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Safe motion Planning and control Framework for Automated Vehicles with Zonotopic TRMPC

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Engineering 2024年第2期33卷 146-159页

作者： Hao Zheng Yinong Li Ling Zheng Ehsan Hashemi State Key Laboratory of Mechanical Transmissions College of Mechanical and Vehicle EngineeringChongqing UniversityChongqing 400044China Department of Mechanical Engineering University of AlbertaEdmontonAB T6G 2H5Canada

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning *** address this issue,this study proposes a safe motion planning and control(SMPAC)framework for *** the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller *** the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is *** safety sets provide the basis for the subsequent evaluation and ranking of the generated *** efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the *** result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

关键词： Automated vehicles Automated driving motion planning motion control Tube MPC Zonotope

motion control and motion Coordination of Bionic Robotic Fish： A Review

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Journal of Bionic Engineering 2018年第4期15卷 579-598页

作者： Junzhi Yu Ming Wang Huifang Dong Yanlu Zhang Zhengxing Wu State Key Laboratory of Management and control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Information and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the framework of bionics. This paper offers a general review of the current status of bionic robotic fish, with particular emphasis on the hydrodynamic modeling and testing, kinematic modeling and control, learning and optimization, as well as motion coordination control. Among these aspects, representative studies based on ideas and concepts inspired from fish motion and coordination are discussed. At last, the major challenges and the future research directions are addressed in the context of integration of various research streams from ichthyologic, hydrodynamic, mechanical, electronic, control, and artificial intelligence. Further development of bionic robotic fish can be utilized to execute some specific missions in complex underwater environments, where operations are unsafe or impractical for divers or conventional underwater vehicles.

关键词： bionic robotic fish motion control coordination control fish swimming learning and optimization

motion control of multi-actuator hydraulic systems for mobile machineries： Recent advancements and future trends

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Frontiers of Mechanical Engineering 2018年第2期13卷 151-166页

作者： Bing XU Min CHENG The State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China The State Key Laboratory of Mechanical Transmissions School of Mechanical Engineering Chongqing University Chongqing 400044 China

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic perfor- mance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

关键词： motion control electrohydraulic control energy efficiency mobile machineries

Energy-saving and accurate motion control of a hydraulic actuator with uncertain negative loads

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Chinese Journal of Aeronautics 2021年第5期34卷 253-264页

作者： Bobo HELIAN Zheng CHEN Bin YAO State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Ocean College Zhejiang UniversityZhoushan 316021China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907USA

Pump controlled hydraulic actuators are wildly used in the aerospace industry owing to the advantages of energy-saving and integrated *** loads may occur to actuators due to external force loads or the inertial force when the actuator decelerates *** negative load working conditions may cause cavitation,actuator vibration,and even instability to the motion control if the actuator is without sufficient meter-out *** types of hydraulic configuration schemes have been proposed to deal with negative loads of hydraulic ***,few of them can simultaneously achieve energy saving and high control *** study proposes an energy-saving and accurate motion tracking strategy for a hydraulic actuator with uncertain negative *** actuator’s motion is driven by a servomotor pump,which gives full play to the advantage of *** meter-out pressure is controlled by proportional valves to provide the optimized meter-out *** nonlinear adaptive robust control law is designed,which guarantees the control stability and achieve high tracking *** integrated direct/indirect adaptation law obtains satisfactory parameter estimations and model compensation for asymptotic motion *** experiments under different working conditions were performed to validate the advantages of the proposed control strategy.

关键词： Adaptive robust control Hydraulic actuator Meter-out throttling motion control Servomotor pump

A Data-driven motion control Approach for a Robotic Fish

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Journal of Bionic Engineering 2015年第3期12卷 382-394页

作者： Qinyuan Ren Jianxin Xu Xuefang Li Department of Electrical and Computer Engineering National University of Singapore Singapore

