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Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao wu qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China CIMS Research Center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

A naive optimization method for multi-line systems with alternative machines

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Frontiers of Mechanical Engineering 2019年第4期14卷 377-392页

作者： Weichang KONG Fei QIAO qidi wu School of Electronics and Information Engineering Tongji UniversityShanghai 201804China

The scheduling of parallel machines and the optimization of multi-line systems are two hotspots in the field of complex manufacturing *** the two problems are considered simultaneously,the resulting problem is much more complex than either of *** sufficient training data for conventional data-based optimization approaches is difficult because of the high diversity of system ***,optimization of multi-line systems with alternative machines requires a simple mechanism and must be minimally dependent on historical *** define a general multi-line system with alternative machines,this study introduces the capability vector and matrix and the distribution vector and matrix.A naive optimization method is proposed in accordance with classic feedback control theory,and its key approaches are *** a reasonable target value is provided,the proposed method can realize closed-loop optimization to the selected objective *** studies are performed on a real 5/6-inch semiconductor wafer manufacturing facility and a simulated multi-line system constructed on the basis of the MiniFAB *** show that the proposed method can effectively and efficiently optimize various objective *** method demonstrates a potential for utilization in multi-objective optimization.

关键词： multi-line systems alternative machines feedback control closed-loop optimization

A Task-oriented Modular and Agent-based Collaborative Design Mechanism for Distributed Product Development

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Chinese Journal of Mechanical Engineering 2014年第3期27卷 641-654页

作者： LIU Jinfei CHEN Ming WANG Lei wu qidi School of Electronics and Information Engineering Tongji University School of Mechanical Engineering Tongji University

The rapid expansion of enterprises makes product collaborative design （PCD） a critical issue under the distributed heterogeneous environment, but as the collaborative task of large-scale network becomes more complicated, neither unified task decomposition and allocation methodology nor Agent-based network management platform can satisfy the increasing demands. In this paper, to meet requirements of PCD for distributed product development, a collaborative design mechanism based on the thought of modularity and the Agent technology is presented. First, the top-down 4-tier process model based on task-oriented modular and Agent is constructed for PCD after analyzing the mapping relationships between requirements and functions in the collaborative design. Second, on basis of sub-task decomposition for PCD based on a mixed method, the mathematic model of task-oriented modular based on multi-objective optimization is established to maximize the module cohesion degree and minimize the module coupling degree, while considering the module executable degree as a restriction. The mathematic model is optimized and simulated by the modified PSO, and the decomposed modules are obtained. Finally, the Agent structure model for collaborative design is put forward, and the optimism matching Agents are selected by using similarity algorithm to implement different task-modules by the integrated reasoning and decision-making mechanism with the behavioral model of collaborative design Agents. With the results of experimental studies for automobile collaborative design, the feasibility and efficiency of this methodology of task-oriented modular and Agent-based collaborative design in the distributed heterogeneous environment are verified. On this basis, an integrative automobile collaborative R＆D platform is developed. This research provides an effective platform for automobile manufacturing enterprises to achieve PCD, and helps to promote product numeralization collaborative R＆D and manag

关键词： collaborative design task-oriented modular multi-agent collaboration mechanism collaborative platform

Research of Web-based Workflow Management System

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High Technology Letters 2001年第1期7卷 55-58页

作者：梁浩 wu qidi SHI Junhao CIMS Research Center Tongji University

The state of the art of workflow management techniques in research is introduced. The research and development trends of Workflow Management System (WFMS) are presented. On basis of analysis and comparison of kinds of WFMSs, a WFMS based on Web technology and distributed object management is proposed. Finally, the application of the WFMS in supply chain management is described in detail.

关键词： Workflow management Web technology Supply chain management

IMPULSIVE CONTROL IN MICROORGANISMS CONTINUOUS FERMENTATION

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International Journal of Biomathematics 2012年第2期5卷 33-41页

作者： LIJUAN SHEN ENMIN FENG qidi wu Department of Control Science and EngineeringTongji University Shanghai 200092 P. R. China Department of Mathematics Luoyang Normal University Luoyang 371022 P. R. China Department of Applied Mathematics Dalian University of Technology Dalian 116024 P. R. China Department of Control Science and Engineering Tongji University Shanghai 200092 P. R. China

This work presents the nonlinear dynamical system of continuous fermentation from glycerol to 1,3-propanediol. The impulsive control scheme of continuous culture is intro- duced. By employing impulsive control, Lyapunov＇s method and comparison technique, sufficient conditions are established for the asymptotical stability and synchronization of the dynamical system of continuous fermentation. The upper bound of the impulse interval is also estimated. An example will illustrate the effectiveness of the results in Sec. 4.

