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Tracking controller for robot manipulators viac omposite nonlinear feedback law

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Journal of Systems Engineering and Electronics 2009年第1期20卷 129-135页

作者： Peng Wendong su jianbo Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200240 P. R. China

A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.

关键词： robot control motion tracking composite nonlinear feedback stability friction.

Feature point matching of curved surface and robust uncertainty

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Journal of Systems Engineering and Electronics 2006年第2期17卷 355-361页

作者： Tian Jinsi su jianbo Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200030 P. R. China

Stereo matching is an important research area in stereovision and stereo matching of curved surface is especially crucial A novel correspondence algorithm is presented and its matching uncertainty is computed robustly for feature points of curved surface. The comers are matched by using homography constraint besides epipolar constraint to solve the occlusion problem. The uncertainty sources are analyzed. A cost function is established and acts as an optimal rule to compute the matching uncertainty. An adaptive scheme Gauss weights are put forward to make the matching results robust to noises. It makes the practical application of comer matching possible. From the experimental results of an image pair of curved surface it is shown that computing uncertainty robustly can restrain the affection caused by noises to the matching precision.

关键词： stereo matching robust uncertainty homography Gauss weights.

New coordination scheme for multi-robot systems based on state space models

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Journal of Systems Engineering and Electronics 2008年第4期19卷 722-734页

作者： Xie Wenlong su jianbo Lin Zongli Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200240 P. R. China Charles L. Brown Dept. of Electrical and Computer Engineering Univ of Virginia Charlottesville VA 22904-4743 USA

A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.

关键词： multi-robot system coordination state space formation maneuver subgoal

Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 65-73页

作者： Lu Wang jianbo su the Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University

We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy. © 2014 Chinese Association of Automation.

关键词： Aircraft control Airships Closed loop control systems Closed loop systems Disturbance rejection Landing Perturbation techniques State estimation Takeoff Trajectories Unmanned vehicles Vehicles

Robust visual servoing based Chinese calligraphy on a humanoid robot

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High Technology Letters 2016年第1期22卷 30-37页

作者：马哲 Xiang Zhenzhen su jianbo Department of Automation Shanghai Jiaotong University

A robust visual servoing system is investigated on a humanoid robot which grasps a brush in Chinese calligraphy *** system is implemented based on uncalibrated visual servoing controller utilizing Kalman-Bucy filter,with the help of an object detector by continuously adaptive MeanShift(CAMShift) *** this control scheme,a humanoid robot can satisfactorily grasp a brush without system *** proposed method is shown to be robust and effective through a Chinese calligraphy task on a NAO robot.

关键词： Chinese calligraphy robust visual servoing Kalman-Bucy filter continuously adaptive MeanShift (CAMShift) algorithm.

Movability of the tracked pipeline-robot based on hierarchical fuzzy control

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High Technology Letters 2011年第2期17卷 166-172页

作者：王永雄 su jianbo Department of Automation Shanghai JiaoTong University Shanghai 200240 P. R. China Department of Electronic Engineering Jinggangshan University Jian 343009 P. R. China

The turning motion of a tracked pipeline-robot implemented by skid steering is a nonholonomic dynamic problem with intrinsic nonlinearity, to which the classical control method is inappropriate and cannot be applied. This paper presents a novel path tracking control method based on hierarchical fuzzy structure. The controller consists of three sub-level low dimensional fuzzy control systems： fuzzy supervisory control, fuzzy steering and fuzzy velocity control. As a result, establishing the bases of rules for the fuzzy control becomes feasible and simplified, and the related controller can be adapted to complicated ground and environment. Using this method, the number of fuzzy controt rules is greatly decreased so that the curse of dimensionality causing the multivariable problem does not occur. Simulation and experimental results validate the effectiveness of the proposed method with satisfied performance on path tracking. Autonomous navigation of the caterpillar-inspired pipeline-robot is also implemented based on the sensor feedbacks.

关键词： path tracking tracked pipeline-robot hierarchical fuzzy control

Intelligence evolution for service robot： An ADRC perspective

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Control Theory and Technology 2018年第4期16卷 324-335页

作者： Guofei XIANG Yao HUANG Jingrui YU Mingde ZHU jianbo su Department of Automation Shanghai Jiao Tong University Shanghai 200240 China

The strategy of active disturbance rejection control （ADRC） and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essential characteristics of intelligence evolution. Most importantly, we concentrate on five core issues which will be encountered when applying ADRC to deal with intelligence evolution for service robot, that is, how to eliminate the impact of unknown composite disturbances, how to handle the nonholonomic constraints in uncalibrated visual servoing, how to realize eye-hand-torque coordination, how to deal with the disturbance in simultaneous localization and mapping （SLAM）, and how to reject the imperfections induced by network in human-robot interaction. The main purpose of this paper is to clarify the challenges encountered on intelligence evolution for service robot when one applies ADRC to, hoping that more and more researchers can give some suggestions or work together to deal with these problems, and flourishing results of ADRC from both theory and applications.

关键词： Service robot motion control visual servoing nonholonomic constraints eye-hand-torque coordination simultaneous localization and mapping (SLAM) human-robot interaction (HMI) active disturbance rejection control (ADRC)

Arm/trunk motion generation for humanoid robot

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Science China(Information Sciences) 2010年第8期53卷 1603-1612页

作者： XING DengPeng & su jianbo Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China Department of Automation Shanghai Jiao Tong University Shanghai China

This paper develops two motion generation methods for the upper body of humanoid robots based on compensating for the yaw moment of whole body during motion. These upper body motions can effectively solve the stability problem of feet spin for robot walk. We analyze the ground reactive torque, separate the yaw moment as the compensating object and discuss the effect of arms swinging on whole body locomotion. By taking the ZMP as the reference point, trunk spin motion and arms swinging motion are generated to improve the biped motion stability, based on compensating for the yaw moment. The methods are further compared from the energy consumption point of view. Simulated experimental results validate the performance and the feasibility of the proposed methods.

关键词： humanoid robot motion generation yaw moment arms swinging compensation motion

Study of the Design and Torsion Performance for Carbon Fiber Composite Material Automobile Drive Shaft

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Study of the Design and Torsion Performance for Carbon Fiber...