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Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain

IFAC Proceedings Volumes 2014年第3期47卷 2153-2158页

作者： Nan Hu Shaoyuan Li Dan Huang Feng Gao Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai 200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

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.

关键词： Quadruped robot gait planning trajectory planning kinematics

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On Infinite Time Performance of Nonlinear Model Predictive controllers

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IFAC Proceedings Volumes 2014年第3期47卷 1916-1921页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases.

关键词： Model Predictive control Finite Horizon Optimal control Value Iteration Principle of Optimality

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Multi-Objective Load Distribution Optimization for Hot Strip Mills

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Journal of Iron and Steel Research International 2013年第2期20卷 27-32,61页

作者： JIA Shu-jin LI Wei-gang LIU Xiang-hua DU Bin Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Automation Division of Research Institute Baosteel Group Corporation College of Information Science and Engineering Northeastern University Research Institute of Science and Technology Northeastern University

Load distribution is a key technology in hot strip rolling process, which directly influences strip product quality. A multi-objective load distribution model, which takes into account the rolling force margin balance, roll wear ratio and strip shape control, is presented. To avoid the selection of weight coefficients encountered in single objective optimization, a multi-objective differential evolutionary algorithm, called MaximinDE, is proposed to solve this model. The experimental results based on practical production data indicate that MaximinDE can obtain a good pareto-optimal solution set, which consists of a series of alternative solutions to load distribution. Decision-makers can select a trade-off solution from the pareto-optimal solution set based on their experience or the importance of ob- iectives. In comparison with the empirical load distribution solution, the trade-off solution can achieve a better per- formance, which demonstrates the effectiveness of the multi-objective load distribution optimization. Moreover, the conflicting relationship among different objectives can be also found, which is another advantage of multi-objective load distribution optimization.

关键词： hot strip mill load distribution multi-objective optimization

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Enhancing the Effectiveness of Fungicides by Optimizing Their Combinations

Enhancing the Effectiveness of Fungicides by Optimizing Thei...

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第26届中国控制与决策会议

作者： Xiang Wang Jia Ma Xiaowei Li Xiaodong Zhao Zongli Lin Jie Chen Zhifeng Shao Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Department of Resource and Environmental Science School of Agriculture and BiologyShanghai Jiao Tong University School of Biomedical Engineering Shanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

In controlling biological diseases, it is often more potent to use a combination of agents than using individual ones. However, the number of possible combinations increases exponentially with the number of agents and their concentrations. It is prohibitive to search for effective agent combinations by trial and error as biological systems are complex and their responses to agents are often a slow process. This motivates to build a suitable model to describe the biological systems and help reduce the number of experiments. In this paper, we consider the use of fungicides to inhibit Bipolarismaydis and construct models that describe the responses to fungicide combinations. Three data-driven modeling methods, the polynomial regression, the artificial neural network and the support vector regression, are compared based on the experimental data of the inhibition rates of the southern corn leaf blight with different fungicide combinations. The analysis of the results demonstrates that the support vector regression is best suited to the construction of the response model in terms of achieving better prediction with fewer experiments.

关键词： agent combinations,complex system,data-driven model,polynomial regression,artificial neural network,support vector regression

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Integrated object and path demonstration for industrial robots in adaptive handling applications

Integrated object and path demonstration for industrial robo...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： C. F. Wu S. K. Lin J. Lambrecht T. D. Nguyen A. Vick M. Kleinsorge J. Krüger Division of Intelligent System Engineering Industrial Technology Research Institute Mechanical and Systems Research Laboratory Hsinchu Taiwan National Chiao Tung University Institute of Electrical Control Engineering Hsinchu Department Industrial Automation Technology Technische Universität Berlin Insitute for Machine Tools and Factory Management Berlin Germany

We propose an approach for integrated object and path demonstration. The main idea is to choose the motion of the robot depending on the object it grabs. When programming, an object is fixed at the robot's gripper. Path programming is done using haptic guidance. Afterwards, if a robot is handed over an object it knows before, it reproduces the path assigned to the object. Path programming and object recognition can be done with a single force/torque sensor. In our opinion, this way of programming is especially suited for creating pick and place tasks in frequently changing production environments where (re-)programming has to be done frequently.

关键词： Robot sensing systems Programming Service robots Force Grippers Training

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Further Results on the Maximal Contractively Invariant Ellipsoid of Discrete-time Linear systems with Multiple Inputs Subject to Actuator Saturation

Further Results on the Maximal Contractively Invariant Ellip...

