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Robust control of uncertain robotic systems:An adaptive friction compensation approach

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Science China(Technological Sciences) 2021年第6期64卷 1228-1237页

作者： wang qishao ZHUANG Han DUAN ZhiSheng wang QingYun Department of Dynamics and Control Beihang UniversityBeijing 100191China College of Engineering Peking UniversityBeijing 100871China

This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.

关键词： robotic control friction compensation adaptive control robust control

Differential flatness-based distributed control of underactuated robot swarms

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Applied Mathematics and Mechanics(English Edition) 2023年第10期44卷 1777-1790页

作者： Ningbo AN qishao wang Xiaochuan ZHAO Qingyun wang Department of Dynamics and Control Beihang UniversityBeijing 100191China Institute of Computer Application Technology China North Industries Group Corporation LimitedBeijing 100095China

This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

关键词： differential flatness(DF) underactuated robot distributed control synchronization

A review of computational modeling and deep brain stimulation:applications to Parkinson’s disease

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Applied Mathematics and Mechanics(English Edition) 2020年第12期41卷 1747-1768页

作者： Ying YU Xiaomin wang qishao wang Qingyun wang Department of Dynamics and Control Beihang UniversityBeijing 100191China

Biophysical computational models are complementary to experiments and theories,providing powerful tools for the study of neurological diseases.The focus of this review is the dynamic modeling and control strategies of Parkinson’s disease(PD).In previous studies,the development of parkinsonian network dynamics modeling has made great progress.Modeling mainly focuses on the cortex-thalamus-basal ganglia(CTBG)circuit and its sub-circuits,which helps to explore the dynamic behavior of the parkinsonian network,such as synchronization.Deep brain stimulation(DBS)is an effective strategy for the treatment of PD.At present,many studies are based on the side effects of the DBS.However,the translation from modeling results to clinical disease mitigation therapy still faces huge challenges.Here,we introduce the progress of DBS improvement.Its specific purpose is to develop novel DBS treatment methods,optimize the treatment effect of DBS for each patient,and focus on the study in closed-loop DBS.Our goal is to review the inspiration and insights gained by combining the system theory with these computational models to analyze neurodynamics and optimize DBS treatment.

关键词： computational model deep brain stimulation(DBS) Parkinson’s disease(PD) basal ganglia(BG)

Orbit control strategy for Lagrange point orbits based on an analytical method

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Science China(Physics,Mechanics & Astronomy) 2013年第4期56卷 830-839页

作者： Lü Jing LU qishao wang Qi School of Aeronautics Science and Engineering Beihang University

The periodic or quasi-periodic orbits around collinear Lagrange points present many properties that are advantageous for space missions. These Lagrange point orbits are exponentially unstable. On the basis of an analytical method, an orbit control strategy that is designed to eliminate the dominant unstable components of Lagrange point orbits is developed. The proposed strategy enables the derivation of the analytical expression of nonlinear control force. The control parameter of this strategy can be arbitrarily selected provided that the parameter is considerably lower than the negative eigenvalue of motion equations, and that the energy required keeps the same order of magnitude. The periodic or quasi-periodic orbit of controlled equations remains near the periodic or quasi-periodic orbit of uncontrolled equations.

关键词：拉格朗日点周期轨道控制策略基础准周期性控制方程解析表达式非线性控制

Dynamical analysis of bursting oscillations in the Chay-Keizer model with three time scales

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Science China(Technological Sciences) 2011年第8期54卷 2024-2032页

作者： MENG Pan LU qishao wang QingYun Department of Dynamics and Control Beihang University Beijing 100191 China College of Computational Science Zhongkai University of Agriculture and Engineering Guangzhou 510225 China

Based on the Chay-Keizer model with three time scales, we investigate the role of the slowest variable in generating bursting oscillations in pancreaticcells. It is shown that both of the two slow processes can interact to drive fast, medium and slow bursting oscillations typically observed in pancreaticcells. Moreover, diverse patterns of electrical bursting are presented, including the "fold/fold" bursting, "fold/homoclinic" bursting, "fold/Hopf" bursting via "fold/fold" hysteresis loop, and the "fold/fold" bursting via point-point hysteresis loop. Fast-slow dynamics is used to analyze the types and generation mechanisms of these bursting oscillations. The results can be instructive for understanding the role of the slow variables and the current conductance in pancreaticcells activities.

