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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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Anti-windup-based dynamic output feedback stabilization for a class of nonlinear systems with actuator saturation 34

Anti-windup-based dynamic output feedback stabilization for ...

引用

第三十四届中国控制会议

作者： WANG Naizhou PEI Hailong TANG Yong Key Laboratory of Surface Functional Structure Manufacturing of Guangdong Higher Education Institutes School of Mechanical and Automotive Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology

ISBN: (纸本)9789881563897

This paper focuses on the anti-windup-based dynamic controller synthesis problem for a certain class of nonlinear systems subject to actuator saturation. Based on the Linear-Fractional Representation(LFR) techniques, the original system is transformed into a linear system incorporating a sector-bounded nonlinearity and a saturation nonlinearity with an additional linear-fractional constraint. By using a quadratic Lyapunov function and with a modified sector condition describing the saturation nonlinearity, LMI-based conditions for the synthesis of an anti-windup-based dynamic controller are presented aiming at enlarging the estimated region of attraction(ROA) of the closed-loop systems. A numerical example illustrates the effectiveness of the proposed approaches.

关键词： Anti-windup,nonlinear system,region of attraction,linear matrix inequality(LMI)

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Collision Position Sensing for Manipulator Using Force/Torque Sensor 34

Collision Position Sensing for Manipulator Using Force/Torqu...

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第三十四届中国控制会议

作者： LENG Yuquan CHEN Zhengcang ZHANG Wei ZHANG Yang HE Xu LUO Haitao ZHOU Weijia Department of Space Automation Technologies & Systems the State Key Laboratory of RoboticsShenyang Institute of Automation University of Chinese Academy of Science

ISBN: (纸本)9781467374439

Force sensing including collision position, force direction and force size makes robots smoothly interact with environment to strongly adapt to outside world. Skin sensing imitates principle of human skin using special material and physical structure with disadvantages of complex design, low sampling rate, and poor generality and so on. In this paper, the method of using fore/torque sensor to calculate collision position, force direction and force size is provided. We detail elaborate algorithm based on physical principle, and unified modeling method for basic geometric surface. Considering algorithm solvability and uniqueness, three constraints are proposed, which are joint constraint, contour constraint and force direction constraint. In order to solve conflict solution of algorithm in redundant constraints, we propose compatibility and method. In addition, gravity compensation and dynamic compensation are also described for working manipulator in gravity and dynamic environment. As a result of our simulation experiment, we would find that this method is effective for manipulator to measure collision position.

关键词： Collision Position Force/Torque Sensor Skin Sensor Manipulator

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Population projection of the Indian subcontinent using TP-aided WASD neuronet

Population projection of the Indian subcontinent using TP-ai...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Yunong Zhang Wan Li Liangyu He Junqiao Qiu Hongzhou Tan School of Data and Computer Science Sun Yat-sen University (SYSU) Guangzhou China Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China

ISBN: (纸本)9781509040940

The population projection of the Indian subcontinent, which is closely related to the future development of this region and even the whole world, has catched great attention among sociologists as well as scientists. However, most of the former researches are just based on fertility, mortality or other individual quantifiable factors by using some traditional statistical models and thus may lack all-sidedness in their results. The historical population data are the comprehensive reflection of population development under the influence of all factors. Based on the historical population data over 2000 years, a feedforward neuronet equipped with the weights-and-structure-determination (WASD) algorithm aided by twice-pruning (TP) technique is constructed. Besides, by introducing the cubic spline and error evaluation methods, the neuronet shows great performance in the population projection. Due to the marvelous learning and generalization abilities of the presented TP-aided WASD neuronet, we successfully draw up the population projection for the Indian subcontinent.

关键词： Sociology Statistics Splines (mathematics) Neurons Biological system modeling Feedforward neural networks Computational modeling

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GZ-type complex dynamic system solving online for time-varying complex matrix inverse

GZ-type complex dynamic system solving online for time-varyi...

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International Conference on Information and Automation (ICIA)

作者： Deyang Zhang Penghao He Nanhao Wang Bolin Liao Yunong Zhang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China School of Data and Computer Science Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781509041039

A novel complex dynamic system, termed GZ-type (gradient-Zhang type) complex dynamic system, is proposed and investigated for solving online the time-varying complex matrix inverse problem, which is based on the ingenious combination of the conventional gradient dynamic system and the recently-proposed Zhang dynamic system. Theoretical results and simulation results both show the efficacy of the proposed complex model for time-varying complex matrix inversion.