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IEEE Annual Conference on Decision and control

作者： Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

ISBN: (纸本)9781467360890

Contractively invariant ellipsoids have been extensively used as estimates of the domain of attraction of a linear system under a saturated linear feedback. For a discrete-time linear system with a single input subject to actuator saturation, based on a convex hull representation of the saturated linear feedback, a necessary and sufficient condition for an ellipsoid to be contractively invariant was previously established. Based on this condition, the determination of the maximal contractively invariant ellipsoid can be formulated and solved as an LMI problem. In this paper, we develop a criterion to determine if a contractively invariant ellipsoid is the maximal one for discrete-time saturated linear systems with multiple inputs. This criterion is based on the solution of an LMI problem, which involves a generalized convex hull representation of saturated linear feedbacks, and includes the existing result for discrete-time saturated linear systems with a single input as a special case. Simulation results demonstrate the effectiveness of our results.

关键词： Linear system multi-input discrete-time Invariant discrete time systems linear feedback Saturated convex hull region of attraction

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Robust fault tolerant control on distributed networked control systems with quantized states

Robust fault tolerant control on distributed networked contr...

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World Congress on Intelligent control and automation (WCICA)

作者： Yang Ge Jingcheng Wang Yi Zhang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai China Shanghai Urban-Rural Construction and Transportation Development Research Institute Shanghai China Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

The distributed networked control systems are considered in this paper. Several sub-systems which are connected with each other through a communication network make up the whole system. Each sub-system has its own quantizer so that any information which needs be transmitted to other sub-systems will be quantized due to limited bandwidth. Meanwhile, the actuator faults, including outage, loss of effectiveness and stuck are also considered in our research. A mode-based state feedback controller is given in this paper to stable such NCSs and to meet the robust H-inf performance. A simulation example is proposed to illustrate the effectiveness of our method finally.

关键词： Quantization (signal) Networked control systems State feedback Closed loop systems Communication networks Actuators Fault tolerance

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Boundary feedback control design and stability of open-channel networks

Communications in Computer and Information Science

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Communications in Computer and Information Science 2013年 355卷 342-350页

作者： Cen, Lihui Xi, Yugeng Li, Dewei Cen, Yigang Department of Control Engineering Central South University Changsha China Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai Jiaotong University Shanghai China School of Computer and Information Technology Beijing Jiaotong University Beijing China

This paper proposed a boundary feedback control design for open-channel networks with trapezoidal cross sections by using a Riemann invariants approach. The open-channel network is well modeled by the nonlinear Saint-Venant equations. Based on the characteristic form in terms of Riemann invariants, the stabilizing boundary control is developed for a single canal. The stability condition and the boundary control design are subsequently generalized to open-channel networks composed by multireaches in cascade. The design of the boundary feedback control laws either for a single canal or for the cascaded networks is illustrated in a unified design framework. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Feedback control

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Anti-windup Design for Active Disturbance Rejection control

Anti-windup Design for Active Disturbance Rejection Control

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第三十三届中国控制会议

作者： Xiongjun Wu Jiaoni Pang Tao Yang The 802 Institute of Shanghai Academy of Space Flight Technology The Eighth Academy of China Aerospace Science and Technology Corporation Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China ACCESS Linnaeus Centre School of Electrical Engineering Royal Institute of Technology

ISBN: (纸本)9781479947249

An anti-windup compensate algorithm for active disturbance rejection mechanism is proposed in this paper. This paradigm extends the traditional anti-windup scheme to the Active Disturbance Rejection control(ADRC) mechanism, to deal with the input saturation nonlinearity and meanwhile reject the disturbance automatically by using Extended State Observer(ESO). The output of anti-windup compensator is treated as a part of unknown disturbances and is introduced into the ESO, which can online observe both internal and external disturbances(parameter uncertainties and model mismatches). The controller input is yielded by using a nonlinear feedback combination, and it is used to compensate the integrator windup caused by the saturation nonlinearity element. On the other hand, in order to determine the parameters of the ESO and the anti-windup compensator feedback gain, the L2 gain is adopted. The effectiveness and the robustness against model and parameter uncertainties of the proposed method is verified by an example of the seeker platform.

关键词： Actuator saturation,Anti-windup design,Active disturbance rejection,Extended State Observer(ESO),Tracking Differentiator

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