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Control System Design for an Unmanned Helicopter to Track a Ground Target

Chinese Journal of Mechanical Engineering 2011年第3期24卷 420-427页

作者： XIN Zhekui fang yongchun Beijing Aerospace Automatic Control Institute Beijing 100854 China Institute of Robotics andInformation Automatic System Nankai University Tianjin 300071 China

Due to potential wide applications,the problem of utilizing an unmanned helicopter to track a ground target has become one of the most active research directions in related ***,in most cases,it is possible for a dynamic target to implement evasive actions with strong maneuverability,such as a sudden turn during high-speed movement,to flee from the tracker,which then brings much difficulty for the design of tracking control ***,most research on this field focuses on utilizing a ground mobile robot to track a high-speed ***,it is very difficult to extend those developed methods to airborne applications due to much more complex dynamices of UAV-target relative *** study investiages thoroughly for the problem of using an unmanned helicopter to track a ground target,with particular emphasis on the avoidance of tracking failure caused by the evasive maneuvers of dynamic ***,a novel control scheme,which consists of an innovative target tracking controller and a classical flight controller,is proposed for the helicopter-target tracking ***,the tracking controller,whose design is the focus of the paper,aims to utilize the motion information of the helicopter and the dynamic target to construct a suitable trajectory for the helicopter,so that when it flies along this trajectory,the relative pose between the helicopter and the dynamic target will be kept *** designing the target tracking controller,a novel coordinate transformation is firstly introduced to convert the tracking system into a more compact form convenient for control law design,the desired velocities for the helicopter is then proposed with consideration of the dynamic *** stability of the closed-loop system is finally analyzed by Lyapunov *** on Matlab/Simulink environment,two groups of simulation are conducted for the helicopter-target tracking control system where the target moves along a linear path

关键词： unmanned helicopter trajectory plan target tracking

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Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

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CAAI Transactions on Intelligence Technology 2018年第1期3卷 18-27页

作者： Chen Qian yongchun fang Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

关键词：飞行器跟踪器人工智能发展现状

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A fast scanning strategy based on trajectory shaping for atomic force microscopy

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Nano Research 2022年第7期15卷 6438-6446页

作者： Yinan Wu Yingao Chang yongchun fang Zhi Fan Institute of Robotics and Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To improve the scanning speed of an atomic force microscopy(AFM),a smooth scanning pattern is elaborately devised via trajectory shaping in this paper,so as to achieve fast imaging without hardware ***,in the proposed scanning method,the piezoelectric actuator tracks a well-designed smooth periodic signal in x-direction,and simultaneously tracks a step signal in *** advantage of the proposed method is that it does not require additional data reprocessing to construct the morphology of the sample surface,while significantly increasing the scanning bandwidth restricted by the raster scanning ***,to directly utilize the height data collected by scanning to produce the sample morphology,the forward process in the common raster scanning mode is retained in the proposed method,the tracking signal in the forward process is thus set to a ramp function in *** addition,to ensure the continuity and smoothness of the entire tracking signal in x-direction,a segment of a sine curve is uniquely determined as the backward tracking signal by position and acceleration constraints,so as to ensure that the forward and backward curves are continuous and acceleration-continuous at the intersection ***,the frequency spectrum analysis of the designed smooth signal is carried out to exhibit the depressed amplitudes of high-frequency components,which demonstrates that the proposed method is able to reduce the resonance in AFM high-speed scanning,so as to improve the capacity of rapidly generating high-quality ***,convincing comparison experiments are implemented to verify the imaging performance of the designed scanning algorithm.

