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11th World Congress on Intelligent control and Automation

作者： Li, Zhijun Chen, Ziting Su, Chun-Yi Sun, Fuchun South China Univ Tech Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China Tsinghua Univ Dept Comp Sci & Technol Beijing 100084 Peoples R China

ISBN: (纸本)9781479958252

This paper considers a class of nonlinearly parameterized MIMO systems with state time-varying delay systems and unknown nonlinear dead-zones. A new version of high dimensional integral Lyapunov function is introduced to construct a Lyapunov-based adaptive control structure, which does not try to cancel the coupling matrix for linearizing the system. Under both state time delay and deadzone inputs, the stability of the closed-loop system is guaranteed and the tracking errors converge to the origin. Simulation results using 2-DOF robotic manipulators demonstrate the effectiveness of the proposed approach.

关键词： Adaptive control High dimensional integral Lyapunov MIMO plant Time-varying delay and Unknown dead-zones

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Position/force Estimation Using Hill Muscle Model Incorporating AdaBoost with SVM-based Component Classifiers 11

Position/force Estimation Using Hill Muscle Model Incorporat...

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11th World Congress on Intelligent control and Automation

作者： Xiao, Zhiye Li, Zhijun Chen, Mou South China Univ Tech Key Lab Autonomous Syst & Network Control Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781479958252

The objective of this paper is to estimate the joint angle and the force from a moving elbow joint based on the SEMG. An AdaBoost with SVM-based compoment classifier is proposed to discriminate different movements based on SEMG of the forearm. Then, the average integral EMG(AIEMG) variables collecting by an EMG measurement device is introduced to estimating joint angles. Through the estimated joint angle, we can use the Hill muscle model to predict the force of the moving elbow joint. The extensive experiments are conducted to verify the effectiveness of the estimated position and force.

关键词： AdaBoost SVM angle estimate surface electromyogram(SEMG) Hill muscle model

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Robust Schur-Stability Analysis of Interval Polynomials with real coefficients 11

Robust Schur-Stability Analysis of Interval Polynomials with...

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11th World Congress on Intelligent control and Automation

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

ISBN: (纸本)9781479958252

This paper deals with robust stability analysis of real interval polynomials via value distribution theory. First, necessary conditions for Schur-stability are formulated in terms of inequalities using techniques from Landau theorem. These conditions can be employed for a preprocessing rejection scheme to test interval polynomials as being non-Schur-stable. Secondly, based on the values of its adjacent coefficients and theory of polynomial, a sufficient condition for robust Schur-stability of interval polynomial is proposed. Such a sufficient condition can be used to find an interval polynomial from a single polynomial, and also its robust Schur-stability is guaranteed.

关键词： Interval polynomials Robust stability Schur-stability Value distribution theory

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Development and learning control of a human limb with a rehabilitation exoskeleton

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IEEE Transactions on Industrial Electronics 2014年第7期61卷 3776-3785页

作者： Lu, Renquan Li, Zhijun Su, Chun-Yi Xue, Anke Institute of Information and Control Hangzhou Dianzi University Hangzhou 310018 China Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Department of Mechanical and Industrial Engineering Concordia University Montreal QC H3G 1M8 Canada

This paper describes a novel development of a lower limber exoskeleton for physical assistance and rehabilitation. The developed exoskeleton is a motorized leg device having a total of 4 DOF with hip, knee, and ankle actuated in the sagittal plane. The exoskeleton applies forces and learns the impedance parameters of both robot and human. An adaptive control scheme by incorporating learning control approaches into the exoskeleton system is developed to help the leg movement on a desired periodic trajectory and handle periodic uncertainties with known periods. The proposed control approach does not require a muscle model and can be proven to yield asymptotic stability for a nonlinear muscle model and an exoskeleton model in the presence of bounded nonlinear disturbances (e.g., spasticity and fatigue). The performance of the controller is demonstrated through closed-loop experiments on human subjects. The experiments illustrate the ability of the exoskeleton to enable the leg shank to track single and multiple period trajectories with different periods and ranges of motion. © 2013 IEEE.

