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Learning impedance control of robots with enhanced transient and steady-state control performances

Science China(Information Sciences) 2020年第9期63卷 204-216页

作者： Tairen SUN Long CHENG Liang PENG Zengguang HOU Yongping PAN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Data and Computer Science Sun Yat-sen University

This study proposes a learning impedance controller comprising a proportional feedback control term, a composite-learning-based uncertainty estimation term, and a robot-environment interaction control term. The impedance control problem is converted into a particular reference-trajectory tracking problem based on a generated reference trajectory. The proposed controller ensures the exponential convergence of the auxiliary tracking error and the uncertainty estimation error. The interaction control term improves the transient control performance through suppression/encouragement of the incorrect/correct robot *** composite-learning update law enhances the transient and steady-state control performances based on the exponential convergence of the uncertainty estimation error and auxiliary tracking error. Finally, the effectiveness and advantages of the proposed impedance controller are validated by theoretical analysis and simulations on a parallel robot.

关键词： robot adaptive control neural network impedance control parameter convergence

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Micro-displacement Amplifying Mechanism of a Piezoelectric Single Crystal Actuator and Its Motion Characterization 17

Micro-displacement Amplifying Mechanism of a Piezoelectric S...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhang, Tianlu Du, Zhangming Zhou, Chao Cao, Zhiqiang Wang, Shuo Cheng, Long Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex System Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex System Beijing China

ISBN: (纸本)9781728164151

Piezoelectric single crystal actuator is useful in the micro- and nano-scaled. But the range of the operation is limited. The paper presented the amplifying mechanism of the single crystal actuator in order to amplify the output of the piezoelectric actuator in micro- and nano-applications. Due to the single crystal's expansion when the applied signals decrease, the paper developed the adjustable spring that added to the amplifying mechanism. This paper tested the characteristics of the amplifying mechanism by designed a set of experiment device. The input and output displacement of the amplifying mechanism driven by kinds of signals were measured. It can concluded that the amplifying mechanism achieve the positive and negative displacement response and show its accuracy and stable. These excellent properties of the amplifying mechanism amplify the micro-displacement and expand the operating range of single crystal actuator in micro- and nano-positioning applications. © 2020 IEEE.

关键词： Piezoelectric actuators

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Traffic Flow Data Forecasting Based on Interval Type-2 Fuzzy Sets Theory

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IEEE/CAA Journal of Automatica Sinica 2016年第2期3卷 141-148页

作者： Runmei Li Chaoyang Jiang Fenghua Zhu Xiaolong Chen Beijing Jiaotong University the State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences

This paper proposes a long-term forecasting scheme and implementation method based on the interval type-2 fuzzy sets theory for traffic flow data. The type-2 fuzzy sets have advantages in modeling uncertainties because their membership functions are fuzzy. The scheme includes traffic flow data preprocessing module, type-2 fuzzification operation module and long-term traffic flow data forecasting output module, in which the Interval Approach acts as the core algorithm. The central limit theorem is adopted to convert point data of mass traffic flow in some time range into interval data of the same time range (also called confidence interval data) which is being used as the input of interval approach. The confidence interval data retain the uncertainty and randomness of traffic flow, meanwhile reduce the influence of noise from the detection data. The proposed scheme gets not only the traffic flow forecasting result but also can show the possible range of traffic flow variation with high precision using upper and lower limit forecasting result. The effectiveness of the proposed scheme is verified using the actual sample application. © 2014 Chinese Association of Automation.

关键词： Data handling Forecasting Fuzzy sets Membership functions Uncertainty analysis

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A new approach of optimal control for a class of continuous-time chaotic systems by an online ADP algorithm

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Chinese Physics B 2014年第5期23卷 138-144页

作者：宋睿卓肖文栋魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an online adaptive dynamic programming （ADP） based optimal control scheme for continuous-time chaotic systems. The idea is to use the ADP algorithm to obtain the optimal control input that makes the performance index function reach an optimum. The expression of the performance index function for the chaotic system is first presented. The online ADP algorithm is presented to achieve optimal control. In the ADP structure, neural networks are used to construct a critic network and an action network, which can obtain an approximate performance index function and the control input, respectively. It is proven that the critic parameter error dynamics and the closed-loop chaotic systems are uniformly ultimately bounded exponentially. Our simulation results illustrate the performance of the established optimal control method.

关键词： adaptive dynamic programming adaptive critic designs optimal control continuous-time chaoticsystem

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Social influence and spread dynamics in social networks

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Frontiers of Computer Science 2012年第5期6卷 611-620页

作者： Xiaolong ZHENG Yongguang ZHONG Daniel ZENG Fei-Yue WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Department of Management Science and Engineering Qingdao UniversityQingdao 266071China

Social networks often serve as a critical medium for information dissemination, diffusion of epidemics, and spread of behavior, by shared activities or similarities be- tween individuals. Recently, we have witnessed an explosion of interest in studying social influence and spread dynamics in social networks. To date, relatively little material has been provided on a comprehensive review in this field. This brief survey addresses this issue. We present the current significant empirical studies on real social systems, including network construction methods, measures of network, and newly em- pirical results. We then provide a concise description of some related social models from both macro- and micro-level per- spectives. Due to the difficulties in combining real data and simulation data for verifying and validating real social sys- tems, we further emphasize the current research results of computational experiments. We hope this paper can provide researchers significant insights into better understanding the characteristics of personal influence and spread patterns in large-scale social systems.