In this paper we propose a data-driven motion control approach for a biomimetic robotic fish. The task of the motion control is to achieve desired motion by means of controlling the fish-like swimming gaits of the robot. Due to the complexity of hydrodynamics, it is impossible to derive an analytic model that can precisely describe the interaction between the robotic fish and surrounding water during motion. To address the lack of the robotic model, we explore data-based modeling and control design methods. First, through biomimetic learning from real fish motion data, a General Internal Model （GIM） is established. GIM translates fish undulatory body motion into robotic joint movement; associates the fish gait patterns, such as cruise and turning, with corresponding joint coordination; and adjusts the robotic velocity by GIM parameters. Second, by collecting robotic motion data at a set of operating points, we obtain the quantitative mapping from GIM tuning parameters to robotic speed. Third, applying the quantitative mapping and using GIM parameters as manipulating variables, a feedforward control is computed according to the desired speed, which greatly expedites the initial movement of the robotic fish. Fourth, Proportional-Integral-Derivative （PID） is employed as feedback control, together with an inverse mapping that compensates for the nonlinearity appeared in the quantitative mapping. Fifth, modified Iterative Feedback Tuning OFT） is developed as an appro-priate data-driven tuning approach to determine controller gains. By switching between feedforward and feedback, the motion performance is improved. Finally, real-time control of robotic fish is implemented on a two-joint platform, and two representative swimming gaits, namely ＂cruise＂ and ＂cruise in turning＂, are achieved.

关键词： robotic fish motion control data-driven IFT

Generation and motion control of optical multi-vortex

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Chinese Optics Letters 2009年第12期7卷 1142-1145页

作者：甘雪涛赵建林刘圣方亮 Institute of Optical Information Science and Technology Shaanxi Key Laboratory of Optical Information Technology School of Science Northwestern Polytechnical University

The generation and propagation dynamics of multiple optical vortices hosted in a Gaussian beam are experimentally demonstrated by use of the computer-generated holography. Fluid-like motions of the multi-vortex beam are observed owing to the helical phase structure. The multi-vortex beam with identical topological charge presents rotation, which can be suppressed by changing the sign of the topological charge alternately. In addition, the transverse motion control of the multi-vortex is proved by inserting an additional vortex. Finally, rotary and stationary vortex lattices with different periodic arrays are experimentally constructed. The results exhibit potential applications in inducing twisted or stable waveguide arrays and new types of optical traps.

关键词： Computer generated holography Gaussian beams motion control motion planning Topology

Optimal design and motion control of biomimetic robotic fish

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Science in China(Series F) 2008年第5期51卷 535-549页

作者： YU JunZhi WANG Long ZHAO Wei TAN Min Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Mechanics and Space Technologies Peking University Beijing 100871 China

This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.

关键词： biomimetic robotic fish optimization design mechatronics motion control central pattern generator (CPG)

Trajectory planning and motion control of full-row seedling pick-up arm

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International Journal of Agricultural and Biological Engineering 2020年第3期13卷 41-51页

作者： Ling Ren Ning Wang Weibin Cao Jiangquan Li Xingchen Ye College of Mechanical and Electrical Engineering Shihezi UniversityShihezi 832003China Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture and Rural Affairs Shihezi 832003China

Frequent start-stops of automatic seedling transplanters would lengthen the seedling picking time due to alternating movement of the motor,and cause positioning errors and frequent motor vibrations when starting the *** solve these problems and ensure the pick-up continuity of automatic transplanters,in this study the smooth circular arc interpolation algorithm and the least square method for multinomial curve fitting were used to conduct the trajectory planning of automatic transplanter based on the movement of the pick-up arm of the *** and time curves were fitted in segments to acquire motion control parameters and further tracking control was *** mathematical model of the control system was established using Simulink,and simulation analysis and system debugging test were *** show that the trajectory curves obtained by MATLAB’s data processing can realize the continual and smooth motion trajectory of the pick-up arm;stepper motor velocity control can effectively track the planning curve and improve the seedling pick-up *** pick-up and pushing time of each motion of the planned plug seedling transplanter reduced by 1.0678 s and the start-stop times reduced from 6 to 1,which solved the frequent motor vibrations when starting the machine and improved the stability of the *** addition,overstep and out-of-step of the motor at the start-stop moment were avoided and displacement error was reduced.

关键词： trajectory planning motion control motion trajectory simulation transplanter stepper positioning

Study on spiral winding swimming motion control of a slender legless creature model

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High Technology Letters 2021年第4期27卷 415-421页

作者：卢振利 Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)