检索结果-内蒙古大学图书馆

Attitude stability control for Multi-Agent Six Wheel-Legged Robot

IFAC-PapersOnLine 2020年第2期53卷 9636-9641页

作者： Zhihua Chen Shoukun Wang Junzheng Wang Kang Xu Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081.P.R.China Beijing Institute of Technology Beijing CO 100081.P.R.China

Multi wheeled-legged robot systems are MIMO complex systems with multi information fusion. In this paper, a multi-sensor information fusion based wheeled-legged cooperative control strategy is proposed to solve the problem of attitude stability control for the six wheeled-legged robot-BIT-NAZA-II. First, when the robot is wheel motion, the overall attitude of the robot is adjusted by controlling the vertical degree of freedom(DOF) for the Stewart platform. Second, when the wheel movement is on uneven road, the foot end is easy to be suspended or raised. The impedance control method based on the position inner loop is used to solve the problem of leg suspension or raised. Third, in order to ensure the maximum motion space of single leg, the central height controller is designed. Moreover, the control strategy is mainly completed by the central CPU and six bottom CPUs. Six bottom CPUs receive the force information of each leg, and calculate the position of each leg by combining the impedance controller. Meanwhile, the central CPU receives the attitude angle information, calculates the position of each leg by using the attitude controller, takes two different position commands as the input of the central height controller, outputs the calculated position of the central height controller to six bottom CPUs through UPD communication, and the bottom CPU is used to calculate the variation of Stewart platform DOF. Finally, the experimental results of the control strategy in the six wheeled-legged robot system are given, and the feasibility and effectiveness of the control strategy are verified.

关键词： wheeled-legged robot cooperative control attitude stability control CPU controller design

来源：评论

学校读者我要写书评

暂无评论

Gait Planning and Compliance control of a Biped Robot on Stairs with Desired ZMP

引用

IFAC Proceedings Volumes 2014年第3期47卷 2165-2170页

作者： Guangrong Chen Junzheng Wang Lipeng Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081 P.R.China Beijing Institute of Technology Beijing CO 100081 P.R.China

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples.

关键词： Biped robot Gait planning Desired ZMP Compliance control

来源：评论

学校读者我要写书评

暂无评论

Time-attenuating Twin Delayed DDPG Reinforcement Learning for Trajectory Tracking control of Quadrotors

arXiv

引用

arXiv 2023年

作者： Deng, Boyuan Sun, Jian Li, Zhuo Wang, Gang School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

Continuous trajectory tracking control of quadrotors is complicated when considering noise from the environment. Due to the difficulty in modeling the environmental dynamics, tracking methodologies based on conventional control theory, such as model predictive control, have limitations on tracking accuracy and response time. We propose a Time-attenuating Twin Delayed DDPG, a model-free algorithm that is robust to noise, to better handle the trajectory tracking task. A deep reinforcement learning framework is constructed, where a time decay strategy is designed to avoid trapping into local optima. The experimental results show that the tracking error is significantly small, and the operation time is one-tenth of that of a traditional algorithm. The OpenAI Mujoco tool is used to verify the proposed algorithm, and the simulation results show that, the proposed method can significantly improve the training efficiency and effectively improve the accuracy and convergence stability. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Distributed Efficient Charging Coordinations for Electric Vehicles under Progressive Second Price Auction Mechanism

Distributed Efficient Charging Coordinations for Electric Ve...

引用

IEEE Annual Conference on decision and control

作者： Suli Zou Zhongjing Ma Xiangdong Liu School of Automation BIT Beijing China School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781467357159

We designed a distributed charging coordination method for electric vehicles over a multi-time interval with the so-called progressive second price (PSP) auction mechanism which was proposed by Lasar and Semret in order to efficiently allocate the divisible resources among multi agents. The incentive compatibility holds for the auction games under the PSP mechanism. However due to the cross-elastic correlation among the different charging instants, the marginal valuation of an individual agent at each instant is determined by both the demand at this instant and the total demand at the whole interval. This phenomena makes the underlying auction games distinct from those studied in the literature. As a main contribution of the paper, we showed that the efficient bid profile over the multi-time interval is a Nash equilibrium of the auction systems.

关键词： Plug-in electric vehicles Efficient charging coordinations Auction Progressive second price auction Mechanism Game theory Nash equilibrium

来源：评论

学校读者我要写书评

暂无评论

Path Planning and decision Making for Autonomous Vehicle in Urban Environment

Path Planning and Decision Making for Autonomous Vehicle in ...

引用

International Conference on intelligent Transportation

作者： Mengyin Fu Wenjie Song Yang Yi Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China State Key Lab. of Intell. Control & Decision of Complex Syst. Beijing Instn. of Technol. China

ISBN: (纸本)9781467365970

In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle - IN 2 BOT, which has taken part in "Chinese intelligent Vehicle Challenge" for many times, this method is proved more effective than our previous method after experiments under various conditions.

关键词： Path planning Roads Vehicles decision making Planning Mobile robots Image edge detection

来源：评论

学校读者我要写书评

暂无评论

Research on High Precision control of Joint Position Servo system for Hydraulic Quadruped Robot

Research on High Precision Control of Joint Position Servo S...