关键词： atomic force microscopy fast scanning smooth signal trajectory shaping

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Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances

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IEEE/CAA Journal of Automatica Sinica 2020年第3期7卷 892-900页

作者： Tong Yang Ning Sun He Chen yongchun fang Institute of Robotics and Automatic Information Systems(IRAIS) College of Artificial IntelligenceTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics(tjKLIR) Nankai UniversityTianjin 300350China IEEE School of Artificial Intelligence Hebei University of TechnologyTianjin 300401China

Offshore cranes are widely applied to transfer largescale cargoes and it is challenging to develop effective control for them with sea wave disturbances. However, most existing controllers can only yield ultimate uniform boundedness or asymptotical stability results for the system's equilibrium point, and the state variables' convergence time cannot be theoretically guaranteed. To address these problems, a nonlinear sliding mode-based controller is suggested to accurately drive the boom/rope to their desired positions. Simultaneously, payload swing can be eliminated rapidly with sea waves. As we know, this paper firstly presents a controller by introducing error-related bounded functions into a sliding surface, which can realize boom/rope positioning within a finite time, and both controller design and analysis based on the nonlinear dynamics are implemented without any linearization manipulations. Moreover, the stability analysis is theoretically ensured with the Lyapunov method. Finally, we employ some experiments to validate the effectiveness of the proposed controller.

关键词： Boom/rope positioning offshore cranes swing elimination underactuated systems

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Neural network-based adaptive sliding mode control for underactuated dual overhead cranes suffering from matched and unmatched disturbances

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Autonomous Intelligent Systems 2022年第1期2卷 1-15页

作者： Tianci Wen yongchun fang Biao Lu Institute of Robotics and Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin300353China

To improve transportation capacity,dual overhead crane systems(DOCSs)are playing an increasingly important role in the transportation of large/heavy cargos and ***,when trying to deal with the control problem,current methods fail to fully consider such factors as external disturbances,input dead zones,parameter uncertainties,and other unmodeled dynamics that DOCSs usually suffer *** a result,dramatic degradation is caused in the control performance,which badly hinders the practical applications of *** by this fact,this paper designs a neural network-based adaptive sliding mode control(SMC)method for DOCS to solve the aforementioned issues,which achieves satisfactory control performance for both actuated and underactuated state variables,even in the presence of matched and mismatched *** asymptotic stability of the desired equilibrium point is proved with rigorous Lyapunov-based ***,extensive hardware experimental results are collected to verify the efficiency and robustness of the proposed method.

关键词： Asymptotic stability Sliding mode control Neural networks Unmatched disturbances Underactuated system

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A Novel Generalized Predictive Control Strategy for AFM Piezo-scanners

A Novel Generalized Predictive Control Strategy for AFM Piez...

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第36届中国控制会议

作者： Jiayu Guo yongchun fang The Institute of Robotics and Information Automatic System Nankai University

ISBN: (纸本)9781538629185

A piezo-scanner is widely utilized as the scanning actuator of an atomic force microscope(AFM) system,which is commonly actuated via an open-loop manner in the X/Y-axis and regulated with a traditional proportional-integral-differential(PID) controller in the ***,due to various nonlinearities such as cross-coupling and vibration,there usually exists positioning deviation in the Y-axis and stabilization difficulty in the Z-axis,especially when performing high-speed scanning ***,there are some inherent drawbacks of the traditional PID controller in Z-axis,such as low control bandwidth,large overshoot,and so on,which badly limit the scanning/imaging performance of an AFM *** deal with the aforementioned shortcomings,considering the advantages of the generalized predictive control(GPC) algorithm,two advanced control strategies are developed for the AFM system by utilizing the GPC algorithm for Y/Z-axis,so as to achieve superior tracking performance in fast scanning tasks and then enhance the imaging performance of the studied AFM *** specifically,in the Y-axis,a combined controller of GPC algorithm and traditional PID algorithm is designed to compensate for the positioning *** the Z-axis,another GPC controller is proposed to replace the traditional PID controller,which sufficiently shortens the transient *** designed control scheme is fully tested in an AFM testbed,with experimental results clearly verifying the superior performance of the designed strategies.

