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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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A Fully Distributed Hybrid control Framework For Non-Differentiable Multi-Agent Optimization

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1792-1800页

作者： Xia Jiang Xianlin Zeng Jian Sun Jie Chen Yue Wei the Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the School of Electronic and Information Engineering Tongji UniversityShanghai 200082 the Peng Cheng Laboratory Shenzhen 518055China

This paper develops a fully distributed hybrid control framework for distributed constrained optimization *** individual cost functions are non-differentiable and *** on hybrid dynamical systems,we present a distributed state-dependent hybrid design to improve the transient performance of distributed primal-dual first-order optimization *** proposed framework consists of a distributed constrained continuous-time mapping in the form of a differential inclusion and a distributed discrete-time mapping triggered by the satisfaction of local jump *** the semistability theory of hybrid dynamical systems,the paper proves that the hybrid control algorithm converges to one optimal solution instead of oscillating among different *** simulations illustrate better transient performance of the proposed hybrid algorithm compared with the results of the existing continuous-time algorithms.

关键词： Distributed algorithm hybrid framework multiagent network non-differentiable optimization

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Spectral Properties of Graph Matrices via Convergence Analysis of Linear Dynamical systems

Spectral Properties of Graph Matrices via Convergence Analys...

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第43届中国控制会议

作者： Zhiyu Wang Tao Liu Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper studies the spectral properties of two important graph matrices in the literature, known as the leader-follower matrices. These two matrices arise from various cooperative control problems of multi-agent systems in a leader-follower architecture, and in most cases, they are the keys to the solvability of these cooperative control problems. In contrast with the existing results, which appeal to the algebraic graph theory and matrix analysis tools, we reveal the spectral properties from the viewpoint of dynamical systems. In particular, the spectral properties of the two graph matrices are derived by analyzing the convergence of a continuous-time and a discrete-time linear system, respectively.

关键词： Leader-follower matrices Spectral properties Multi-agent systems Lyapunov analysis

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Modeling of the Constant-Current Stimuli Response of a Bio-Robot for Long-Term Motion control

Modeling of the Constant-Current Stimuli Response of a Bio-R...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhou, Jie Fang, Yuan Chen, Yang Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

ISBN: (纸本)9781665481090

Bio-robots continue to receive attention because of their small size and low power consumption. Unfortunately, it currently faces two major obstacles before practical application. The first is the habituation issue, insects are difficult to be effectively controlled for a long time by electrical stimuli signals. The other one is the lack of model for motion control. In this research, we established a stimuli-response model for cockroach bio-robot based on long time current. A more convenient optic lobe implantation method has been proposed, which has lower attenuation and better stimuli effect. Constant electrical stimuli also significantly increased the number of effective controls for crawling. A cockroach bio-robot stimuli distance response model was established and validated with experiment data. Five parameters were including in this model, namely sex, length, weight, current amplitude and equivalent stiumated-number. This model can predict the movement distance of biological robots well. © 2024 IEEE.

关键词： Microrobots

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Boundary control for a Class of PDE-ODE Cascade systems with Input Delay

Boundary Control for a Class of PDE-ODE Cascade Systems with...

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第43届中国控制会议

作者： Tao Wu Xiang Xu Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

controlling a PDE-ODE cascade system with input delay is often challenging even for the case where both PDE and ODE are not complex. This challenge mainly arises due to the existence of input delay, which often leads to poor performance and instability. In this work, we design a state feedback controller for such a system, that is, a PDE-ODE system with input *** controller demonstrates the ability to exponentially stabilize the PDE-ODE cascade system, provided that a carefully chosen parameter is sufficiently small. The proof of stability is established through the construction of a Lyapunov function. Finally, we provide a simulation example that illustrates the effectiveness of our proposed approach.

关键词： PDE-ODE cascade system Time delays Boundary control

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Information-Aware Joint Calibration of Microphone Array and Sound Source Localization

Information-Aware Joint Calibration of Microphone Array and ...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Xiaoyang Li Haowen Deng Jiang Wang Linya Fu He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350366402

ISBN: (纸本)9798350366419

Accurate calibration of microphone arrays is essential for various applications. However, existing graph SLAM-based methods, which introduce additional poselandmark constraints to enhance calibration accuracy, face challenges related to data redundancy and increased computational costs. In this paper, we propose a novel approach that combines the graph SLAM framework with an information-theoretic data selection strategy for efficient joint microphone array calibration and sound source localization. Our method evaluates and selects the most informative data segments by leveraging mutual information, effectively filtering out redundant measurements. This approach results in a streamlined and efficient calibration dataset that facilitates high estimation accuracy while significantly reducing the computational burden. Extensive simulations and real-world experiments validate that our method outperforms existing full batch data processing methods, demonstrating its potential for realtime applications. All the codes and datasets are publicly available at https://***/AISLAB-sustech/IA-Microphone-Calibration.

