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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Hu, Nan Li, Shaoyuan Huang, Dan Gao, Feng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783902823625

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain. © IFAC.

关键词： Robot programming

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Robust control reconfiguration of resource allocation systems with Petri nets and integer programming

Robust control reconfiguration of resource allocation system...

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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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Improving ℒ 2 Gain Performance of Linear systems by Reset control

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IFAC Proceedings Volumes 2014年第3期47卷 6400-6405页

作者： Guanglei Zhao Dragan Nesic Ying Tan Jingcheng Wang Department of Automation Shanghai JiaoTong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Department of Electrical and Electronic Engineering University of Melbourne Parkville 3010 VIC. Australia

In this paper, new Lyapunov-based reset rules are constructed to improve ℒ 2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and finite gain ℒ 2 stability are presented. It is shown that the ℒ 2 gain of the closed loop system with resets can be improved compared with the base system. Numerical example supports our results.

关键词： Hybrid system Lyapunov-based reset rules ℒ 2 gain reset controller

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Semi-global leader-following consensus of multiple linear systems with position and rate-limited actuators: The state feedback case

Semi-global leader-following consensus of multiple linear sy...

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World Congress on Intelligent control and automation (WCICA)

作者： Zhiyun Zhao Zongli Lin Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

This paper studies the semi-global leader-following consensus problem for a group of linear systems in the presence of both actuator position and rate saturation. Each follower agent in the group is described by a general linear system subject to simultaneous actuator position and rate saturation. We construct a low gain based linear state feedback control law for each follower agent and show that semi-global leader-following consensus can be achieved by using these control laws when the communication topology among follower agents is a connected undirected graph and the leader is a neighbor of at least one follower. Simulation results illustrate the theoretical results.

关键词： Actuators State feedback Topology Linear systems Multi-agent systems Closed loop systems Vectors

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Robust adaptive observer for fractional order nonlinear systems: an LMI approach

Robust adaptive observer for fractional order nonlinear syst...

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第26届中国控制与决策会议

作者： Chuang Li Jingcheng Wang School of Mechanical and Electric Engineering Hainan University Department of Automation Shanghai Jiao Tong Universityand key laboratory of System Control and Information ProcessingMinistry of Education of China

This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters and nonlinear in the states. According to the equivalent frequency distributed model of fractional integrator, the direct Lyapunov approach is adopted to derive a nonlinear adaptive non-fragile observer. The gain for the non-fragile observer is systematically obtained in terms of linear matrix inequality(LMI). A numerical example is provided to illustrate the efficiency and validity of the proposed approach.

关键词： fractional order nonlinear systems,unknown parameter,nonlinear observer,LMI

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Modeling and detection of rotating stall in axial flow compressors: Part I - investigation on high-order M-G models via deterministic learning

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Zidonghua Xuebao/Acta Automatica Sinica 2014年第7期40卷 1265-1277页

作者： Wang, Cong Wen, Bin-He Si, Wen-Jie Peng, Tao Yuan, Cheng-Zhi Chen, Tian-Rui Lin, Wen-Yu Wang, Yong Hou, An-Ping College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China AVIC Aviation Motor Control System Institute Wuxi 214063 China College of Electronic Information and Automation Chongqing University of Technology Chongqing 400054 China School of Automation Guangdong University of Technology Guangzhou 510006 China Department of Mechanics and Engineering Science Peking University Beijing 100871 China School of Energy and Power Engineering Beihang University Beijing 100191 China

Rotating stall and surge are important and challenging problems in the area of axial compressors. This paper presents an approach for approximately accurate modeling and rapid detection of stall precursors based on deterministic learning. Firstly, based on the high-order compressor model (Mansoux model), a method for modeling the system dynamics corresponding to stall precursors is presented by employing deterministic learning algorithm;Secondly, a scheme for rapid detection of stall precursors is proposed by using dynamical pattern recognition algorithm;Thirdly, experiments are conducted on a low-speed research compressor of Beihang University. By measuring relevant parameters of the compressor, the Mansoux-Beihang model is obtained. Simulation studies on the Mansoux-C2 model and the Mansoux-Beihang model are included to show the effectiveness of the approach. Copyright © 2014 Acta Automatica Sinica. All rights reserved.

关键词： Fault detection

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An Adaptive Predictive control Strategy for RMPPT under Partially Shaded Conditions

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IFAC Proceedings Volumes 2014年第3期47卷 4947-4952页

作者： Chao Ma Jing Wu Ning Li Shaoyuan Li Kang Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. However, these methods may fail when shading conditions occur and the power loss can over as much as 70% due to the multiple maxima in I – P curve in shading conditions v.s. single maximum point in uniformly solar irradiance. In this paper, a Real Maximum Power Point Tracking (RMPPT) strategy under Partially Shaded Conditions (PSCs) is introduced to deal with this kind of problems. An optimization problem, based on a predictive model which will change adaptively with environment, is developed to tracking the global maxima and corresponding adaptive control strategy is presented. No additional circuits are required to obtain the environment uncertainties. Finally, simulations show the effectiveness of proposed method.

关键词： Photovoltaic systems RMPPT Partial shading Adaptive predictive control

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On the Estimation of the Domain of Attraction for Saturated systems via Partitioning of the Input Space

On the Estimation of the Domain of Attraction for Saturated ...

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第三十三届中国控制会议

作者： Yuanlong Li Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479947249

This paper revisits the problem of estimating the domain of attraction for systems with saturation *** divide the input space into several regions. In one of these regions, none of the inputs saturate. In each of the remaining regions, there is a unique input that saturates everywhere with the time-derivative of its saturated signal being zero. These special properties of the inputs in different regions of the input space are combined with an existing piecewise quadratic Lyapunov functions that contains the information of input saturation to arrive at a set of less conservative stability conditions, from which a larger level set of the piecewise quadratic Lyapunov function can be obtained as an estimate of the domain of *** results indicate that the proposed approach has the ability to obtain a significantly larger estimate of the domain of attraction than the existing methods.

关键词： Actuator saturation,constrained control,domain of attraction,input saturation,piecewise quadratic Lyapunov functions,stability analysis

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Swarm aggregations of heterogeneous multi-agent systems

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International Journal of control 2014年第12期87卷 2594页

作者： Liang, Haili Su, Housheng Wang, Xiaofan Chen, Michael Z.Q. [a] Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China[b] School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China[c] Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more resembling the practical situations, where the agents have different dynamics. We show that the heterogeneous agents will gather with a certain error under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. [PUBLICATION ABSTRACT]

关键词： swarm multi-agent systems heterogeneous systems stability

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