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Bioinspired control design using cerebellar model articulation controller network for omnidirectional mobile robots

ADVANCES IN MECHANICAL ENGINEERING 2018年第8期10卷

作者： Jiang, Yiming Yang, Chenguang Wang, Min Wang, Ning Liu, Xiaofeng South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou Guangdong Peoples R China Univ Plymouth Ctr Robot & Neural Syst Plymouth Devon England Hohai Univ Coll Internet Things Engn Changzhou Peoples R China

As a learning mechanism that emulates the structure of the cerebellum, cerebellar model articulation controllers have been widely adopted in the control of robotic systems because of the fast learning ability and simple computational structure. In this article, a cerebellar model articulation controller-based neural network controller is developed for an omnidirectional mobile robot. With the powerful learning ability of cerebellar model articulation controller, a cerebellar model articulation controller neural network is constructed to learn the complex dynamics of the omnidirectional mobile robot such that the robot is controlled without a priori knowledge of the robot dynamics. In addition, to overcome the limitation of the neural network controller, a global control technique with a group of smooth switching functions is designed such that the global ultimately uniformly boundedness of cerebellar model articulation controller is achieved instead of conventional semi-global ultimately uniformly boundedness. Moreover, smooth decreasing boundary functions are synthesized into the controller to guarantee the transient control performance. Based on an omnidirectional mobile robot, numerical experiments have been conducted to demonstrate the effectiveness of the proposed cerebellar model articulation controller controller.

关键词： Omnidirectional wheeled mobile robot cerebellar model articulation controller global neural control barrier Lyapunov function

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Convergence Analysis of Cooperative Braking control for Interconnected Vehicle systems

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systemS 2017年第7期18卷 1894-1906页

作者： Liu, Yonggui Xu, Bugong Ding, Yuehua South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Sch Elect & Informat Engn Guangzhou 510640 Guangdong Peoples R China State Key Lab Integrated Serv Networks Xian 710071 Peoples R China

Cooperative braking control is a very important operation in vehicle platoon control for developing intelligent transportation systems, which can effectively increase road capacity, decrease safety hazard, and avoid serial rear-end collisions. This paper focuses on cooperative braking control of autonomous vehicles, the objectives of which are to ensure intervehicles keep within the safe spacing range and rapidly, smoothly, and accurately stop at the desired target stopping positions with zero velocity. To achieve these goals, a three-vehicle platoon framework is presented and the corresponding dynamic model is established based on only information about front-end and rear-end sensors of vehicles, so communication is not needed. The explicit solutions on the three-vehicle platoon are derived by rigorous convergent analysis and detailed proof, such that intrinsic characteristic of the interconnected vehicles is revealed. The resulting convergent conditions and convergent rate are obtained under three cases including: 1) considering internal virtual forces;2) considering external braking forces;and 3) considering both the internal virtual forces and external braking forces simultaneously. Moreover, an example is further provided to verify that the derived convergence conditions are effective and sufficient under the different controller parameter selection. These results can provide a solution for a wide class of interconnected systems and a guide for controller design to select control parameters in real engineering applications. Simulation results demonstrate the validity of the proposed control approaches.

关键词： Cooperative braking control autonomous cooperative control braking systems traffic safety convergence analysis

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Preprocessing and Transmission for 3D Point Cloud Data 10th

Preprocessing and Transmission for 3D Point Cloud Data

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10th International Conference on Intelligent Robotics and Applications (ICIRA

作者： Wang, Zunran Yang, Chenguang Ju, Zhaojie Li, Zhijun Su, Chun-Yi South China Univ Technol Key Lab Autonomous Syst & Network Control Guangzhou Peoples R China South China Univ Technol Coll Automat Sci & Engn Guangzhou Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Univ Portsmouth Sch Comp Portsmouth Hants England Guangdong Univ Technol Sch Automat Guangzhou Peoples R China

ISBN: (纸本)9783319652894;9783319652887

Robots play an increasingly important role in social life, especially the front desk robots. But the front desk robots seldom handle business in reality unless they have proper functionalities for Human-Robot Interaction (HRI). For enhancing the immersed sense in the interactive process, we consider the 3D image of the upper body of the operator in the remote control room as the upper body of front desk robots. However, it is a great challenge to transmit the 3D point cloud data in the way of remote interaction. The paper uses a simple method to deal with the problem of transmitting the 3D point cloud data and the idea of the method is to reduce the network data volume. In order to reduce the network data volume, we only consider that the 3D point cloud of interest will be transmitted. The filters are used to remove the noise and background of the 3D image, the segmentation algorithm will be used to acquire the 3D point cloud data of interest. The experiment result demonstrates that the method can reduce the network data volume and ensure high-quality image information. Thus, the method can reduce transmission time.

