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Bioinspired backstepping sliding mode control and adaptive sliding innovation filter of quadrotor unmanned aerial vehicles

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Biomimetic Intelligence & Robotics 2023年第3期3卷 49-58页

作者： Zhe xu Tao Yan simon x.yang SAndrew Gadsden School of Engineering University of GuelphGuelph N1G 2V7Canada Department of Mechanical Engineering McMaster UniversityHamilton L8S 4L8Canada

Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent *** paper presents a bioinspired control strategy by integrating the backstepping sliding mode control technique and a bioinspired neural dynamics *** effects of both disturbances and system and measurement noises on the quadrotor unmanned aerial vehicle control performance have been addressed in this *** proposed control strategy is robust against disturbances with guaranteed stability proven by the Lyapunov stability *** addition,the proposed control strategy is capable of providing smooth control inputs under *** the modeling uncertainties,the adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates to improve tracking ***,the simulation results demonstrate that the proposed control strategy provides satisfactory tracking performance for a quadrotor unmanned vehicle operating under disturbances and noises.

关键词： Trajectory tracking Backstepping sliding mode Sliding innovation filter Unmanned aerial vehicle

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

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IET Cyber-Systems and Robotics 2022年第3期4卷 153-162页

作者： Zhe xu Tao Yan simon x.yang S.Andrew Gadsden School of Engineering University of GuelphGuelphOntarioCanada Department of Mechanical Engineering McMaster UniversityHamiltonOntarioCanada

Tracking control has been a vital research topic in *** paper presents a novel hybrid control strategy for an unmanned underwater vehicle(UUV)based on a bio-inspired neural dynamics *** enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional ***,a novel sliding mode control is proposed,which is capable of providing smooth and continuous torque commands free from *** comparative studies,the proposed combined hybrid control strategy has ensured control signal smoothness,which is critical in real‐world applications,especially for a UUV that needs to operate in complex underwater environments.

关键词： backstepping bioinspired neural dynamics sliding mode control unmanned underwater vehicle

Robust stabilization and disturbance attenuation for a class of underactuated mechanical systems

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Journal of Central South University 2012年第9期19卷 2488-2495页

作者：赖旭芝潘昌忠吴敏佘锦华 simon x.yang School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation(Central South University) School of Engineering University of Guelph School of Computer Science Tokyo University of Technology

The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unstable equilibrium position in the presence of parametric uncertainties and external disturbance. First, in the swing-up area, it is shown that the time derivative of energy is independent of the parameter uncertainties, but exogenous disturbance may destroy the characteristic of increase in mechanical energy. So, a swing-up controller with compensator is designed to suppress the influence of the disturbance. Then, in the attractive area, the control problem is formulated into a H~ control framework by introducing a proper error signal, and a sufficient condition of the existence of Hoo state feedback control law based on linear matrix inequality （LMI） is proposed to guarantee the quadratic stability of the control system. Finally, the simulation results show that the proposed control approach can simultaneously handle a maximum ±10% parameter perturbation and a big disturbance simultaneously.

关键词： underactuated mechanical systems robust stabilization disturbance attenuation H∞ linear matrix inequality (LMI)

移动机器人的完全遍历路径规划:生物激励与启发式模板方法

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模式识别与人工智能 2006年第1期19卷 122-128页

作者：邱雪娜刘士荣俞金寿 simon x.yang 宁波大学电气工程与自动化研究所宁波315211 华东理工大学自动化研究所上海200237 School of Engineering The University of GuelphGuelphOntarioCanada N1G 2W1

提出了基于生物激励神经网络的一种新的完全遍历路径规划方法.该方法集成了模板模型、启发式搜索和障碍物逼近算法.一种称为分流合作-竞争反馈网络的生物激励神经网络被用于移动机器人的工作环境建模,而模板模型法、启发式算法和障碍物... 详细信息

提出了基于生物激励神经网络的一种新的完全遍历路径规划方法.该方法集成了模板模型、启发式搜索和障碍物逼近算法.一种称为分流合作-竞争反馈网络的生物激励神经网络被用于移动机器人的工作环境建模,而模板模型法、启发式算法和障碍物逼近算法用于移动机器人的避障路径规划,其中障碍物逼近算法能够实现不规则形状障碍物周边区域的遍历,以进一步改善路径规划的覆盖区域,仿真研究表明,本文方法使得路径规划的性能得到明显的改进,例如规划路径的重叠率,而且算法简单有效.

