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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Yang Yi Zhou Geng Zhang Jianqing Cheng Siyuan Fu Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm.

关键词： Wheels Legged locomotion Propulsion DC motors Force

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Cloud control systems

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自动化学报 2015年第2期2卷 134-142页

作者： Xia Yuanqing the School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future.

关键词： Cloud control systems (NCSs) networked control systems cloud computing cyber-physical systems (CPSs) big data

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Modeling and Optimization of Cooperative Interception and Guidance Allocation in Multi-Platform Air Defense

Modeling and Optimization of Cooperative Interception and Gu...

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第三十四届中国控制会议

作者： Jian Jia Zhihong Peng School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467374439

In the multi-platform air defense combat, platforms cooperate to achieve best effect. In the traditional air defense cooperation, assigning interception units has been paid more attention. Based on the existing task allocation model, we added the cooperative guidance and time window constraints to accord with the modern battle mode. An allocation method based on decentralized auctions is also proposed. Each platform employs the heuristic method to choose proper target and confirm the execution time, then resolve the conflict by consensus rules. This method is robust for communication network, besides it can avoid the single point of failure. Simulation results show this algorithm is significantly effective and satisfies the demand of real time.

关键词： Weapon Target Assignment,Cooperative,Modeling,Time Window,Decentralized Auction

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Adaptive fuzzy PD+ based spacecraft attitude maneuvering 11

Adaptive fuzzy PD+ based spacecraft attitude maneuvering

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2014 11th World Congress on intelligent control and Automation, WCICA 2014

作者： Zhong, Li Chen, Zhen Liu, Xiangdong Yang, Dapeng Key Laboratory for Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing China

This paper proposes adaptive fuzzy PD+ based controller for the attitude maneuver of rigid spacecraft. Based on the error of the system, the adaptive fuzzy PD+ based controller applies adaptive fuzzy algorithm to modify the gains of PD+ attitude controller online. The advantage of the adaptive fuzzy PD+ based controller is presented in simulation results. © 2014 IEEE.

关键词： Adaptive fuzzy PD+ based controller Attitude maneuver Rigid spacecraft

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Hybrid control and steering logic for the CMG-based spacecraft attitude control system

Hybrid control and steering logic for the CMG-based spacecra...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Xing Xin Zhen Li Xiangdong Liu Zhen Chen Chinese National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479977970

Considering the momentum singularity characteristics, an integrated control strategy for the control moment gyros based attitude control systems is proposed, in which the angular momentum conservation between the spacecraft and the CMG is utilized to improved the system performance both in the closed loop responsiveness and the singularity controllability. The moment exchange capability of the CMGs can be fully developed by the control logic under normal operation, while the exchange space is specifically restrained to guarantee the effectiveness of the singularity avoidance steering when gimbal lock occurs. An online uncertainty identification method based on the momentum exchange property is applied in the hybrid control logic to improve the robustness of the system for the first place, and the remaining uncertainty is further handled by an adaptive control law. Numerical simulations for the practical agile spacecraft maneuvering are conducted to verify the effectiveness of the proposed algorithms.

关键词： Space vehicles Attitude control Uncertainty Torque Kinematics control systems Robustness

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Obstacle Avoidance for Kinematically Redundant Robot

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IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators system stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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On Convergence of Extended state Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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Mechanical design of aerial dispersal miniature reconnaissance robot launch module

Mechanical design of aerial dispersal miniature reconnaissan...

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International Conference on Information and Automation (ICIA)

作者： Haojian Lu Junyao Gao Jingchao Zhao Yi Liu Xin Li Zhe Xu Haoxiang Cao Fangzhou Zhao Xuanyang Shi Luyao Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Ministry of Education Beijing Institute of Technology Beijing China

Aerial dispersal miniature reconnaissance robots can be used in many areas such as natural disasters, man-power disasters, military reconnaissance and so on. Due to its characteristics of fast response, long detection distance and large coverage area, aerial dispersal miniature reconnaissance robots are suitable for these situations mentioned above. However, aerial dispersal miniature reconnaissance robots demand a portable system which is easy to operate. Moreover, another crucial problem from the aerial dispersal miniature reconnaissance robot is that it demands excellent anti-impact property so that it can be thrown from high altitude. To solve the problems above, this paper presents a framework of this aerial dispersal miniature reconnaissance robot launch module. In addition, the mechanical design of each part of this launch module is presented in this paper. Finally, both simulation and experiments showed that this aerial dispersal miniature reconnaissance robot launch module is reliable and practical.

关键词： Reconnaissance Mobile robots Robot sensing systems Wheels Stress Finite element analysis

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Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

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Journal of Beijing Institute of Technology 2014年第3期23卷 358-367页

作者：郝仁剑王军政赵江波汪首坤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

关键词： adaptive robust electrical cylinder friction compensation LuGre model

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