关键词： 3D point cloud Human-Robot Interaction (HRI) Filter and segmentation of 3D Image 3D image transmission

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Small P values may not yield robust findings:an example using REST-meta-PD

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Science Bulletin 2021年第21期66卷 2148-2152,M0003页

作者： Xi-Ze Jia Na Zhao Hao-Ming Dong Jia-Wei Sun Marek Barton Roxana Burciu Nicolas Carrière Antonio Cerasa Bo-Yu Chen Jun Chen Stephen Coombes Luc Defebvre Christine Delmaire Kathy Dujardin Fabrizio Esposito Guo-Guang Fan Federica Di Nardo Yi-Xuan Feng Brett W.Fling Saurabh Garg Moran Gilat Martin Gorges Shu-Leong Ho Fay BHorak Xiao Hu Xiao-Fei Hu Biao Huang Pei-Yu Huang Ze-Juan Jia Christina Jones Jan Kassubek Lenka Krajcovicova Ajay Kurani Jing Li Qing Li Ai-Ping Liu Bo Liu Hu Liu Wei-Guo Liu Renaud Lopes Yu-Ting Lou Wei Luo Tara Madhyastha Ni-Ni Mao Grainne McAlonan Martin J.McKeown Shirley Pang Andrea Quattrone Irena Rektorova Alessia Sarica Hui-Fang Shang James M.Shine Priyank Shukla Tomas Slavicek Xiao-Peng Song Gioacchino Tedeschi Alessandro Tessitore David Vaillancourt Jian Wang Jue Wang Z.Jane Wang Lu-Qing Wei Xia Wu Xiao-Jun Xu Lei Yan Jing Yang Wan-Qun Yang Nai-Lin Yao De-Long Zhang Jiu-Quan Zhang Min-Ming Zhang Yan-Ling Zhang Cai-Hong Zhou Chao-Gan Yan Xi-Nian Zuo Mark Hallett Tao Wu Yu-Feng Zang Center for Cognition and Brain Disorders the Affiliated HospitalHangzhou Normal UniversityHangzhou 310015China Zhejiang Key Laboratory for Research in Assessment of Cognitive Impairments Hangzhou 311121China National Basic Science Data Center Beijing 100190China State Key Laboratory of Cognitive Neuroscience and Learning&McGovern Institute for Brain Research Beijing Normal UniversityBeijing 100875China School of Information and Electronics Technology Jiamusi UniversityJiamusi 154007China Neuroscience Program Central European Institute of TechnologyCEITECMasaryk UniversityBrno 62500Czech Republic Department of Applied Physiology and Kinesiology University of FloridaGainesville FL 32611USA Univ.Lille InsermCHU LilleU1172-LilNCog-Lille Neuroscience&CognitionLille F-59000France The Institute for Biomedical Research and Innovation National Research CouncilMangone CS 87050Italy Department of Radiology The First Affiliated Hospital of China Medical UniversityShenyang 110001China Department of Radiology Guangdong Provincial Hospital of Chinese MedicineGuangzhou 510120China Department of Medicine Surgery and DentistryScuola Medica SalernitanaUniversity of SalernoFiscianoSA 132-84084Italy Department of Advanced Medical and Surgery Sciences University of Campania“Luigi Vanvitelli”Caserta 81100Italy Eye Center of the 2nd Affiliated Hospital Medical College of Zhejiang UniversityHangzhou 310020China Zhejiang Provincial Key Lab of Ophthalmology Hangzhou 310020China Department of Health and Exercise Science Colorado State UniversityFort Collins CO 80523USA Pacific Parkinson’s Research Centre University of British ColumbiaVancouver BC V6E 2M6Canada Department of Medicine(Neurology)University of British Columbia Vancouver BC V6T 1B7Canada Brain and Mind Center The University of SydneySydney NSW 2006Australia Department of Neurology Ulm UniversityUlm 89081Germany Division of Neurology Department of MedicineQueen Mary HospitalUniversity of Hong KongHong Kong 999077China Department of

Thousands of resting state functional magnetic resonance imaging(RS-f MRI)articles have been published on brain *** precise localization of abnormal brain activity,a voxel-level comparison is *** of the large number of voxels in the brain,multiple comparison correction(MCC)must be performed to reduce false positive rates,and a smaller P value(usually including either liberal or stringent MCC)is widely recommended[1].

关键词：帕金森病 precise correction

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Experimental Research of Vehicle-Platoon Coordination control Based on TORCS Platform 35

Experimental Research of Vehicle-Platoon Coordination Contro...

