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中国机械工程 2024年第8期35卷 1414-1425页

作者：吕播阳孟庆鑫肖怀赖旭芝王亚午吴敏中国地质大学(武汉)自动化学院武汉430074 复杂系统先进控制与智能自动化湖北省重点实验室武汉430074 地球探测智能化技术教育部工程研究中心武汉430074

针对一款波纹管型气动软体驱动器,提出了一种基于改进三元模型的滑模控制方法,并使用RBF神经网络补偿扰动以实现该型驱动器在竖直方向上对期望轨迹的跟踪控制。首先搭建波纹管型气动软体驱动器实验平台,测试并分析该驱动器的动态特性,... 详细信息

针对一款波纹管型气动软体驱动器,提出了一种基于改进三元模型的滑模控制方法,并使用RBF神经网络补偿扰动以实现该型驱动器在竖直方向上对期望轨迹的跟踪控制。首先搭建波纹管型气动软体驱动器实验平台,测试并分析该驱动器的动态特性,基于上述动态特性提出波纹管型气动软体驱动器的改进三元模型;然后利用采集到的实验数据,基于最小二乘算法对其进行参数辨识,从而获得所提模型的参数;进而结合改进三元模型设计滑模控制器,使用RBF神经网络对集总扰动进行补偿,并利用Lyapunov方法分析系统的稳定性;最后通过一系列实验验证了所提方法的有效性。

关键词：波纹管气动软体驱动器三元模型滑模控制径向基函数神经网络

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Piecewise Control Strategy for a Planar Four-link Underactuated Manipulator with Friction

Piecewise Control Strategy for a Planar Four-link Underactua...

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第37届中国控制会议

作者： Haoqiang Chen xuzhi lai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

A piecewise control strategy is proposed to realize the position-posture control of a planar four-link Active-PassiveActive-Active（APAA） underactuated manipulator（UM）. Specially, the particle swarm optimization（PSO） algorithm is used to obtain the target angle of all links based on the constraints of control objects of the system. The overall control process of the system is divided into two stages: Firstly, we design a fuzzy-PI controller for the first link to realize the control target of the passive link, and the error between the current angle and the desired angle of the passive link is converged to zero by adjusting the velocity of the first link. Secondly, the position mode of the servo controller is adopted to control the active links move to their target angles, respectively. Finally, the experimental results of the real system verify the effectiveness of the proposed control strategy.

关键词： underactuated manipulator planar four-link fuzzy-PI control position-posture control

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Control strategy based on iterative method for planar Pendubot

Control strategy based on iterative method for planar Pendub...

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第37届中国控制会议

作者： Zixin Huang xuzhi lai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a position control strategy based on the iterative method for a planar *** control objective of the system is to move the end-point from any initial equilibrium point to a target equilibrium *** presented method is based on the iterative steering,where a converging control law is applied *** order to compute such a control law,the dynamic equations of the system are transformed via partial feedback linearization and nilpotent ***,the simulation results demonstrate that the position control objective is realized by using this control strategy.

关键词： Planar Pendubot Position control Iterative method Nilpotent approximation

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Control strategy based on differential evolution algorithm for planar second-order nonholonomic manipulator

Control strategy based on differential evolution algorithm f...

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第37届中国控制会议

作者： Yawu Wang xuzhi lai Pan Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a two-stage position control strategy based on the differential evolution(DE) algorithm for a planar second-order nonholonomic manipulator,which has one passive joint and this passive joint is not the first joint(planar APA manipulator for short,where m≥1,n≥0).An offline DE algorithm is used to calculate all link target angles corresponding to the target *** to these target angles,a Lyapunov function is constructed to design the controllers A for the control stage 1,which are used to control all active links to their target *** to the constraint equation of the planar APA manipulator,an oscillatory trajectory is planned for the first active link based on the online DE *** the first active link tracks the oscillatory trajectory,it will back to its target angle ***,the passive link will be jointly controlled to its target angle ***,the other Lyapunov function is constructed to design the controllers B for the control stage 2,which are used to control the first active link tracks the target trajectory and control the remaining m+n-1 active links maintain in their target *** results of a planar AAPA manipulator demonstrate the effectiveness of the proposed control strategy.

关键词： Planar second-order nonholonomic manipulator Differential evolution algorithm Lyapunov function Online intelligent trajectory planning

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Quick and Effective Position Control for Planar n-link Underactuated Manipulators Based on Optimization Algorithm

Quick and Effective Position Control for Planar n-link Under...

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第37届中国控制会议

作者： Pan Zhang xuzhi lai Yawu Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In this paper,a simple one-stage control strategy is developed based on optimization algorithm to quickly realize the position control of a planar n-link（n ≥ 3） underactuated manipulator with a passive first *** continuous control of a planar three-link underactuated manipulator with a passive first joint can be realized,and so can the planar n-link（n ≥ 3） ***,one problem that the number of the variables needing to be optimized will increase with the increase of the number of the links will ***,considering the planar three-link manipulator can be controlled to reach to any target position,we employ the differential evolution（DE） algorithm to optimize the angles of only two active links and the design parameters of the corresponding ***,the angles and the corresponding design parameters of other n — 3 active links are kept being *** this way,all link angles can simultaneously converge to their target *** a planar four-link underactuated manipulator with a passive first joint as an example,the simulation results verify the effectiveness and rapidity of the proposed strategy.

