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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Shunli Li Guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The robust prescribed-time global control for the elliptical orbital rendezvous system is investigated under a class of time-varying disturbances. The elliptical orbital rendezvous system formulated by Newton’s equation turns out to be a fully actuated system (FAS), thereby the idea of FAS approaches is applied to facilitate the controller design. Based on the parametric Lyapunov equation, a time-varying high-gain feedback is constructed such that the target spacecraft is captured successfully by the arbitrarily positioned chaser spacecraft within any prescribed time, that is, the origin of the closed-loop system is globally finite-time attractive within any prescribed time. In the absence of disturbances, the closed-loop system is strengthened to be globally finite-time stable with any prescribed time. Notably, the attractive result of the perturbed system implies the globally almost disturbance decoupling to such a class of disturbances. Comparative simulations verify the effectiveness of our approach.

关键词： Space vehicles Orbits Mathematical models Closed loop systems Time-varying systems

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Robust control of Single-Link Flexible-Joint Manipulators with Perturbed Inertia Based on Fully Actuated System Approach

Robust Control of Single-Link Flexible-Joint Manipulators wi...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Shiyu Zhang Guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper proposes a fully actuated system (FAS) approach for the robust control problem of single-link flexible-joint manipulators (SLFJMs) with perturbed inertia. Unlike previous studies, the method proposed in this paper only requires the design of a simple robust state feedback controller to achieve high-precision control without the use of neural networks, observers, etc. Meanwhile, the control problem of FASs with perturbed input matrices is still rarely studied, and this paper proposes an effective control method for this case, which broadens the application scope of the FAS approach. Firstly, the SLFJM with perturbed inertia is transformed into a FAS with perturbed input matrix using an appropriate state transformation. Meanwhile, a converted control problem is formulated for the transformed FAS. Then, a robust controller is designed based on the full-actuation property, which ensures that the states are globally bounded and eventually converge into an arbitrarily small region centered at the origin. Finally, the effectiveness of the method is demonstrated by simulation.

关键词： Robust control State feedback Perturbation methods Neural networks Transforms Observers Vectors

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Adaptive control for Fully Actuated systems with Input Quantization

Adaptive Control for Fully Actuated Systems with Input Quant...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Lin Liu Guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Scienceand Technology Shenzhen P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

In this paper, we study the fully actuated systems (FASs) with unknown parameters where the control input takes quantized values. It is shown that, compared with early works, the adaptive control law is much easier to design and no longer limited to the single-input systems by utilizing the full-actuation property. The system state can converge to an arbitrarily small neighborhood of the origin with a hysteretic quantizer which can be very coarse. An illustrative example demonstrates the effectiveness of the given method.

关键词： Quantization (signal) Backstepping Design methodology control systems Adaptive control Hysteresis

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A General Iterative Extended Kalman Filter Framework for State Estimation on Matrix Lie Groups

A General Iterative Extended Kalman Filter Framework for Sta...

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IEEE Conference on Decision and control

作者： Ben Liu Hua Chen Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

In this paper, we focus on state estimation problem for nonlinear systems on joint matrix Lie group and Euclidean space We propose a general iterative Kalman filter, aiming to integrate the prediction step into the iteration scheme, which is not considered in the conventional iterative extended Kalman filter framework. Such an extra iteration scheme in the prediction step helps improving the accuracy of probability density function propagation through nonlinearities, which can further lead to more accurate estimations of the system states. In addition, the proposed framework unifies the Kalman filter based estimation schemes on studied manifold by adopting the perspective from Gaussian Bayesian inference. The improvement of the proposed framework is illustrated by the ES-GIKF algorithm that is instantiated from the proposed framework in a numerical simulation.

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Study on Decentralization of Spherical Amphibious Multi-robot control System Based on Smart Contract and Blockchain

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Journal of Bionic Engineering 2021年第6期18卷 1317-1330页

作者： Shuxiang Guo Sheng Cao Jian Guo Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa UniversityTakamatsuKagawaJapan

With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current *** more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot ***,research on the multi-robot control system of spherical amphibious robots is very ***,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control *** systems primarily use a centralized control *** the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the *** central node may not only fail to accomplish the task,but also lose control of other robots,with severe *** solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain ***,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control *** this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve *** experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.