关键词： Muscle

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Quadratic H2 gain performance analysis of LPV systems with realization of parametric transfer function 33

Quadratic H2 gain performance analysis of LPV systems with r...

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33rd Chinese control Conference (CCC)

作者： He, Zhongwei 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

ISBN: (纸本)9789881563842

Here, the performance analysis and design of state-feedback gain scheduling controller are addressed by using LPV realization of parametric transfer function. First, based on the stable LPV realization of parametric transfer function, if the system has H2 gain performance for all fixed constant parameters, then it has quadratic H2 gain performance with the same bound for all its parameters. Furthermore, according to linear matrix inequality optimal techniques, a simple procedure for achieving the performance index is provided. Then, the state-feedback gain scheduling controller is designed to guarantee the stability and quadratic H2 gain performance for the closed-loop LPV systems. Finally, the effectiveness of the proposed method is verified via a numerical example.

关键词： Linear parameter-varying (LPV) systems parametric transfer function gain scheduling performance control

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Fuzzy approximation adaptive control of quadruped robots with kinematics and dynamics uncertainties

Fuzzy approximation adaptive control of quadruped robots wit...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Zhijun Li Shengtao Xiao Shuzhi Sam Ge The Key Lab of Autonomous System and Network Control South China University of Technology Guangzhou China Electrical & Computer Engineering Department National University of Singapore Singapore

This paper investigates optimal feet forces distribution and control of quadruped robots with uncertainties in both kinematics and dynamics. First, a constrained dynamics of quadruped robots is established. The distribution of required forces and moments on the supporting legs of a quadruped robot can be formulated as a problem for minimizing an objective function subject to form-closure constraints and balance constraints of external force. The dynamics of recurrent neural network for realtime force optimization are proposed. For the obtained optimized tip-point force and the motion of legs, we propose the hybrid motion/force control based on adaptive fuzzy system to compensate for the external perturbation and the task-space tracking errors in the environment. The proposed control can confront the uncertainties including approximation task space error and external perturbation. The verification of the proposed control is conducted using the extensive simulations.

关键词： Force Legged locomotion Dynamics Vectors Friction Jacobian matrices

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Mapping local patterns of childhood overweight and wasting in low- and middle-income countries between 2000 and 2017

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NATURE MEDICINE 2020年第5期26卷 750-759页

