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Tangent Barrier Lyapunov Functions for the Control of Output-Constrained Nonlinear Systems

IFAC Proceedings Volumes 2013年第20期46卷 449-455页

作者： Zhong-Liang Tang Keng Peng Tee Wei He Institute of Intelligent Systems and Information Technology (ISIT) and School of Computer and Science Engineering University of Electronic Science and Technology of China Chengdu 611731 China Institute for Infocomm Research A *STAR Singapore 138632 Singapore Robotics Institute (RI) and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, we present a systematic control design for strict-feedback nonlinear systems with output constraints using tangent Barrier Lyapunov Functions (BLFs-Tan). Both symmetric and asymmetric BLF-Tan based backstepping control design methods are developed. It is proved that with the proposed approach and Lyapunov synthesis, the output constraints are not violated, all signals in the closed-loop systems are bounded, and asymptotical tracking is achieved. Through the simulation, we also perform a comparison study between BLF-Tan and the logarithmic BLF (BLF-Log) to illustrate the difference in control performance, and show that the performance of asymmetric BLF-Tan based controller depends on the position of initial tracking error with respect to the transformed constraint boundary.

关键词： Output Constraints Tangent Barrier Lyapunov Functions Backstepping Design

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese Control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning System Electronic mail Algorithm design and analysis MATLAB

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Simulation and Analysis of Butterfly-Inspired Eclosion Deployable Structure

Simulation and Analysis of Butterfly-Inspired Eclosion Deplo...

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第四届国际仿生工程学术会议

作者： Shufeng Sun Jinguo Liu Hang Chen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences School of Mechanical Engineering Shenyang Ligong University The Research Institute of Resources Insects Chinese Academy of Forestry

Deployable structures, as an important kind of structure, have been widely used in a variety of satellite antennas and space *** research of deployable structures usually faces a series of theoretical and technical challenges because the size and mass are not only the limitations of deployable structure but also the key issues in the design ***, the appearance of bionic provides a new concept to develop the deployable *** by the eclosion and development

关键词： bionics, butterfly, simulation, deployment.

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Dynamical Balance Optimization and Control of Quadruped Robots Under Perturbing External Force

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IFAC Proceedings Volumes 2013年第20期46卷 199-205页

作者： Zhijun Li Sijia Yu Sibang Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education College of Automation Science and Engineering South China University of Technology Guangzhou China The Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu China 610054 The Robotics Institute and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China 610054

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations.

关键词： quadruped robot forces distribution external wrench motion/force control

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Compatibility of US motors for development of MRI-guided surgical robot

Compatibility of US motors for development of MRI-guided sur...

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International Conference on BioMedical engineering and Informatics (BMEI)

作者： Wendong Wang Yikai Shi Xiaoqing Yuan Andrew Goldenberg Peyman Shokrollahi School of Mechanical Engineering Northwestern Polytechnical University Xi'an Shaanxi P.R. China Robotics and Automation Laboratory University of Toronto Toronto ON Canada Institute of Biomaterials and Biomedical engineering University of Toronto Toronto ON Canada

US (Ultrasonic) motors have potential applications as MR-compatible actuators for MRI-guided surgical robots. MR compatibility test of US motors (Shinsei USR 30 and USR 60) were performed in 3T MRI scanner under baseline, power-off, power-on, and moving configurations with mounting orientations parallel and perpendicular to the longitudinal bore axis. Normalized SNR was used to calculate the MR compatibility of US motors. The results show that the safe distances for USR 30 and USR 60 from the isocenter are 15cm and 20cm, respectively. Moving configuration decreased the normalized SNR by 15%-25%. In the same mounting orientation, three imaging sequences performed differently in terms of quality of MR images. To conclude, the Shinsei USR 30 and USR 60 are suitable for providing actuation of MRI-guided surgical robot during real-time imaging, and the MR compatibility could be improved by selecting suitable safe distance and mounting orientation.