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35th Chinese control Conference (CCC)

作者： Xu, Zhixiang Jiang, Jiemei Liu, Yonggui South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9789881563910

This paper is an experimental research of vehicle-platoon coordination control based on TORCS platform (The Open Racing Vehicle Simulator). First, the experiment platform is established according to research requirements. Then, an experiment method is used to find out the practical algorithms of team coordination control. Finally, the combination of PD control algorithm and the algorithm that the parameters of the differentiation element change along with the derivation of distance between two vehicles is able to control a vehicle platoon successfully.

关键词： Platoon control PD control Algorithm TORCS Vehicle Simulation Platform

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Improvement of coordination performance of fractional-order systems based on weighted state and relative state information

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ADVANCES IN MECHANICAL ENGINEERING 2017年第7期9卷

作者： Liu, Xueliang Liu, Huazhu Wang, Shanjin Zhang, Zhi Liu, Yonggui Dongguan Univ Technol Sch Elect Engn & Intelligentizat Dongguan Peoples R China South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

The weighted state and relative state information feedback is introduced into the existing coordination control protocol aiming to improve the robustness of fractional-order multi-agent systems against fractional-order alpha. By applying frequency-domain method and Nyquist stability theorem, a sufficient condition is given to ensure the fractional-order coordination. It is shown that the proposed coordination control protocol can improve the robustness of fractional-order multi-agent systems against fractional-order under directed communication topology. Two numerical examples are given and the corresponding simulation results show that compared with the existed coordination control protocols, the proposed weighted state and relative state information feedback control protocol is feasible and effective for improving the robustness performance.

关键词： Coordination control frequency-domain method fractional-order systems spanning tree robustness

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H_∼ performance controller parameterisation of linear switching plants under uncontrolled switching

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INTERNATIONAL JOURNAL OF control 2016年第5期89卷 871-878页

作者： Xie, Wei S China Univ Technol Coll Automat Sci & Technol Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China

This paper addresses the problem of H-similar to performance controller parameterisation for a plant switching amongst a finite family of given configurations. It is assumed that switching is uncontrolled, namely governed by some arbitrary switching rule, and that the controller has the information of the current configuration. Based on Riccati inequalities, there exists a set of controller parameterisation which ensures that the closed-loop switching linear system under uncontrolled switching achieves certain H-similar to controlled performance.

关键词： Switching control H-similar to performance controller parameterisation

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Vision-Based Human Tracking control of a Wheeled Inverted Pendulum Robot

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IEEE TRANSACTIONS ON CYBERNETICS 2016年第11期46卷 2423-2434页

作者： Ye, Weiquan Li, Zhijun Yang, Chenguang Sun, Junjie Su, Chun-Yi Lu, Renquan South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China Guangdong Univ Technol Sch Automat Guangzhou 510006 Guangdong Peoples R China Guangdong Key Lab IoT Informat Proc Guangzhou 510006 Guangdong Peoples R China

In this paper, a vision-based adaptive control is designed for a wheeled inverted pendulum (WIP) robot to track a moving human target by integration of multisensor data. A new algorithm is employed in the system to combine an OptiTrack camera and a Kinect camera, such that more robust and efficient performance can be achieved for human target detection and tracking. Robust adaptive control has been developed for the WIP robot to maintain its balance on two wheels and to follow the human target using visual feedback. Leader-follower control, dynamic balance control and visual tracking are efficiently combined together to achieved desired tracking and balancing performance. Extensive experiment studies have been performed to test the effectiveness of the proposed control strategies.

关键词： Adaptive robust control human-following visual tracking wheeled inverted pendulum (WIP) robot

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Output Feedback Guaranteed Cost control for networked control systems With Random Packet Dropouts and Time Delays in Forward and Feedback Communication Links

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2016年第1期13卷 284-295页

作者： Qiu, Li Yao, Fengqi Xu, Gang Li, Shanbin Xu, Bugong Shenzhen Univ Shenzhen Key Lab Urban Rail Transit Coll Mechatron & Control Engn Shenzhen 518060 Peoples R China S China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Sch Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Anhui Univ Technol Sch Elect Engn & Informat Maanshan 243000 Peoples R China

This study focuses on the output feedback guaranteed cost control issue for networked control systems with random packet dropouts and time delays. The plant considered in this study is characterized by an uncertain linear discrete-time system, wherein random packet dropouts and time delays exist in forward controller-to-actuator and feedback sensor-to-controller communication links that are modeled as unified multiple Markov chains. The resulting closed-loop system is modeled as a Markovian jump linear system. The guaranteed cost control issue is solved via Lyapunov stability theory and the linear matrix inequality approach. The design of the mode-independent robust output feedback controller is derived under the Markov jump unified framework. The closed-loop system is not only stochastically stable but it also guarantees an adequate level of performance. A simulation example illustrates the effectiveness of the proposed method.

关键词： Markov jump unified model networked control systems (NCSs) output feedback guaranteed cost control random packet dropouts and time delays

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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