关键词： Atomic force microscope(AFM) Generalized predictive controller(GPC) piezo-scanner Combined controller

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A novel frequency-dependent hysteresis model based on improved neural Turing machine

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Science China(Information Sciences) 2023年第1期66卷 330-331页

作者： Yinan WU yongchun fang Zhi FAN Cunhuan LIU Institute of Robotics and Automatic Information System College of Artificial IntelligenceNankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

Dear editor,The inherent hysteresis of a piezoelectric actuator(PEA) results in intricate nonlinearity between the output displacement and input voltage, which restricts positioning accuracy of the actuator [1, 2]. Hysteresis behavior appears as a coupling of nonlinearity, frequency-dependence and memory characteristic, which makes it difficult to comprehensively characterize hysteresis [3]. To eliminate the effect of hysteresis on the positioning accuracy of PEAs,

关键词： ATOMIC-FORCE MICROSCOPY

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Trajectory planning-based control of underactuated wheeled inverted pendulum robots

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Science China(Information Sciences) 2019年第5期62卷 23-25页

作者： Dingkun LIANG Ning SUN Yiming WU yongchun fang Institute of Robotics and Automatic Information Systems (IRAIS) Tianjin Key Laboratory of Intelligent Robotics (tj KLIR) Nankai University

Dear editor,In modern industries, underactuated mechanical systems play an important role in various fields [1–6]. The wheeled inverted pendulum robot(WIPR) is a special type of non-linear and underactuated systems w... 详细信息

关键词： Trajectory planning-based control of underactuated wheeled inverted pendulum robots Figure

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Range Identification of a Mobile Robot with a Monocular Camera System 25th

Range Identification of a Mobile Robot with a Monocular Came...

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第25届中国控制与决策会议

作者： Xuebo Zhang yongchun fang Institute of Robotics and Automatic Information System Nankai University

ISBN: (纸本)9781467355339

Range identification is a classical problem in the field of machine vision, which aims to recover the depth information of a moving object/camera from 2D image space for perspective dynamic systems （PDS）. In this paper, range identification for a specific constrained vision system-a mobile robot with a monocular camera （MRMC） is discussed. First, the dynamics of the perspective vision system is modeled with the range information as an unknown state variable, leading to a nonlinear system in which 2D image coordinates of the reference point are measurable. Then, inspired by the recent reduced-order observer （ROO） design technique, we apply the ROO method directly for the specific MRMC system with full observation. Furthermore, a ROO-based nonlinear observer with a single observation is also proposed to cope with the situation when full observation cannot be obtained. Finally, the performance of the proposed observers are demonstrated through simulation results in which image noises are considered to be more close to practical systems.

关键词： Range Identification MRMC Reduced Order Observer Single Observation

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Sensorless Image Based Positioning Control Strategy Design for AFM Systems

Sensorless Image Based Positioning Control Strategy Design f...

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第36届中国控制会议

作者： LU Han fang yongchun Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

As a typical tool for micro/nano imaging and manipulations,an atomic force microscope（AFM） has been widely used in a variety of areas including biology,materials,chemistry,physics,and so ***,to accurately implement nanomanipulation tasks for an AFM system,it is essential to design a high-precision positioning control strategy with nanometer ***,unfortunately,owing to the drawbacks of piezo-hysteresis,cross-coupling of piezoelectric and other nonlinear characteristics of this system,the positioning control of the probe for an AFM-based nanomanipulation system is still a challenging ***,in most cases,a displacement sensor,which can detect position signals in real time,is hard to be applied into an AFM system directly,which leads to much more limitations in designing an efficient positioning *** tackle these problems,in this paper,an image based high-precision positioning control strategy for AFM systems is first proposed,which presents high-precision probe positioning without using any displacement sensors,and instead,the scanned image is the only feedback information we *** particular,firstly a constant velocity spiral scanning pattern as well as a Gaussian functionbased distortion compensation model are proposed to obtain an undistorted ***,a spiral trajectory planning based coarse positioning method is adopted to ensure a smooth and robust positioning process for most general ***,considering some regular structure samples like particles,an improved local line scanning based method is proposed to further ensure more accurate positioning ***,some simulation results are presented to demonstrate the performance of the whole proposed positioning control strategy.

关键词： Atomic Force Microscope(AFM) Sensorless Positioning Control Strategy Image Based Positioning Control Distortion Compensation Model Spiral Trajectory Planning

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