关键词： Planar underactuated manipulators First-order nonholonomic system Differential Evolution algorithm Position control One-stage control

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D-S Data Fusion and Efficiency Evaluation for Drilling Process

D-S Data Fusion and Efficiency Evaluation for Drilling Proce...

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第37届中国控制会议

作者： Haipeng Fan xuzhi lai Min Wu School of Automation China University of Geosciences Hubei Key Labortory of Advanced Control and Intelligent Automation for Complex System

Due to the unknown complexity of geological conditions, drilling operations are difficult to carry out. It is of great value to implement drilling measurement while drilling. However, due to the poor working conditions underground, information transmission for the drilling process may be affected, which leads to the loss and conflicts of the data. It is necessary to use effective method to deal with the data and to make evaluation for the drilling process. In this paper, we present a D-S data fusion method and use fused data to form a framework to evaluate efficiency for the drilling process. We can efficiently analyze the entire drilling process and optimize the drilling parameters based on this framework.

关键词： State Monitoring Wireless Sensor Network Data fusion Efficiency evaluation Drilling process

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An Improved Control Strategy for Directional Drilling Attitude

An Improved Control Strategy for Directional Drilling Attitu...

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第37届中国控制会议

作者： Zhen Cai xuzhi lai Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In the process of geological exploration, the development of automatic control is insufficient. The paper presents an improved strategy of attitude control for directional drilling tools used in the geological environment. The drilling kinematics model is linearized with the Taylor series, and the model linearization solves the nonlinear term of the azimuth *** PI controllers are used to control attitude inclination and azimuth, respectively. The results of the transient simulation are presented, and the control effect of improved performance are certificated.

关键词： Directional Drilling Drilling Tools Attitude Control

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Stable Control of Single-Link Flexible-Joint Manipulator

Stable Control of Single-Link Flexible-Joint Manipulator

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第37届中国控制会议

作者： Ze Yan xuzhi lai Qingxin Meng School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a novel approach for stable control of a single-link flexible-joint manipulator（SLFJM）.The control objective is to stabilize the SLFJM at the straight-up equilibrium position from the straight-down equilibrium position and suppress vibration by only using position ***,differential homeomorphic transformation is used to equivalently convert the original system into a new handy ***,the new system is divided into two parts: linear and *** nonlinear part is considered as a virtual disturbance of the linear ***,the Equivalent-input-disturbance-based（EID-based）control system is designed to suppress this virtual nonlinear disturbance at the zero equilibrium *** this way,the control objective of the original system is effectively ***,the numerical results demonstrate its validity.

关键词： Flexible-joint manipulator Equivalent-input-disturbance Global asymptotical stabilization Underactuated system

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Improved Kriging for Drilling Visualization Based on Quantum Genetic Algorithm

Improved Kriging for Drilling Visualization Based on Quantum...

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第37届中国控制会议

作者： Zheng Zhang xuzhi lai Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

To realize drilling visualization, an effective interpolation method is essential to construct three-dimensional *** is an effective interpolation method commonly used by geologists. However, the variogram model parameters in traditional Kriging have a certain subjectivity, which will influence the accuracy of interpolation. Quantum Genetic Algorithm（QGA）is introduced to optimize the variogram model parameters selection in this paper. Elevation values of boreholes are used as data sets for simulation. The results show that the proposed improved Kriging has a better prediction accuracy.

关键词： Kriging Quantum Genetic Algorithm Optimization Interpolation

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A Control Strategy with Zero Residual Vibration for A Planar Single-Link Flexible Manipulator

A Control Strategy with Zero Residual Vibration for A Planar...

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第37届中国控制会议

作者： Qingxin Meng xuzhi lai Ze Yan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

The residual vibration（RV） problem of the flexible link manipulators（FLMs） is very difficult to solve due to the low stiffness and the underactuated feature of these *** paper presents a control strategy with zero RV for a planar singlelink flexible manipulator（PSLFM）.The stable control objective of the system is to stabilize the PSLFM at a target equilibrium point with zero ***,the dynamic model of the PSLFM is built by using the assumed mode method（AMM）.Then,we transform the control to the trajectory tracking control.A forward trajectory and a reverse trajectory are obtained by using a bidirectional trajectories planning ***,these two trajectories are connected by using the genetic algorithm（GA）.After doing this,we get a trajectory of the system from the initial equilibrium point to the target equilibrium ***,we design a trajectory tracking controller based on the sliding mode variable structure control method to control the PSLFM track this *** simulation results show that the PSLFM arrives the target equilibrium point with zero RV,which demonstrates the effectiveness of this control strategy.

关键词： Planar single-link flexible manipulator Underactuated systems Zero residual vibration Trajectory tracking control

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