关键词： Signal to noise ratio Magnetic resonance imaging Medical robotics Acoustics

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Applying Ultrasonic Vibration to Decrease Drilling-Induced Delamination in GFRP Laminates

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Procedia CIRP 2013年 6卷 577-582页

作者： P. Mehbudi V. Baghlani J. Akbari A.R. Bushroa N.A. Mardi Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology AzadiAve. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture Faculty of Engineering University of Malaya 50603 Kuala Lumpur Malaysia

Delamination is a major problem in drilling of fiber-reinforced composite materials. Thrust force is an important factor leading to propagation of delamination during drilling process. One of effective methods to reduce machining forces is application of ultrasonic vibrations. In this study ultrasonic assisted drilling is applied to reduce thrust force in drilling of GFRP laminates. In order to conduct experiments a setup is designed and fabricated to apply both vibrations and rotation to drill bits. Using Taguchi method, a set of experiments is conducted with feed rate, spindle speed, and ultrasonic vibration amplitude as control factors. The results show that applying ultrasonic vibration reduces the thrust force and therefore the drilling induced delamination dramatically.

关键词： Ultrasonic assisted drilling GFRP laminates Drilling induced delamination Taguchi method

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Building of road boundary map based on laser radar

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Journal of Beijing Institute of Technology 2012年第1期21卷 64-71页

作者：白聪敏王春香杨明王冰 Research Institute of Robotics School of Mechanical EngineeringShanghai Jiaotong University Department of Automation School of ElectronicInformation and Electrical EngineeringShanghai Jiaotong University

A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without curbs, having relatively rough road surface and with obstacles on road surface. In the method, some line segments are extracted after a series of preprocessing on range data. The extracted line segments are combined and further selected. They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter. Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm. These fitted line segments represent road boundary vectors. The vector map is precise enough to provide ample road information such as the orientation of road, the road width and the passable road region. Finally, extensive experiments conducted in urban and semi-urban environment demonstrate the robustness, effectiveness and viability of the proposed method.

关键词： laser radar （ladar） road-boundary vector-map intelligent vehicle

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Enhancing pose accuracy of space robot by improved differential evolution

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Journal of Central South University 2012年第4期19卷 933-943页

作者：刘宇倪风雷刘宏徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.

关键词： space robot self-calibration laser ranger pose accuracy improved differential evolution

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A HIERARCHICAL REINFORCEMENT LEARNING-BASED APPROACH TO MULTI-ROBOT COOPERATION FOR TARGET SEARCHING IN UNKNOWN ENVIRONMENTS

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CONTROL AND INTELLIGENT SYSTEMS 2013年第4期41卷 1-1页

作者： Cai, Yifan Yang, Simon X. Xu, Xin Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada College of Mechatronics and Automation National University of Defense Technology Changsha Hunan Province 410073 China

Effective cooperation of multi-robots in unknown environments is essential in many robotic applications, such as environment exploration and target searching. In this paper, a MAXQ and Option combined hierarchical reinforcement learning approach, together with a multi-agent cooperation strategy, are proposed for the real-time cooperation of multi-robots in completely unknown environments. Unlike other algorithms that need an explicit environment model or selected parameters by trial and error, the proposed cooperation method obtains all the required parameters automatically through learning. By integrating segmental options with the MAXQ algorithm, a multi-agent cooperation strategy is designed. In new tasks, the designed cooperation method can control the multi-robot system to complete the task effectively. The simulation results demonstrate that the proposed scheme is able to effectively and efficiently guide a team of robots to cooperatively accomplish target searching tasks in completely unknown environments.

关键词： Hierarchical reinforcement learning multi-robot cooperation com-pletely unknown environment target searching

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A 6 DOF robot design and simulated energy usage comparison

A 6 DOF robot design and simulated energy usage comparison

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robotics and Mechatronics Conference (RobMech)

作者： Ahmed Shaik Glen Bright Nkgatho Tlale Material Science and Manufacturing Council for Scientific and Industrial Research Pretoria South Africa School of Mechanical Engineering University of Kwa-Zulu Natal Durban South Africa Robotics and Automation Anglo American PLC Pretoria South Africa

ISBN: (纸本)9781479915170

The aim of this project was to create a 6 degree of freedom (DOF) robotic manipulator that had a workspace to footprint ratio comparable to that of a serial robot but with a lower inertia, higher speed and improved energy efficiency. This paper briefly describes some parts of the design and then discusses the method used to obtain results for a simulated energy comparison against a serial robot.

关键词： Robots Joints Wrist Gears Acceleration Torque Dynamics

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