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Adaptive RBF neural network control of robot with actuator nonlinearities

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控制理论与应用（英文版） 2010年第2期8卷 249-256页

作者： Jinkun LIU, Yu LU (school of automation science and electrical engineering, beijing university of aeronautics and astronautics, beijing 100191, china) school of automation science and electrical engineering Beijing University of Aeronautics and Astronautics Beijing China

In this paper, an adaptive neural network control scheme for robot manipulators with actuator nonlinearities is presented. The control scheme consists of an adaptive neural network controller and an actuator nonlinearities compensator. Since the actuator nonlinearities are usually included in the robot driving motor, a compensator using radial basis function (RBF) network is proposed to estimate the actuator nonlinearities and eliminate their effects. Subsequently, an adaptive neural network controller that neither requires the evaluation of inverse dynamical model nor the time-consuming training process is given. In addition, GL matrix and its product operator are introduced to help prove the stability of the closed control system. Considering the adaptive neural network controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded (UUB). The whole scheme provides a general procedure to control the robot manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.

关键词： Adaptive control RBF neural network Actuator nonlinearity Robot manipulator Deadzone

PERFORMANCE EVALUATION OF SEVERAL FUSION APPROACHES FOR CCD/SAR IMAGES

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Chinese Geographical science 2003年第1期13卷 91-96页

作者： WANG yan-li, CHEN Zhe(school of automation science and electrical engineering, beijing university of aeronautics and astronautics, beijing 100083, P. R. china) school of automation science and electrical engineering Beijing University of Aeronautics and Asturonautics 北京

Several image fusion approaches for CCD/SAR images are studied and the performance evaluation of these fusion approaches is completed in this paper. Firstly, the preprocessing of CCD/SAR images before fusion is fulfilled. Then, the image fusion methods including linear superposition, nonlinear operator method and multiresolution methods, of which the multiresolution methods include Laplacian pyramid, ratio pyramid, contrast pyramid, gradient pyramid, morphological pyramid and discrete wavelet transform, are adopted to fuse two types of images. Lastly, the four performance measures, standard deviation, entropy, cross entropy and spatial frequency, are calculated to compare the fusion results by different fusion approaches in this paper. Experimental results show that contrast pyramid, morphology pyramid and discrete wavelet transformation in multiresolution approaches are more suitable for CCD/SAR image fusion than other ones proposed in this paper and the objective performance evaluation of CCD/SAR image fusion approaches are effective.

关键词： image fusion performance evaluation CCD image SAR image

Unmanned air/ground vehicles heterogeneous cooperative techniques:Current status and prospects

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science china(Technological sciences) 2010年第5期53卷 1349-1355页

作者： DUAN HaiBin & LIU SenQi National Key Laboratory of science and Technology on Holistic Flight Control,school of automation science and electrical engineering,beijing university of aeronautics and astronautics,beijing 100191,china National Key Laboratory of science and Technology on Holistic Flight Control School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging *** cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue *** paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual *** main problems and future directions in this field were also analyzed in *** innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems.

关键词： unmanned air vehicle(UAV) unmanned ground vehicle(UGV) heterogeneous cooperation

Theory and techniques of data mining in CGF behavior modeling

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science china(Information sciences) 2011年第4期54卷 717-731页

作者： YIN YunFei 1,2,GONG GuangHong 2 & HAN Liang 2 1 College of Computer science,Chongqing university,Chongqing 400044,china 2 school of automation science and electrical engineering,beijing university of aeronautics and astronautics,beijing 100083,china College of Computer science Chongqing University Chongqing China school of automation science and electrical engineering Beijing University of Aeronautics and Astronautics Beijing China

For the large quantity of data,rules and models generated in the course of computer generated forces (CGFs) behavior modeling,the common analytical methods are statistical methods based on the tactical rules,tactical doctrine and empirical ***,from the viewpoint of data mining,we can find many of these analytical methods are also each-and-every different data mining *** this paper,we survey the data mining theory and techniques that have appeared in the course of CGF behavior modeling from the viewpoint of data ***,we redefine and reclassify these theories and techniques according to the research requirements of data mining (the knowledge structure of data mining).We aim to help the CGF investigators to learn the key points and the research methods of the data intelligent processing in the CGF behavior modeling,and thus we can provide the references for the colleagues who are engaged in the research and practice of the CGF behavior modeling by this *** also introduce our ongoing work on the CGF behavior modeling based on data mining.

