This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. T...A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.展开更多
To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed...To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.展开更多
The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, externa...The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is ...Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is difficult to control.High pressure automatic variables bang-bang(HABB) was proposed to achieve the desired motor speed.First,the VPDVM nonlinear mathematic model was introduced,then linearized by feedback linearization theory,and the zero-dynamic stability was proved.The HABB control algorithm was proposed for VPDVM,in which the variable motor was controlled by high pressure automatic variables(HA) and the variable pump was controlled by bang-bang.Finally,simulation of VPDVM controlled by HABB was developed.Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed,load and pump speed.展开更多
A general approach for controlling of periodical dynamic systems was presented by taking robotic yoyo as an example. The height of the robot arm when the yoyo arrives at the bottom was chosen as virtual control. The i...A general approach for controlling of periodical dynamic systems was presented by taking robotic yoyo as an example. The height of the robot arm when the yoyo arrives at the bottom was chosen as virtual control. The initial amplitude of yoyo could be mapped to the desired final amplitude by adjusting the virtual control. First,the yoyo motion was formulated into a nonlinear optimal control problem which contained the virtual control. The reference trajectory of robot could be obtained by solving the optimal problem with analytic method or more general numerical approach. Then,both PI and deadbeat control methods were used to control the yoyo system. The simulation results show that the analytic solution of the reference trajectory is identical to the numerical solution,which mutually validates the correctness of the two solution methods. In simulation,the initial amplitude of yoyo is set to be 0.22 m which is 10% higher than the desired final amplitude of 0.2 m. It can be seen that the amplitude achieves the desired value asymptotically in about five periods when using PI control,while it needs only one period with deadbeat control. The reference trajectory of robot is generated by optimizing a certain performance index; therefore,it is globally optimal. This is essentially different from those traditional control methods,in which the reference trajectories are empirically imposed on robot. What's more,by choosing the height of the robot arm when the yoyo arrives at the bottom as the virtual control,the motion of the robot arm may not be out of its stroke limitation. The proposed approach may also be used in the control of other similar periodical dynamic systems.展开更多
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
文摘A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.
基金Project(61203021)supported by the National Natural Science Foundation of ChinaProject(2011216011)supported by the Scientific and Technological Project of Liaoning Province,China+1 种基金Project(2013020024)supported by the Natural Science Foundation of Liaoning Province,ChinaProjects(LJQ2015061,LR2015034)supported by the Program for Liaoning Excellent Talents in University,China
文摘To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金Project(51375029)supported by the National Natural Science Foundation of ChinaProject(20091102120038)supported by Specialized Research Fund for Doctoral Program of Higher Education of China
文摘Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is difficult to control.High pressure automatic variables bang-bang(HABB) was proposed to achieve the desired motor speed.First,the VPDVM nonlinear mathematic model was introduced,then linearized by feedback linearization theory,and the zero-dynamic stability was proved.The HABB control algorithm was proposed for VPDVM,in which the variable motor was controlled by high pressure automatic variables(HA) and the variable pump was controlled by bang-bang.Finally,simulation of VPDVM controlled by HABB was developed.Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed,load and pump speed.
基金Project(50475025) supported by the National Natural Science Foundation of China
文摘A general approach for controlling of periodical dynamic systems was presented by taking robotic yoyo as an example. The height of the robot arm when the yoyo arrives at the bottom was chosen as virtual control. The initial amplitude of yoyo could be mapped to the desired final amplitude by adjusting the virtual control. First,the yoyo motion was formulated into a nonlinear optimal control problem which contained the virtual control. The reference trajectory of robot could be obtained by solving the optimal problem with analytic method or more general numerical approach. Then,both PI and deadbeat control methods were used to control the yoyo system. The simulation results show that the analytic solution of the reference trajectory is identical to the numerical solution,which mutually validates the correctness of the two solution methods. In simulation,the initial amplitude of yoyo is set to be 0.22 m which is 10% higher than the desired final amplitude of 0.2 m. It can be seen that the amplitude achieves the desired value asymptotically in about five periods when using PI control,while it needs only one period with deadbeat control. The reference trajectory of robot is generated by optimizing a certain performance index; therefore,it is globally optimal. This is essentially different from those traditional control methods,in which the reference trajectories are empirically imposed on robot. What's more,by choosing the height of the robot arm when the yoyo arrives at the bottom as the virtual control,the motion of the robot arm may not be out of its stroke limitation. The proposed approach may also be used in the control of other similar periodical dynamic systems.