关键词： Location awareness Accuracy Simultaneous localization and mapping Computational modeling Redundancy Microphone arrays Calibration Computational efficiency Arrays Mutual information

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Asynchronous Microphone Array Calibration using Hybrid TDOA Information

Asynchronous Microphone Array Calibration using Hybrid TDOA ...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Chengjie Zhang Jiang Wang He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Asynchronous microphone array calibration is a prerequisite for many audition robot applications. A popular solution to the above calibration problem is the batch form of Simultaneous Localisation and Mapping (SLAM), using the time difference of arrival measurements between two microphones (TDOA-M), and the robot (which serves as a moving sound source during calibration) odometry information. In this paper, we introduce a new form of measurement for microphone array calibration, i.e. the time difference of arrival between adjacent sound events (TDOA-S) with respect to the microphone channels. We propose to use TDOA-S and TDOA-M, called hybrid TDOA, together with odometry measurements for bath SLAM-based calibration of asynchronous microphone arrays. Extensive simulation and real-world experiments show that our method is more independent of microphone number, less sensitive to initial values (when using off-the-shelf algorithms such as Gauss-Newton iterations), and has better calibration accuracy and robustness under various TDOA noises. Simulation results also demonstrate that our method has a lower Cramér-Rao lower bound (CRLB) for microphone parameters. To benefit the community, we open-source our code and data at https://***/AISLAB-sustech/Hybrid-TDOA-Calib.

关键词： Simultaneous localization and mapping Accuracy Time difference of arrival Noise Microphone arrays Time measurement Robustness Calibration Odometry Arrays

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Neural Network-Based Fully Actuated System Approach for Free-Flying Space Manipulator

Neural Network-Based Fully Actuated System Approach for Free...

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Chinese Automation Congress (CAC)

作者： Qin Zhao Guang-Ren Duan Guangtai Tian Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China

This study explores the trajectory tracking control problem of a free-flying space manipulator subject to parametric uncertainties, external disturbance, and actuator saturation. An adaptive control strategy, employing the fully actuated system (FAS) approach, is designed, wherein the radial basis function neural network (RBFNN) is incorporated to offset lumped uncertainties. As a result, a constant linear closed-loop system is obtained with an arbitrarily assigned eigenstructure. Then the parametric method is utilized for controller parameter selection. In the context of Lyapunov theory, the presented controller ensures robust convergence of position and velocity tracking errors to a small neighborhood of the origin. A numerical simulation is finally performed to validate the efficacy of the presented controllers.

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I-ASM: Iterative Acoustic Scene Mapping for Enhanced Robot Auditory Perception in Complex Indoor Environments

I-ASM: Iterative Acoustic Scene Mapping for Enhanced Robot A...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Linya Fu Yuanzheng He Jiang Wang Xu Qiao He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper addresses the challenge of acoustic scene mapping (ASM) in complex indoor environments with multiple sound sources. Unlike existing methods that rely on prior data association or SLAM frameworks, we propose a novel particle filter-based iterative framework, termed I-ASM, for ASM using a mobile robot equipped with a microphone array and LiDAR. I-ASM harnesses an innovative "implicit association" to align sound sources with Direction of Arrival (DoA) observations without requiring explicit pairing, thereby streamlining the mapping process. Given inputs including an occupancy map, DoA estimates from various robot positions, and corresponding robot pose data, I-ASM performs multi-source mapping through an iterative cycle of "Filtering-Clustering-Implicit Associating". The proposed framework has been tested in real-world scenarios with up to 10 concurrent sound sources, demonstrating its robustness against missing and false DoA estimates while achieving high-quality ASM results. To benefit the community, we open-source all the codes and data at https://***/AISLAB-sustech/Acoustic-Scene-Mapping

关键词： Direction-of-arrival estimation Simultaneous localization and mapping Refining Acoustics Robustness Microphone arrays Indoor environment Iterative methods Mobile robots Resilience

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Aero-optic imaging deviation prediction based on ISSA-ELM

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Optoelectronics Letters 2023年第7期19卷 425-431页

作者： XU Liang ZHAO Shiwei WANG Tao Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems School of Electrical Engineering and AutomationTianjin University of TechnologyTianjin 300384China School of Intelligent Engineering Sun Yat-sen UniversityGuangzhou 510275China

When the aircraft is moving at high speed in the atmosphere,aero-optical imaging deviation will appear due to the influence of aero-optical *** order to achieve real-time compensation during the flight of the aircraft,it is necessary to analyze and predict the obtained imaging deviation *** order to improve the search speed and accuracy of the prediction algorithm and the ability to jump out of local optimum,in this paper,an improved sparrow search algorithm optimized extreme learning machine(ISSA-ELM) neural network model is proposed to predict the aero-optical imagine ***,the performance of ISSA-ELM,ELM neural network and SSA-ELM neural network was *** results showed that compared with ELM and SSA-ELM algorithms,the convergence speed of ISSA-ELM was significantly enhanced,and the accuracy of data prediction was also significantly improved.

关键词： effect. deviation extreme

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