关键词： social networks spread dynamics social influence computational experiment

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Dynamic Scheduling for Airport Special Vehicles Based on a Multi-strategy Hybrid Algorithm 41

Dynamic Scheduling for Airport Special Vehicles Based on a M...

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第41届中国控制会议

作者： Wei Quan Chen Chen Zhuang Shao Kai Meng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

When arriving at the airport,flight needs to be served by special *** at the dynamic time window scheduling problem of airport refueling vehicles,this paper establishes a vehicle routing problem model with time window to minimize the operating ***,a multi-strategy genetic algorithm is designed to gain the solve time window scheduling problem,which employs the crossover based on particle swarm optimization to accelerate the early search capability,and the local search method based on simulated annealing to increase the local optimization *** aiming at dynamically adjusting vehicle routes on the basis of static scheduling,a local replanning strategy based on a dynamic time window is introduced,which uses the original route matching and rescheduling *** results show that the multi-strategy hybrid algorithm can effectively reduce the number of routes and vehicles the airport *** different scales' dynamic changes of time windows,the algorithm could enable vehicles to still meet time constraints and effectively minimize the change of routes.

关键词： vehicle scheduling multi-strategy genetic algorithm dynamic scheduling local replanning strategy

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Implementation and Experimental Study on the control system of the Stewart Platform Model of FAST

Implementation and Experimental Study on the Control System ...

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第25届中国控制与决策会议

作者： Fengguang He Fengshui Jing Guodong Yang En Li Zize Liang Dongjun Yu State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Nation Astronomical Observatory Chinese Academy of Sciences

ISBN: (纸本)9781467355339

In order to verify the vibration resistance feasibility of the Stewart platform with a flexible base platform in the feed cabin support system of FAST（Five-hundred-meter Aperture Spherical radio Telescope）, this paper presents a scheme on the implementation of the reduced scale Stewart platform model of FAST. A vibration suppressing control algorithm is given, and the experiments related were conducted. The results show that the system is capable of suppressing normal vibrations.

关键词： FAST Stewart platform vibration suppressing

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A Regional Necessity Based Multi-agent Target Search Strategy for Post-earthquake Rescue 41

A Regional Necessity Based Multi-agent Target Search Strateg...

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第41届中国控制会议

作者： Xi Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The damage caused by the earthquake is *** the purpose of post-earthquake rescue is to reduce *** it is necessary to improve the efficiency of rescue as much as *** paper focuses on multi-agent cooperative target search in the post-earthquake rescue and how to exploit the prior information of post-disaster building to improve the searching efficiency.A regional necessity based searching strategy is proposed which utilizes pre-disaster building information and adapts to dynamic ***,the target probability map is estimated according to the distribution information of pre-disaster ***,the regional necessity map is constructed by integrating the target probability map and the perception of the environment during the search ***,the search strategy is proposed based on the regional necessity map and the particle swarm optimization *** the gradient direction of regional necessity and local optimal velocity,the agent dynamically selects the search *** comparing with other search strategies in simulation experiments,the proposed strategy could shorten the searching time and improve the searching efficiency in the small and medium-scale task ***,the search strategy can adapt to the post-earthquake dynamic environment,which is confirmed by dynamic experiments.

关键词： multi-agent cooperative target search post-earthquake rescue regional necessity particle swarm optimization

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Target-Focused Video Stabilization for Human Computer Interaction 29

Target-Focused Video Stabilization for Human Computer Intera...

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第29届中国控制与决策会议

作者： Hao Zhu Qing You Wenjie Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781509046584

As an important task of video enhancement,a lot of video stabilization methods have been *** in many real-world applications,especially the systems with human-computer interactions,existing methods only remove camera motion in stabilized frames,the remaining object motion will also lead to deviations in manual *** this paper,we collect practical hand drawn bounding boxes which have been shown to contain serious *** we propose a target-focused video stabilization method consisting of a proposal-based detection component and a trackingbased motion estimation *** experiments demonstrate our method can remove camera jitter and target motion simultaneously,and also offer users a friendly and effective way to draw accurate target regions.

关键词： Video Stabilization Human-computer Interactive Object Proposal

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A Recurrent Attention and Interaction Model for Pedestrian Trajectory Prediction

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1361-1370页

作者： Xuesong Li Yating Liu Kunfeng Wang Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the University of Chinese Academy of SciencesBeijing 100049China College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

The movement of pedestrians involves temporal continuity,spatial interactivity,and random *** a result,pedestrian trajectory prediction is rather *** existing trajectory prediction methods tend to focus on just one aspect of these challenges,ignoring the temporal information of the trajectory and making too many *** this paper,we propose a recurrent attention and interaction(RAI)model to predict pedestrian *** RAI model consists of a temporal attention module,spatial pooling module,and randomness modeling *** temporal attention module is proposed to assign different weights to the input sequence of a target,and reduce the speed deviation of different *** spatial pooling module is proposed to model not only the social information of neighbors in historical frames,but also the intention of neighbors in the current *** randomness modeling module is proposed to model the uncertainty and diversity of trajectories by introducing random *** conduct extensive experiments on several public *** results demonstrate that our method outperforms many that are state-ofthe-art.

关键词： Deep learning long short-term memory(LSTM) recurrent attention and interaction(RAI)model trajectory prediction

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