关键词：动力学分析时间尺度爆破振荡模型磁滞回线相互作用慢变量

A station-keeping strategy for collinear libration point orbits

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Theoretical & Applied Mechanics Letters 2011年第3期1卷 78-80页

作者： Jing L,~(a)) qishao Lu,and Qi wang School of Aeronautics Science and Engineering,Beihang University,Beijing 100191,China School of Aeronautics Science and Engineering Beihang University Beijing 100191 China

Spacecrafts in periodic or quasi-periodic orbits near the collinear libration points are proved to be excellent platforms for scientific investigations of various phenomena.Since such periodic or quasi-periodic orbits are exponentially unstable,the station-keeping maneuver is needed. A station-keeping strategy which is found by an analytical method is presented to eradicate the dominant unstable component of the libration point trajectories.The inhibit force transforms the unstable component to a stable component.In this method,it is not necessary to determine a nominal orbit as a reference path.

关键词： analytical method libration points station-keeping strategy periodic or quasi-periodic orbits

Analysis of the Relationship between Vertical Distribution of Four Automatic Stations and Local Precipitation in Taihang Mountain of Linzhou

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Meteorological and Environmental Research 2014年第1期5卷 24-27,35页

作者： wang Jianxin Zhang qishao Zhao Xuedong Zhang Wenhong Anyang Meteorological Bureau in Henan Province

[ Objective] The reseamh aimed to analyze the relationship between vertical distribution of four automatic stations and local precipitation in Taihang Mountain of Linzhou. [ Method] Using mesoscale detection and statistical data of the automatic stations in Henan, the geographical distribution of the precipitation affected by underlying surface in mountainous area of Linzhou was analyzed. [ Result] Surface mesoscale wind field convergence line formed by thermal action of inhomogeneous underlying surface and mountainous terrain and upward movement played the strengthening role to the low-level jet. They affected formation and development of strong convective weather. The geographic distribution of precipitation in mountainous area was highly affected by the terrain, and rainfall, precipitation days and intensity in mountainous area were significantly greater than that in the surrounding hills region. In particular, rainfall on the windward slope significantly increased, and rainfall increased as mountain height within a certain height. [ Conclusion] Hourly ground data analysis at automatic stations had very good forecast indication role in formation, development and dissipation of heavy rain in mountainous areas.

关键词： Taihang Mountain of Linzhou Vertical distribution Local precipitation Terrain China

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神经元耦合系统同步条件的几点注记

北京航空航天大学学报 2006年第3期32卷 320-323页

作者：王海侠陆启韶北京航空航天大学理学院北京100083

研究了2个双向电突触耦合的完全相同的Hindmarsh-Rose神经元模型的完全同步问题.电突触耦合是神经元之间用于通讯的主要方式之一,它的最大功能是使神经元集群发生同步放电活动.以往对于耦合神经系统同步的研究,大多是利用数值方法,缺乏... 详细信息

研究了2个双向电突触耦合的完全相同的Hindmarsh-Rose神经元模型的完全同步问题.电突触耦合是神经元之间用于通讯的主要方式之一,它的最大功能是使神经元集群发生同步放电活动.以往对于耦合神经系统同步的研究,大多是利用数值方法,缺乏确凿的理论依据,对于多个神经元耦合的情形,也没有有效的方法.提出了2种判断完全同步的新方法———李雅普诺夫函数法和模式分解法,与传统的条件李雅普诺夫指数方法只能给出完全同步发生的必要条件相比,得到同步发生的充要条件和充分条件,并给出严格的理论证明.方法可应用到多个振子耦合和非对称耦合的系统中.计算机数值模拟对方法的有效性进行了验证.

关键词：电耦合完全同步李雅普诺夫函数法模式分解法

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无人机集群的微分平坦性与编队控制研究

动力学与控制学报 2023年第12期21卷 79-88页

作者：安宁波王琦少赵小川王青云北京航空航天大学航空科学与工程学院北京100191 中国兵器工业计算机应用技术研究所北京100095

本文研究了无人机集群的微分平坦性,给出了相对运动的微分平坦映射,并以此为基础设计了分布式编队控制器.运动规划方面,通过求解受约束的优化问题,实时生成期望编队轨迹和编队构型.运动控制方面,采用微分平坦映射将运动指令映射为每架... 详细信息

本文研究了无人机集群的微分平坦性,给出了相对运动的微分平坦映射,并以此为基础设计了分布式编队控制器.运动规划方面,通过求解受约束的优化问题,实时生成期望编队轨迹和编队构型.运动控制方面,采用微分平坦映射将运动指令映射为每架无人机的期望状态和控制输入,而后利用局部误差反馈设计分布式编队控制器跟踪期望运动轨迹.针对群体运动的稳定性问题,本文运用李雅普诺夫稳定性理论证明了闭环系统的稳定性,给出了控制参数的选取条件.最后仿真验证了编队控制方法在未知环境下的运动控制效果.

关键词：无人机集群微分平坦运动规划编队控制