关键词： Amphibious robot Blockchain Smart contract control system Decentralization

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Response Estimation and Reference Model-free controller Design Approach for 2-DOF control systems

Response Estimation and Reference Model-free Controller Desi...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Ruirui Yang Kazuhiro Yubai Satoshi Komada Daisuke Yashiro Weijie Ren Department of Electrical and Electronic Engineering Mie University Kurimamachiya Tsu Japan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern Uni. of Sci. and Tech Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

In this paper, we adopt a linear time-invariant (LTI) two-degree-of-freedom (2-DOF) control system as our subject of control. An input-output response estimation method and a controller design method based on response estimation are proposed. First, using the initial input-output data of a closed-loop system to estimate the response when updating controller parameters. Second, the controller parameters are updated by optimizing the objective function based on the estimated response data. Finally, numerical examples verify the effectiveness of the proposed method. Unlike traditional data-driven design methods based on reference models, the proposed controller design method does not require a reference model, which solves the problem of the difficulty of selecting a suitable reference model. Additionally, the response after the controller update can be estimated in advance before being applied to the real machine system. Avoiding the wear and tear or damage of the machine caused by the direct real machine test when the designed controller is not ideal, meanwhile saving the experimental cost.

关键词： Linear systems Design methodology Noise Estimation 2-DOF Process control Numerical models

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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Dual-Target Point Cloud Registration for Partially Visible Data Using Local and Global Features

SSRN

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SSRN 2024年

作者： Rao, Zhifeng Chen, Yuang Cao, Ming Lin, Zhiyun School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen518055 China University of Groningen Netherlands Peng Cheng Laboratory Shenzhen518055 China

Point cloud registration is a challenging task when only partially visible data is available. Recently, many learning-based methods have been proposed for this problem and have achieved satisfactory performance. However, they use only one source point cloud and fail to pay attention to the key factor of registration: alignment of attitudes. Based on this phenomenon, we propose a dualtarget point cloud registration model: An end-to-end model, which uses multiple source point clouds and for each source point cloud, a new created target point cloud is added to pay more attention to the alignment of attitudes. Our model is divided into two components: coarse and fine registrations. First, an initialization module is introduced for coarse registration, in which multiple source point clouds are used and for each source point cloud, a new target point cloud specifically for aligning the attitudes is added. Second, we design a two-step Attention-based Representative Overlapping-Point Selection module to select representative overlapping points for fine registration, which uses both global and local features of the point clouds. In the first step, overlapping scores are predicted using global features. In the second step, a feature-matching matrix is obtained based on local features. Representative overlapping points are selected based on the overlapping scores and the feature-matching matrix. Using these points, a weighted SVD algorithm is used to estimate the transformation of fine registration. Extensive experiments on ModelNet40, 7Scenes and ICL-NUIM show that our method achieves the state-of-the-art compared to other learning-based methods. © 2024, The Authors. All rights reserved.

关键词： Matrix algebra

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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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Differential Enhancement and Commonality Fusion for RGBT Tracking 20

Differential Enhancement and Commonality Fusion for RGBT Tra...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Jianrong Dong, Enzeng Tong, Jigang Yang, Sen Zhang, Zufeng Li, Wenyu Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Tianjin China Nankai University College of Artificial Intelligence 94 Weijin Road Tianjin China

ISBN: (纸本)9798350320831

Target tracking is a fundamental task and an important part in the field of computer vision. The image information contained in the visible (RGB) modality and thermal infrared (T) modality has differences. RGBT tracking utilizes this difference to fuse the information of the two modalities, fully combining the uniqueness and complementarity of the information of the two modalities. How to maximize the uniqueness of individual modalities in RGBT tracking and how to effectively combine the complementarity of the two modalities is the key issue in RGBT tracking. For the combination of the uniqueness and complementarity of the two modalities, a novel Differential Enhancement and Commonality Fusion Network (DECFNet) is designed in this paper, in which the main components include a feature enhancement module for the visible modality and a feature enhancement module for the thermal infrared modality, as well as a fusion module that effectively fuses the information of both. The results on three RGB T tracking benchmark datasets demonstrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Target tracking

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