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Aircraft-on-ground path following control by dynamical adaptive backstepping

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Chinese Journal of Aeronautics 2013年第3期26卷 668-675页

作者： Chen Bihua Jiao Zongxia shuzhi sam ge Science and Technology on Aircraft Control Laboratory Beihang University Department of Electrical & Computer Engineering National University of Singapore

The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.

关键词： Adaptive control Aircraft-on-ground Backstepping Nonlinear dynamical systems Path following

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Stability and stabilization of a class of switched stochastic systems with saturation control

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Science China(Information Sciences) 2021年第12期64卷 147-159页

作者： Yingxin GUO shuzhi sam ge Jianting FU Chao XU School of Mathematical Sciences Qufu Normal University Department of Electrical and Computer Engineering National University of Singapore Chongqing Institutes of Green and Intelligent Technology Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Control Science and Engineering Zhejiang University

A switching system always comprises of several subsystems and a rule supervising the switching between the subsystems. A major problem that is often inherent to all dynamical systems is actuator saturation. Saturation is a nonlinear property that nonlinearly maps small input signals to the output,which may affect the system properties and even destroy them. In this study, stability and stabilization of a class of switched stochastic systems with saturation control was investigated. First, the variation parameter method was used to present the integral form of switched stochastic systems. Second, to guarantee that the zero solution is globally exponentially stable in mean square, two sufficient conditions were obtained using direct computation with Gronwall inequality and indirect method with matrix theory, respectively. Further,another simple sufficient condition was obtained for the stability of the systems using the row norm, column norm, and Frobenius norm. Finally, two examples were used to illustrate the preciseness and effectiveness of the results. Moreover, various control designs were observed to stabilize the systems, which differ from the technique of linear matrix inequalities.

关键词： switched stochastic systems matric theory Gronwall inequality stability

Adaptive Neural Region Tracking Control of Multi-fully Actuated Ocean Surface Vessels

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 77-83页

作者： Xiaoming Sun shuzhi sam ge the Department of Automation Science and Electrical Engineering Beihang University (BUAA) the Department of Computer Science and Engineering University of Electronic Science and Technology of China Department of Electrical and Computer Engineering National University of Singapore

In this paper, adaptive neural network region tracking control is designed to force a group of fully actuated ocean vessels with limited sensing range to track a common moving target region, in the presence of uncertainties and unknown disturbances. In this control concept, the desired objective is specified as a moving region instead of a stationary point, region or a path. The controllers guarantee the connectivity preservation of the dynamic interaction network, and no collisions happen between any ocean vessels in the group. The tracking control design is based on the artificial potential functions, approximation-based backstepping design technique, and Lyapunov s method. It is proved that under the adaptive neural network control law, the tracking error of each ocean vessel converges to an adjustable neighborhood of the origin, although some of them do not access the desired target region directly. Simulation results are presented to illustrate the performance of the proposed approach.

关键词： Artificial neural networks Target tracking Sea surface Collision avoidance Approximation methods

Development of a navigation performance evaluation system

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Science China(Information Sciences) 2020年第12期63卷 263-265页

作者： Fangfang ZHAO Wei ZHANG shuzhi sam ge School of Computer Science and Engineering Center for RoboticsUniversity of Electronic Science and Technology of China Department of Electrical and Computer Engineering National University of Singapore Institute for Future (IFF) Qingdao University

Dear editor,Owing to little exploration experience and great technical difficulty of deep space exploration autonomous navigation, the corresponding navigation performance evaluation system is seldom perfected [1].

关键词： Autonomous navigation Performance evaluation Evaluation system Evaluation indicator Evaluation method

A Filtering Approach Based on MMAE for a SINS/CNS Integrated Navigation System

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1113-1120页

作者： Fangfang Zhao Cuiqiao Chen Wei He shuzhi sam ge School of Computer Science and Engineering and Center for RoboticsUniversity of Electronic Science and Technology of ChinaChengdu 611731China School of Automation and Electrical Engineering University of Science and Technology of BeijingBeijing 100083China Social Robotics Laboratory Interactive Digital Media Instituteand Department of Electrical and Computer EngineeringNational University of SingaporeSingapore 117576Singapore Singapore 117576 Singapore

This paper explores multiple model adaptive estimation(MMAE) method, and with it, proposes a novel filtering algorithm. The proposed algorithm is an improved Kalman filter— multiple model adaptive estimation unscented Kalman filter(MMAE-UKF) rather than conventional Kalman filter methods,like the extended Kalman filter(EKF) and the unscented Kalman filter(UKF). UKF is used as a subfilter to obtain the system state estimate in the MMAE method. Single model filter has poor adaptability with uncertain or unknown system parameters,which the improved filtering method can overcome. Meanwhile,this algorithm is used for integrated navigation system of strapdown inertial navigation system(SINS) and celestial navigation system(CNS) by a ballistic missile's motion. The simulation results indicate that the proposed filtering algorithm has better navigation precision, can achieve optimal estimation of system state, and can be more flexible at the cost of increased computational burden.

关键词： Celestial navigation integrated navigation multiple model adaptive estimation unscented Kalman filter (MMAEUKF) strap-down inertial navigation

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Adaptive control for an uncertain robotic manipulator with input saturations

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Control Theory and Technology 2016年第2期14卷 113-121页

作者： Trong-Toan TRAN shuzhi sam ge Wei HE Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Faculty of Electronic Technology Industrial University of rio Chi Minh City Ho Chi Minh City Vietnam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China

In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.

关键词： Robotic manipulator adaptive control uncertain parameter input saturation trajectory tracking

Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic Engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun shuzhi sam ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

Maximum entropy searching

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CAAI Transactions on Intelligence Technology 2019年第1期4卷 1-8页

作者： Rui Jiang Hui Zhou Han Wang shuzhi sam ge Institute for Future(IFF) Qingdao UniversityQingdao 266071People’s Republic of China School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering National University of SingaporeSingapore 117583Singapore

This study presents a new perspective for autonomous mobile robots path searching by proposing a biasing direction towards causal entropy maximisation during random tree *** entropy-biased rapidly-exploring random tree(ME-RRT)is proposed where the searching direction is computed from random path sampling and path integral approximation,and the direction is incorporated into the existing rapidly-exploring random tree(RRT)*** of ME-RRT including degenerating conditions and additional time complexity are also *** performance of the proposed approach is studied,and the results are compared with conventional RRT/RRT*and goal-biased approach in 2D/3D *** show that trees are generated efficiently with fewer iteration numbers,and the success rate within limited iterations has been greatly improved in complex environments.

关键词： ME-RRT RRT

HARD DISK DRIVES CONTROL IN MOBILE APPLICATIONS

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Journal of Systems Science & Complexity 2007年第2期20卷 215-224页

作者： shuzhi sam ge Beibei REN Tong Heng LEE Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Faculty of Engineering National University of Singapore Singapore 119260 Singapore

In this paper, control design is investigated for hard disk drives in mobile applications with unknown external arbitrarily fast time-varying disturbances. The disturbances can be estimated with exponential accuracy using the proposed disturbance observer based on a series of integral filters. The position error signal will converge to zero with the proposed control technique for systems subjected to the unknown disturbances. The effectiveness of the proposed method is demonstrated by extensive simulation studies.

关键词： Hard disk drives time-varying disturbances