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Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1039-1050页

作者： Chi Ma dianbiao dong the School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown *** eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the *** addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader *** address this problem,a neural network state observer based on the leader state information is ***,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite ***,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

关键词： Finite-time control multi-agent systems neural network prescribed performance control time-varying formation control

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Optimal Variable Stiffness Control and Its Applications in Bionic Robotic Joints:A Review

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Journal of Bionic Engineering 2023年第2期20卷 417-435页

作者： Yuanxi Sun Yuntao Tang Jia Zheng dianbiao dong Long Bai State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing400044China School of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing400065China School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an710072China

Variable Stiffness Actuation(VSA)is an efficient,safe,and robust actuation technology for bionic robotic joints that have emerged in recent *** introducing a variable stiffness elastomer in the actuation system,the mechanical-electric energy conversion between the motor and the load could be adjusted on-demand,thereby improving the performance of the actuator,such as the peak power reduction,energy saving,bionic actuation,*** present,the VSA technology has achieved fruitful research results in designing the actuator mechanism and the stiffness adjustment servo,which has been widely applied in articulated robots,exoskeletons,prostheses,***,how to optimally control the stiffness of VSAs in different application scenarios for better actuator performance is still challenging,where there is still a lack of unified cognition and ***,from the perspective of optimal VSA performance,this paper first introduces some typical structural design and servo control techniques of common VSAs and then explains the methods and applications of the Optimal Variable Stiffness Control(OVSC)approaches by theoretically introducing different types of OVSC mathematical models and summarizing OVSC methods with varying optimization goals and application scenarios or *** addition,the current research challenges of OVSC methods and possible innovative insights are also presented and discussed in-depth to facilitate the future development of VSA control.

关键词： Bionic robotic joint Variable stiffness actuator Optimal control Robotics Controller design

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Design and experiment of concentrated flexibility-based variable camber morphing wing

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Chinese Journal of Aeronautics 2022年第5期35卷 455-469页

作者： Yuzhu LI Wenjie GE Jin ZHOU Yonghong ZHANG donglai ZHAO Zhuo WANG dianbiao dong School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China

The morphing wing has a significant positive effect on the aerodynamic performance of the *** paper describes a leading-edge of variable camber wing with concentrated flexibility based on the geared five-bar *** driving points of morphing skin formed by the glass fibre composite sheet were optimized to make the skin deformation smooth.A geared fivebar kinematic mechanism rigidly connected to the skin was proposed to drive the leading-edge ***,a new kind of concentrated flexure hinge was designed using the pseudorigid-body method and applied to the joint between the rigid mechanism and the ***,the leading-edge prototypes with traditional hinges and flexure hinges were produced,*** feasibility of the concentrated flexibility leading-edge was verified through the comparative experiments of ground ***,aerodynamic analysis was carried out to compare the concentrated flexure leading-edge wing with the original airfoil.

关键词： Aircraft Concentrated flexure hinge Leading-edge Morphing wing Pseudo-rigid-body model

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Adaptive Neural Network Finite-Time Prescribed Performance Consensus Control for a Class of Second-Order Multi-Agent Systems

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Guidance, Navigation and Control 2024年第2期4卷 80-103页

作者： Chi Ma Jiahe Huo dianbiao dong School of Mechanical Engineering Northwestern Polytechnical University Xi'an 710072 P.R.China

This research investigates the semi-global practicalfinite-time prescribed performance consensus control issue for a class of second-order multi-agent systems with unknown nonlinear *** the previousfinite-time control set by afinite-time performance function,we givefinite-time control by constraining the terminal sliding manifold in a performance *** addition,an adaptive neural network control scheme is designed,which simplifies the controller and avoids the chattering issue existing in traditional sliding mode ***,a novel adaptivefinite-time prescribed performance consensus control strategy is designed,which ensures that all system variables are semi-globally practicalfinite-time stable and consensus errors of the multi-agent systems converge within the prescribed region infinite *** effectiveness and practicality of the presented control strategy are evaluated by conducting simulation cases.

关键词： Neural network prescribed performance multi-agent systems finite time

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Review of Recent Progress in Robotic Knee Prosthesis Related Techniques:Structure,Actuation and Control

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Journal of Bionic Engineering 2021年第4期18卷 764-785页

作者： Yuanxi Sun Hao Tang Yuntao Tang Jia Zheng dianbiao dong Xiaohong Chen Fuqiang Liu Long Bai Wenjie Ge Liming Xin Huayan Pu Yan Peng Jun Luo State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing 400044China School of Mechanical Engineering Tianjin UniversityTianjin 300072China College of Mechanical Engineering Chongqing UniversityChongqing 400044China School of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing 400065China School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China Department of Mechanical Engineering Vrije Universiteit Brussel1050 BrusselsBelgium Department of Mechanical&Industrial Engineering University of TorontoToronto M5S 2E8Canada Research Institute of Unmanned Surface Vessel(USV)Engineering Shanghai UniversityShanghai 200444China

As the essential technology of human-robotics interactive wearable devices,the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social *** the development of mechanical and mechatronic science and technology,the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ***,with intelligent human-robotics control strategies and algorithms,the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing ***,to help readers to obtain an overview of recent progress in robotic knee prosthesis,this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years(2010−2020)regarding(1)mechanical design,including uniaxial,four-bar,and multi-bar knee structures,(2)actuating technology,including rigid and elastic actuation,and(3)control method,including mode identification,motion prediction,and automatic *** and qualitative analysis and comparison of robotic knee prosthesis-related techniques are *** development trends are concluded as follows:(1)bionic and lightweight structures with better mechanical performance,(2)bionic elastic actuation with energy-saving effect,(3)artificial intelligence-based bionic prosthetic ***,challenges and innovative insights of customized lightweight bionic knee joint structure,highly efficient compact bionic actuation,and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

关键词： bionic robotic knee prosthesis prosthetic knee mechanism actuation control

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