作者： Kinyoki, Damaris K. Ross, Jennifer M. Lazzar-Atwood, Alice Munro, Sandra B. Schaeffer, Lauren E. Bhattacharjee, Natalia V. Collison, Michael L. Cork, Michael A. Cormier, Natalie Weaver, Nicole Davis Deshpande, Aniruddha Dharmaratne, Samath Dhamminda Earl, Lucas Henry, Nathaniel J. Hollerich, Gillian Johnson, Kimberly B. Kassebaum, Nicholas J. Krohn, Kris J. Letourneau, Ian D. Marczak, Laurie B. Mayala, Benjamin K. Mokdad, Ali H. Mosser, Jonathan F. Murray, Christopher J. L. Naghavi, Mohsen Osgood-Zimmerman, Aaron E. Pickering, Brandon V. Pigott, David M. Ray, Sarah E. Sbarra, Alyssa N. Schipp, Megan F. VanderHeide, John Wang, Haidong Wiens, Kirsten E. Afshin, Ashkan Hay, Simon I. Sartorius, Benn Khalil, Ibrahim A. Abbasalizad-Farhangi, Mahdieh M. Hasankhani, Milad Abbasi, Masoumeh Farzam, Hossein Moradi, Masoud Rezaeian, Shahab Abbastabar, Hedayat Abdelalim, Ahmed El-Jaafary, Shaimaa I. Shehata, Hatem Samir Abdoli, Amir Abdollahi, Mohammad Abdollahpour, Ibrahim Abdulkader, Rizwan Suliankatchi Abebe, Nebiyu Dereje Deribe, Kebede Abebo, Teshome Abuka Abegaz, Kedir Hussein Abolhassani, Hassan Rezaei, Nima Abreu, Lucas Guimaraes Abrigo, Michael R. M. Abushouk, Abdelrahman I. Accrombessi, Manfred Mario Kokou Acharya, Dilaram Adabi, Maryam Adebiyi, Akindele Olupelumi Ilesanmi, Olayinka Stephen Adedeji, Isaac Akinkunmi Adekanmbi, Victor Adeoye, Abiodun Moshood Adetokunboh, Olatunji O. Mahasha, Phetole Walter Ndwandwe, Duduzile Edith Nnaji, Chukwudi A. Sambala, Evanson Zondani Adham, Davoud Aduroja, Posi Emmanuel Dipeolu, Isaac Oluwafemi Ibitoye, Segun Emmanuel John-Akinola, Yetunde O. Oluwasanu, Mojisola Morenike Advani, Shailesh M. Afarideh, Mohsen Esteghamati, Alireza Ghajar, Alireza Heidari, Behnam Sayyah, Mehdi Aghaali, Mohammad Agrawal, Anurag Ahmad, Tauseef Ahmadi, Keivan Ahmadi, Sepideh Ahmed, Muktar Beshir Gebrehiwot, Tsegaye Tewelde Gesesew, Hailay Abrha Ahmed, Rushdia Das Gupta, Rajat Ajumobi, Olufemi Akal, Chalachew Genet Demeke, Feleke Mekonnen Melese, Addisu Akalu, Temesgen Yihunie Baraki, Adhanom Gebreegzi Univ Washington Inst Hlth Metr & Evaluat Seattle WA 98195 USA Univ Washington Sch Med Dept Hlth Metr Sci Seattle WA USA Univ Washington Dept Global Hlth Seattle WA 98195 USA Univ Washington Dept Med Seattle WA USA Tabriz Univ Med Sci Sch Nutr & Food Sci Tabriz Iran Kermanshah Univ Med Sci Kermanshah Iran Univ Tehran Med Sci Adv Diagnost & Intervent Radiol Res Ctr Tehran Iran Cairo Univ Dept Neurol Cairo Egypt Jahrom Univ Med Sci Dept Parasitol & Mycol Jahrom Iran Univ Tehran Med Sci TIPS Toxicol & Dis Grp Tehran Iran Isfahan Univ Med Sci Neurosci Res Ctr Esfahan Iran Minist Hlth Dept Publ Hlth Riyadh Saudi Arabia Addis Ababa Univ Sch Publ Hlth Addis Ababa Ethiopia Wachemo Univ Publ Hlth Hosanna Ethiopia Hawassa Univ Coll Med & Hlth Sci Hawassa Ethiopia Madda Walabu Univ Biostat & Hlth Informat Bale Robe Ethiopia Addis Ababa Univ Radiotherapy Ctr Addis Ababa Ethiopia Karolinska Univ Hosp LABMED Huddinge Sweden Univ Tehran Med Sci Res Ctr Immunodeficiencies Tehran Iran Univ Fed Minas Gerais Dept Pediat Dent Belo Horizonte MG Brazil Philippine Inst Dev Studies Res Dept Quezon City Philippines Ain Shams Univ Cardiovasc Med Abbasiya Egypt IRCB Cotonou Benin Dongguk Univ Dept Prevent Med Gyeongju South Korea Kathmandu Univ Dept Community Med Devdaha Nepal Hamadan Univ Med Sci Hamadan Iran Univ Ibadan Dept Community Med Ibadan Nigeria Univ Coll Hosp Dept Community Med Ibadan Nigeria Olabisi Onabanjo Univ Dept Sociol Ago Iwoye Nigeria Cardiff Univ Sch Med Cardiff S Glam Wales Univ Ibadan Coll Med Ibadan Nigeria Elyon Heart Rehabil Ctr Community Cardiovasc Res Unit Ibadan Nigeria Stellenbosch Univ Dept Global Hlth Stellenbosch South Africa South African Med Res Council Cochrane South Africa Cape Town South Africa Ardabil Univ Med Sci Sch Hlth Ardebil Iran Univ Ibadan Dept Hlth Promot & Educ Ibadan Nigeria NIH Social Behav Res Branch Bldg 10 Bethesda MD 20892 USA Georgetown Univ Canc Prevent & Control Washingt