关键词： Convergence Time-varying systems Mathematical model Recurrent neural networks Inverse problems Computational modeling

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Link from ZD control to pascal's triangle illustrated via multiple-integrator systems

Link from ZD control to pascal's triangle illustrated via mu...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Yunong Zhang Huinan Xiao Dechao Chen Sitong Ding Pei Chen School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China

ISBN: (纸本)9781509040940

This paper researches the tracking-control problem of multiple-integrator (MI) systems via Zhang dynamics (ZD), which is a powerful class of dynamics to solve online time-varying problems. Based on design procedures of the so-called ZD controllers for five low-order integrator systems, the general formula of the ZD controller for the nth-order integrator system is elaborately given, and theoretical analyses are conducted to substantiate the excellent exponential convergence performance of the tracking controllers of the MI systems. In addition, the link from ZD control to Pascal's triangle (PT) found in this paper contributes to a quick and proper acquisition of the mathematical expression of the ZD controller.

关键词： Convergence Trajectory Fuzzy systems Knowledge discovery Information science Sun

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ZG tracking controller of z2g1 type for fractional power system

ZG tracking controller of z2g1 type for fractional power sys...

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International Conference on Information and Automation (ICIA)

作者： Yunong Zhang Fangzheng Lai Liangyu He Wan Li Jinjin Wang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China School of Data and Computer Science Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781509041039

The output tracking control problem of fractional power system is investigated in this paper. By combining Zhang dynamics (ZD) method and gradient dynamics (GD) method, i.e., the so-called ZG method, a tracking controller of z2g1 type is proposed for fractional power system. The design procedure is illuminated through a specific fractional power system. Besides, the method can be extended to the more general high-order nonlinear system of fractional power. Finally, four examples are included to show the feasibility and effectiveness of ZG method.

关键词： Trajectory Power system stability Nonlinear dynamical systems Power system dynamics

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Optimal parameter value of Zhang equivalence for MVN redundancy resolution at velocity and acceleration levels

Optimal parameter value of Zhang equivalence for MVN redunda...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Yunong Zhang Xiaogang Yan Yinyan Zhang Dechao Chen Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China

The equivalent relationship of two general scheme formulations at joint velocity and joint acceleration levels is established in this paper for robotic redundancy resolution, i.e., the so-called Zhang equivalence (ZE). As one representative case, ZE of the minimum velocity norm (MVN) type (i.e., MVN-type ZE) is further investigated for redundancy resolution. Moreover, computer simulations together with illustrative numerical experiments based on the widely-used robot manipulator PUMA560 show the phenomenon that an optimal equivalence value of the equivalent parameter exists within effective range from two different perspectives of equivalence; and then reveal the optimal value of the equivalent parameter in two situations from such perspectives.

关键词： Redundancy Manipulators Acceleration Kinematics Computer simulation Computers

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Simple effective Zhang-dynamics stabilization control of the 4th-order hyper-chaotic Lu system with one input

Simple effective Zhang-dynamics stabilization control of the...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Yunong Zhang Tianjian Qiao Deyang Zhang Hongzhou Tan Dong Liang School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China

This paper aims at achieving the stabilization control of hyper-chaotic Lu system with only one control input. By employing Zhang dynamics (ZD) method, which is a simple and effective method for designing control input, the expression of the desired controller is thus obtained. This easy-to-design controller, synthesized by following specific steps of ZD design method, is able to stabilize the 4th-order hyper-chaotic Lu system to the zero equilibrium steadily. Simple engineering-type theoretical analysis is given. In addition, simulations are conducted to testify the efficacy of the presented ZD controller in stabilizing the hyper-chaotic Lu system.

关键词： Trajectory Chaotic communication Power system dynamics Design methodology Convergence

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Command Filtered backstepping-based Flight control of Unmanned Helicopters with Disturbance Observers 34

Command Filtered backstepping-based Flight Control of Unmann...

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第三十四届中国控制会议

作者： HE Yuebang PEI Hailong ZHOU Hongbo School of Information Engineering Wuyi University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Hunan Institute of Science and Technology

ISBN: (纸本)9781467374439

A Command filtered backstepping control augmented with disturbance observer(CFBC+DO) is presented to deal with the problem of robust trajectory tracking for unmanned helicopters. The main work relies on the way to reduce the control calculation works and compensate the disturbances acting on the helicopter, which are the main reason of causing the tracking errors. Firstly, a nonlinear DO is presented to estimate the lumped disturbances which are composed of external disturbances and neglected model uncertainties. Then a CFBC is designed for the helicopter's trajectory tracking. Since the CFBC uses a command filter to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, it significantly simplifies the backstepping implementation. Furthermore, by integrating the estimated disturbances into CFBC, the global exponential stability of the compensated tracking errors are proved by using Lyapunov theory. At last, simulation results illustrate the efficiency of the proposed method.

关键词： Command Filtered Backstepping,Disturbance Observer,Trajectory Tracking,Unmanned Helicopter,Lyapunov Theory

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Development of Kinect based teleoperation of Nao robot

Development of Kinect based teleoperation of Nao robot

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Chunxu Li Chenguang Yang Peidong Liang Angelo Cangelosi Jian Wan Center for Robotics and Neural Systems Plymouth University UK Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Marine Science and Engineering Plymouth University UK

In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.

关键词： Cameras Robot kinematics Image color analysis Head Robot vision systems

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