引用

第三十八届中国控制会议

作者： CHEN Zhihua WANG Shoukun XU Kang WANG Junzheng ZHAO Jiangbo NIU Shanshuai Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

Electro-hydraulic servo valve-controlled cylinder(EHSVCC) is a highly integrated and high-performance electrohydraulic servo driving unit(EHSDU), which is the basic driving unit of the leg joint for hydraulic quadruped robot. The robot impedance control mostly adopts control methods based on position inner loop and impedance outer loop, the high precision control of position inner loop is the key to improve impedance control. Therefore, it is of great significance to study a high precision position control method. Firstly, the electro-hydraulic servo drive unit of the foot robot is taken as the research object. The model of the nonlinear system is established, and the feedback linearization of the system is carried out. Secondly, in order to improve the tracking performance and anti-jamming ability of the position inner loop input/output a sliding mode variable structure robust controller(SMVSRC) with switching function, variable structure control rate and improved boundary layer function is designed. Finally, the electro-hydraulic servo drive unit(EHSDU) and the hydraulic foot robot test platform are tested, the influence of the two control algorithms on the position response and tracking error for EHSDU is analyzed and compared under the control of sinusoidal signals with different amplitudes and frequencies and diagonal gait signals. The experimental results show that the improved SMVSRC algorithm is feasible and effective, which provides a theoretical basis for the later study of impedance control based on position inner loop.

关键词： Hydraulic quadruped robot Position control Feedback linearization Sliding mode controller

来源：评论

学校读者我要写书评

暂无评论

Unknown environment 2-D map building system for coal mine detect robot

Unknown environment 2-D map building system for coal mine de...

引用

International Conference on Information and Automation (ICIA)

作者： Haojian Lu Junyao Gao Jianguo Zhu Zhe Xu Haoxiang Cao Jingchao Zhao Fangzhou Zhao Xin Li Yi Liu Xuanyang Shi Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Coal mine is a very dangerous field because various fatal factors menace people especially when coal mine explosion happens. For the reason that rescuers have to know the mine tunnel actual situation and at the same time, it is very dangerous for rescuers to go into mine tunnel because of the unknown environment, a kind of coal mine detect robot and an unknown environment 2-D map building system are introduced. This paper introduces a coal mine detect robot which is a kind of tracked robot that is suitable for running in explosion environment. In order to solve the problem of detecting an unknown environment, we introduce a 2-D map building system based on linear template clustering algorithm via laser radar. Finally, the experiment shows that this coal mine detect robot and the 2-D map building system are reliable and practical.

关键词： Coal mining Laser radar Robot sensing systems Robot kinematics Buildings

来源：评论

学校读者我要写书评

暂无评论

A New Modeling Reference Direct Adaptive Sliding Mode control for Electromechanical Actuator

A New Modeling Reference Direct Adaptive Sliding Mode Contro...

引用

Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Hao Li Lihua Dou Zhong Su Jie Chen School of Automation and the Key Laboratory of Complex System Intelligent Control and DecisionMinistry of EducationBeijing Institute of Technology School of Automation Beijing Information Science & Technology University

A new model reference direct adaptive sliding mode control(MRDASMC) approach for electromechanical actuator(EMA) is *** with parameter variation,external load disturbance,nonlinear structure and unmodelled dynamics in the system are treated as a lumped *** lumped uncertainty is estimated without the bounds known in advance.A switching function is employed to compensate for the estimated error of the lumped *** the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption *** adaption law contains a fading factor which can prevent saturation of the control *** stability of the control system is guaranteed by Lyapunov *** results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

关键词： Model reference adaptive sliding mode control Electromechanical actuator Fading factor Saturation Chattering.

来源：评论

学校读者我要写书评

暂无评论

Research on Vibration Isolation control of Six wheel-legged Robot Based on Impedance control

Research on Vibration Isolation Control of Six wheel-legged ...

引用

第三十九届中国控制会议

作者： Binkai Yue Shoukun Wang Zhihua Chen Kang Xu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

The electric parallel six wheel-legged robot（EPSWLR） is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control（IC） still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control（AIC） algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.

关键词： Electric parallel six wheel-legged robot Impedance control Adaptive algorithm Stewart structure

来源：评论

学校读者我要写书评

暂无评论

Torque Compensation Model and Touchdown Detection Model of the Hydraulic Quadruped Robot controlled by VMC

Torque Compensation Model and Touchdown Detection Model of t...

引用

Chinese control and decision Conference, CCDC

作者： Ranjiang Wang Jiangbo Zhao Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665478977

In this paper, according to the different dynamic models of the support phase and the swing phase, the joint torque compensation of the support phase and the swing phase are given to compensate the joint torque of the hydraulic quadruped robot controlled by the virtual model control(VMC). This compensation can increase the tracking effect of the foot end on the swing trajectory, reduce the elasticity and damping coefficient of the virtual model method, and increase the flexibility of the leg. Then this paper establishes the touchdown detection function based on the joint torque obtained by the Lagrange dynamics equation and the joint torque obtained by the force sensor to determine the touch state of the foot of the quadruped robot to switch the phase of the leg. At the end of this paper, simulation and experiment prove that the compensation model and touchdown detection function model have feasibility and correctness.

关键词： Legged locomotion Damping Torque Switches Hydraulic systems Elasticity Mathematical models

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：