关键词： CGF CGF behavior modeling data mining theory and techniques

Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui lin yan school of automation science and electrical engineering Beihang UniversityBeijing 100190China College of electrical engineering and automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

High-performance flexible semiconductor fibres for multi-scenario communication applications

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science china Materials 2024年第7期67卷 2363-2364页

作者： Qinghui lin yang Li Guozhen shen school of Information science and engineering University of JinanJinan 250022China school of Microelectronics Shandong UniversityJinan 250101China school of Integrated Circuits and Electronics beijing Institute of Technology Beijing 100081China

With the advances in the field of flexible fibre technology in recent years,a variety of flexible fibres with different preparation processes have emerged[1,2].However,most of the flexible fibres in the past have structural breaks,making them unsuitable for long-term use as wearable fabrics[3,4].Glass semiconductors are widely used in thermally stretched fibres due to their advantages such as controllable fluidity,but they suffer from electronic defects compared with crystalline semi conductors in electronic semiconductors such as silicon(Si)and germanium(Ge)[5].Obviously,the semiconductor component in flexible optic fibres is a key component in regulating their mechanical and electrical properties[6].

关键词： wear fibres fibre

Noise helped manifestation of intrinsic frequency:A case study in the mesoscopic hormone signaling system

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Progress in Natural science:Materials International 2009年第10期19卷 1209-1214页

作者： lin Ji a,,Yuanyuan Zhang a,Xiufeng Lang b,Wenxiang Hu a,Qianshu Li c a Department of Chemistry,Capital Normal university,beijing 100048,china b school of science,beijing university of aeronautics and astronautics,beijing 100191,china c The Institute for Chemical Physics,beijing Institute of Technology,beijing 100081,china Department of Chemistry Capital Normal University Beijing 100048 China school of science Beijing University of Aeronautics and Astronautics Beijing 100191 China The Institute for Chemical Physics Beijing Institute of Technology Beijing 100081 China

The selective sustainment of nonlinear systems to signals is of great significance to signal transduction in living *** take hormone signaling as an example,and investigate the sustainment of internal and external *** results prove that signals with "intrinsic frequency",no matter if it is noise induced or external injected,can be selectively sustained by exploiting internal and/or external *** the internal and external noise can optimize the noise-induced signals,and the optimization is rather robust to the disturbance of external signals with other *** results are of significance for weak signal detection and transduction in the presence of external signals.

关键词： Noise Intrinsic frequency Mesoscopic system

A Powerful Simulation Language for Large and Complex Models

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Systems science and Systems engineering 1998年第2期8卷 106-114页

作者： lin Jian The Management school, beijing university of aeronautics & astronautics beijing, 100083, china

To tackle large and complex problems, a modern simulation modeling system must posses six characteristics: simplicity, user extensibility, object orientation, flexibility, capability, and initialization. Simplicity allows those users who are nonprofessionals in simulation modeling to use the system to build their models. User extensibility is a self perfection mechanism by which the user is able to extend the abilities of the system for large and complex problems. Object oriented methodology is a natural way of simulation modeling. Flexibility can increase the range to which the system can be applied. Powerful systems satisfy demand for ever growing complicated problems. Efficient facilities for the initialization of a model reduces the pain of initializing complicated models. The GPMS language owns each of these features. It is an English like user extensible simulation language, providing simplicity for less experienced users and allowing new data types to be defined to increase its ability. It gives the user a choice between object oriented and function oriented modeling style. Its flexibility in building models prevents the user from obeying strict rules. Its powerful constructs allow the user to describe arbitrarily complicated models. Intelligent model initialization reduces the user’s effort greatly.

关键词： simulation language simulation modeling user extensibility object orientation GPMS activity cycle diagram the Three Phase Approach

Object-oriented World-view for Discrete-Event Simulation Modelling

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Systems science and Systems engineering 1996年第4期6卷 411-416页

作者： lin Jian(The Management school beijing university of aeronautics & astronautics beijing 100083 china)

Object-oriented world-view provides a natural and powerful paradignl for expressing system elements and their dynamic behaviour for discrete-event simulation. Simulation gives the critical ability to study the dynamic behaviour of the models that are defined with object-voriented means. This paper first examines the ways of applying the object-oriented world-view to three major discrete simulation modelling approaches, then considers the process and merits of object-oriented simulation modelling.

关键词： Object orientation discrete-event simulation object-oriented modelling