关键词： Nonlinear dynamical system equilibrium points asymptotical stability impulsive control.

A Line Complex-Based Evolutionary Algorithm for Many-Objective Optimization

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1150-1167页

作者： Liang Zhang Qi Kang Qi Deng Luyuan Xu qidi wu the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the Jiangsu Province Support Software Engineering R&D Center for Modern Information Technology Application in Enterprise Suzhou 215104China the Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 200092China

In solving many-objective optimization problems(MaO Ps),existing nondominated sorting-based multi-objective evolutionary algorithms suffer from the fast loss of selection *** candidate solutions become nondominated during the evolutionary process,thus leading to the failure of producing offspring toward Pareto-optimal front with *** we find a more effective way to select nondominated solutions and resolve this issue?To answer this critical question,this work proposes to evolve solutions through line complex rather than solution points in Euclidean ***,Plücker coordinates are used to project solution points to line complex composed of position vectors and momentum *** position vectors of the solution points,momentum vectors are used to extend the comparability of nondominated solutions and enhance selection ***,a new distance function designed for high-dimensional space is proposed to replace Euclidean distance as a more effective distancebased *** on them,a novel many-objective evolutionary algorithm(MaOEA)is proposed by integrating a line complex-based environmental selection strategy into the NSGAⅢ*** proposed algorithm is compared with the state of the art on widely used benchmark problems with up to 15 *** results demonstrate its superior competitiveness in solving MaOPs.

关键词： Environmental selection line complex many-objective optimization problems(MaOPs) Plücker coordinate

Weighted Sparse Image Classification Based on Low Rank Representation

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Computers, Materials & Continua 2018年第7期56卷 91-105页

作者： qidi wu Yibing Li Yun Lin Ruolin Zhou College of Information and Communication Engineering Harbin Engineering UniversityHarbin150001China Department of Electrical and Computer Engineering Western New England UniversityUSA

The conventional sparse representation-based image classification usually codes the samples independently,which will ignore the correlation information existed in the ***,if we can explore the correlation information hidden in the data,the classification result will be improved *** this end,in this paper,a novel weighted supervised spare coding method is proposed to address the image classification *** proposed method firstly explores the structural information sufficiently hidden in the data based on the low rank *** then,it introduced the extracted structural information to a novel weighted sparse representation model to code the samples in a supervised *** results show that the proposed method is superiority to many conventional image classification methods.

关键词： Image classification sparse representation low-rank representation numerical optimization.

No-cooperative games for multiple emergency locations in resource scheduling

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Journal of Southeast University(English Edition) 2008年第S1期24卷 88-93页

作者： Yang, Jijun Xu, Weisheng wu, qidi Wang, Guangjing School of Economics and Management Tongji University Shanghai 201804 China School of Electronics and Information Engineering Tongji University Shanghai 201804 China

When an emergency happens, the scheduling of relief resources to multiple emergency locations is a realistic and intricate problem, especially when the available resources are limited. A non-cooperative games model and an algorithm for scheduling of relief resources are presented. In the model, the players correspond to the multiple emergency locations, strategies correspond to all resources scheduling and the payoff of each emergency location corresponds to the reciprocal of its scheduling cost. Thus, the optimal results are determined by the Nash equilibrium point of this game. Then the iterative algorithm is introduced to seek the Nash equilibrium point. Simulation and analysis are given to demonstrate the feasibility and availability of the model.

关键词： emergency management non-cooperative games Nash equilibrium point resources scheduling

Avoiding obstacles by using a proximity infrared sensor skin

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High Technology Letters 2007年第2期13卷 126-130页

作者：曹政才 Fu Yili wu qidi Wang Shuguo Wang Guangguo CIMS Research Center Tongji University Shanghai 200092 P.R. China Robotics Institute Harbin Institute of Technology Harbin 150001 P.R. China

Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot sur-face to form soft sensor skin is very difficult with the traditional technology. In this paper we propose a new method to realize such a *** implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped *** developed sensor skin is a large-area, flexi-ble array of infrared sensors with data processing *** on the skin electronics, it en-dows its carrier with an ability to sense its *** structure, the method of infrared sensor sig-nal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

关键词： robot sensor skin infrared sensor obstacle avoidance