关键词：移动机器人路径规划神经网络模板模型启发式搜索障碍物逼近算法

不确定动态环境下移动机器人的完全遍历路径规划

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机器人 2006年第6期28卷 586-592页

作者：邱雪娜刘士荣宋加涛 simon x.yang 杭州电子科技大学自动化研究所浙江杭州310018 宁波工程学院电子与信息工程学院浙江宁波315016 圭尔夫大学工学院

基于生物激励神经网络、滚动窗口和启发式搜索,提出了一种新的完全遍历路径规划方法.该方法用G rossberg的生物神经网络实现移动机器人的局部环境建模,将滚动窗口的概念引入到局部路径规划,由启发式算法决定滚动窗口内的局域路径规划目... 详细信息

基于生物激励神经网络、滚动窗口和启发式搜索,提出了一种新的完全遍历路径规划方法.该方法用G rossberg的生物神经网络实现移动机器人的局部环境建模,将滚动窗口的概念引入到局部路径规划,由启发式算法决定滚动窗口内的局域路径规划目标.该方法能在不确定动态环境中有效地实现机器人自主避障的完全遍历路径规划.仿真研究证明了该方法的可用性和有效性.

关键词：遍历路径规划生物激励神经网络滚动窗口启发式规划

Autonomous Mobile Robot Navigation with Sensor Fusion

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Autonomous Mobile Robot Navigation with Sensor Fusion

2003年中国智能自动化会议

作者： simon x.yang School of Engineering University of Guelph Guelph Ontario N1G 2W1

In this paper, a data mining based approach is proposed to realize ultrasonic sensor fusion for a mobile robot, which involves two phases of data mining. At first, a systematic method is designed to fulfill the sensor data cleaning. Then rule induction and fuzzy logic technique is used to implement the target approaching behavior with ultrasonic sensor fusion.

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分流模型PID与鲁棒补偿的复合控制策略

系统仿真学报 2006年第3期18卷 706-709,721页

作者：张惠娣刘士荣 simon x.yang 杭州电子科技大学自动化学院 School of Engineering University of GuelphGuelphOntario N1G 2 W 1Canada

提出了一种基于分流模型PID与鲁棒补偿的复合控制策略,这种控制器具有非线性滤波、增益自调整、鲁棒性好等优良特性。由于分流模型的输出是稳定、光滑且有界,可以构造一类具有输出光滑、有界并且增益自调整的PID控制器,其可设计一类安... 详细信息

提出了一种基于分流模型PID与鲁棒补偿的复合控制策略,这种控制器具有非线性滤波、增益自调整、鲁棒性好等优良特性。由于分流模型的输出是稳定、光滑且有界,可以构造一类具有输出光滑、有界并且增益自调整的PID控制器,其可设计一类安全控制系统。将分流模型PID与鲁棒补偿控制相结合,有效地解决了参数不确定情况下的一类非线性系统的鲁棒控制问题。通过倒立摆控制系统的仿真研究,验证了控制策略的有效性。

关键词：分流模型 PID控制器鲁棒补偿复合控制倒立摆

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基于电子鼻的气体等级鉴别信号处理方法

信号处理 2007年第2期23卷 301-305页

作者：刘瑜田逢春 simon x.yang 代才莉重庆大学通信工程学院中国重庆400043 University of Guelph GuelphTorontoCanadaN1G2W1

本文介绍了电子鼻的概念及电子鼻信号处理的重要性。从理论研究与实验分析的角度探讨了独立分量分析、模糊神经网络等新方法在电子鼻信号处理中的作用。建立了对应的气体等级鉴别数学模型,并得到实验结果的验证。

关键词：电子鼻独立分量分析模糊神经网络

An Intelligent Interface for a Mobile Service Robot

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An Intelligent Interface for a Mobile Service Robot