additional advantage of furnishing a minimum phase system, thus simplifying the control design, A controller utilizing wrist torque feedback from the sensor is designed as a function of the system parameters, An adaptive scheme for on-line identification of these parameters and adaptation of controller parameters is discussed, The proposed scheme is generic in regard to the nature of the flexible payload, as is shown through simulation studies, The scheme is implemented on a single-link manipulator carrying an unknown flexible payload, Simulation and experimental results validate the fact that the adaptive control maintains a robust performance for high speed slewing and varying payloads.

关键词： Payloads Arm Sensor systems Robot sensing systems control design Wrist Adaptive control Force sensors Torque Manipulators

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ANNIHILATOR STRUCTURE OF A PRINCIPAL IDEAL - RELATION TO OPTIMAL COMPENSATORS

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AUTOMATICA 1988年第6期24卷 829-833页

作者： MEYER, DG Robotics and Control Laboratory Department of Electrical Engineering University of Virginia Charlottesville VA 22901 United States

Given a linear, time-invariant, discrete-time plant, we consider the optimal control problem of minimizing, by choice of a stabilizing compensator, the seminorm of a selected closed-loop map in a basic feedback system. The seminorm can be selected to reflect any chosen performance feature and must satisfy only a mild condition concerning finite impulse responses. We show that if the plant has no poles or zeros on the unit circle, then the calculation of the minimum achievable seminorm is equivalent to the maximization of a linear objective over a convex set in a low-dimensional Euclidean space. Hence, for a wide variety of optimal control problems, one can compute the answer to an infinite-dimensional optimization by a finite-dimensional procedure. This allows the use of effective numerical methods for computation.

关键词： (duality) convex programming discrete time systems functional analysis Optimal control optimization

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic (SDOF) system Energy harvesting Finite element analysis(FEA)

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Calibrating a multi-manipulator robotic system (vol 4, pg 20, 1997)

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IEEE robotics & AUTOMATION MAGAZINE 1997年第2期4卷 44-44页

作者： Bonitz, RG Hsia, TC Jet Propulation Laboratory Pasadena CA USA Systems.Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process.

关键词： Calibration Robot kinematics Manipulators robotics and automation Force control End effectors Acoustic measurements Testing Coordinate measuring machines Position measurement

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Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

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Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis (DCCA) cross-correlation coefficient Pearson coefficient cross-correlation function

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Event-Triggered Consensus for Multiple Nonholonomic Systems

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Journal of Systems Science & Complexity 2018年第5期31卷 1227-1243页

作者： LI Miao LIU Zhongxin CHEN Zengqiang College of Computer and Control Engineering Nankai University Tianjin 300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300350 China.

The paper investigates the consensus problem of multiple nonholonomic systems. Two event-triggered control strategies, one centralized and the other distributed, are developed, which can reduce the frequency of control updating. Under the proposed protocols, the multiple nonholonomic systems can achieve consensus, and the bound of inter-event time intervals is provided to illustrate that no Zeno behavior exists. Finally, numerical simulations are also provided to demonstrate the effectiveness of the proposed control strategies.

关键词： Consensus event-triggered control multiple nonholonomic systems.

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The multi-dimensional adaptive control system with reference model for the AUV

The multi-dimensional adaptive control system with reference...

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International Conference on Mechatronics and Automation

作者： Lebedev, Alexander Robotics Laboratory Institute of Automation and Control Processes Vladivostok Russia

ISBN: (纸本)9781424451418

The new method of the synthesis of multi-dimensional adaptive control system with reference model self-adjustment for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized control laws allow to provide the high control quality at any variations of the object parameters within the given ranges. The amplitude of self-adjustment signal and energy losses in self-adjustment loop are reduced essentially in the proposed control system. The efficiency of control laws is confirmed by numerical simulation results. © 2010 IEEE.

关键词： Energy dissipation

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An Improved Registration Algorithm based on Geometric Feature for the Calibration of Workpiece Coordinate 35

An Improved Registration Algorithm based on Geometric Featur...

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第35届中国控制会议

作者： LV Liang SUN Lei Institute of Robotics and Automatic Information System College of Computer and Control engineeringNankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781509009107

Since target points could be generated quickly and accurately by off-line programming in the industrial robot machining,it is used widely in industrial *** to installation error and mismachining tolerance which causes the offset of processing paths in the actual machining process,the registration algorithms for path calibration would be *** the traditional approach would converge to local optimal solution,an improved registration algorithm based on geometric properties of point clouds is proposed in the ***,feature point sets are acquired by the curvature of point clouds and matched by traditional PCA algorithm,an initial value for precise registration is ***,the improved ICP algorithm by curvature is utilized to modify the former result and reduce the execution time of precise registration,the path calibration can be *** experimental result of the approach is validated in this paper which is significative for calibration of processing paths.

关键词： Registration Curvature Feature Point Sets Path Calibration

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