A double burden of malnutrition occurs when individuals, household members or communities experience both undernutrition and overweight. Here, we show geospatial estimates of overweight and wasting prevalence among children under 5 years of age in 105 low- and middle-income countries (LMICs) from 2000 to 2017 and aggregate these to policy-relevant administrative units. Wasting decreased overall across LMICs between 2000 and 2017, from 8.4% (62.3 (55.1-70.8) million) to 6.4% (58.3 (47.6-70.7) million), but is predicted to remain above the World Health Organization’s Global Nutrition Target of <5% in over half of LMICs by 2025. Prevalence of overweight increased from 5.2% (30 (22.8-38.5) million) in 2000 to 6.0% (55.5 (44.8-67.9) million) children aged under 5 years in 2017. Areas most affected by double burden of malnutrition were located in Indonesia, Thailand, southeastern China, Botswana, Cameroon and central Nigeria. Our estimates provide a new perspective to researchers, policy makers and public health agencies in their efforts to address this global childhood syndemic.

关键词： Malnutrition Obesity Risk factors Signs and symptoms

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Shared control of a Brain-actuated Intelligent Wheelchair 11

Shared Control of a Brain-actuated Intelligent Wheelchair

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11th World Congress on Intelligent control and Automation

作者： Duan, Jiding Li, Zhijun Yang, Chenguang Xu, Peng South China Univ Tech Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England

ISBN: (纸本)9781479958252

This paper presents a new shared-control approach for brain-actuated intelligent wheelchair by means of a noninvasive Brain-computer Interface (BCI). The problem caused by the sparse and unsteady feature of BCI command, a two-layer shared-control strategy is proposed to steer the intelligent wheelchair. The first one is a machine decision layer which responsible for enabling/disabling the BCI command in a certain context, such as bifurcations and multiple-directions caused by new obstacles in the environment or deadlocks. The second one is a human intention matching layer which is used to generate suitable motion command with consideration of the human user's ability of driving the wheelchair, as well as the situation awareness of potential directions in a known environment. To achieve efficient navigation and position under condition of decoding uncertainly of BCI, the paper provides a navigation system to validate user's commands. And a steady state visual evoked potential (SSVEP) of the BCI as the human machine interface (HMI), the canonical correlation analysis (CCA) is applied to analyze the frequency components of SSVEP in electroencephalogram(EEG). Experiments have been performed by a number of able-bodied volunteers in a structured known environment. The experiment results show that all volunteers are able to successfully operate the wheelchair with a high level of robustness.

关键词： Shared-control Brain-computer interface CCA SSVEP Obstacle avoidance SLAM

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Decentralised adaptive control of cooperating Robotic manipulators with disturbance observers

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IET control THEORY AND APPLICATIONS 2014年第7期8卷 515-521页

作者： Li, Zhijun Deng, Shuming Su, Chun-Yi Li, Guanglin Yu, Zhangguo Liu, Yanjun Wang, Min S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen Guangdong Peoples R China Beijing Inst Technol Sch Mechatron Engn Beijing Peoples R China Minist Educ Key Lab Biomimet Robots & Syst Beijing Peoples R China Liaoning Univ Technol Sch Sci Jinzhou Liaoning Peoples R China

In this study, the authors present decentralised adaptive controllers for two cooperating robotic manipulators moving an object with constrained trajectory/force in the presence of dynamics uncertainties and external disturbances. The cooperating manipulators are described as an aggregation of subsystems. For control design, first a decentralised local dynamics coupled with physical interactions between subsystems is developed, and then a decentralised adaptive control merging parameter adaptation and disturbance observer is constructed, such that motion and force trajectories converge to the desired manifolds and the effect of non-parametrisable uncertainties is compensated by the disturbance observer. Experiment studies are carried out to show the efficiency of the control design.

关键词： adaptive control control system synthesis decentralised control force control manipulator dynamics observers trajectory control uncertain systems decentralised adaptive controllers cooperating robotic manipulators disturbance observers constrained trajectory constrained force dynamics uncertainties external disturbances control design decentralised local dynamics nonparametrisable uncertainties

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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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