Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Frontiers of Mechanical Engineering - Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and...     

State of charge estimation for lithium-ion battery based on an intelligent adaptive unscented Kalman filter

Adaptive unscented Kalman filter (AUKF) has been widely used for state of charge (SOC) estimation of lithium-ion battery. The noise covariance of the conventional AUKF method is updated based on the innovation covariance matrix (ICM), which is estimated using the error innovation sequence (EIS). However, the distribution of EIS changes due to the time-varying noise, load current dynamics and modelling error, which will lead to inaccurate ICM estimation. Therefore, an intelligent adaptive unscented Kalman filter (IAUKF) method is proposed to detect the distribution change of EIS. Then, the ICM is estimated based on the EIS after the distribution change. Results show that the IAUKF method can improve SOC estimation accuracy significantly. Compared with that of the AUKF method, the root mean squared error and the mean absolute error of SOC based on the IAUKF method decrease by 43.70% and 72.37% under random walk discharge condition, respectively. In addition, the computation time of the IAUKF method slightly increases by 6.27% compared with that of AUKF method. Finally, the effect of initial parameters on the SOC estimation accuracy was analysed. The results indicate that proper algorithm tuning, such as initial window length of EIS for ICM update and the threshold value, can further improve the SOC accuracy based on the proposed IAUKF method. The proposed IAUKF method also shows high robustness against initial measurement noise covariance.     

Filtered adaptive constrained sampled-data control for uncertain multivariable nonlinear systems

A filtered adaptive constrained sampled-data controller for uncertain multivariable nonlinear systems in the presence of various constraints is synthesized in this paper. A piecewise constant adaptive law drives that estimation error dynamics to zero at each sampling time instant yields adaptive parameters. The filtered control scheme consists of two components. Based on an estimation/cancellation strategy, a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters, whereas a constraint violation avoidance control law is designed to solve an online constrained optimization problem. Although a reduced sampling time helps to minimize the estimation error caused by the neglect of unknowns, the resulting aggressive signals put more restrictions on the control law. Greater sacrifice of tracking performance is required to satisfy the constraints. The constraints violation avoidance control law is in favor of a larger sampling time. Sufficient conditions are given to guarantee the stability of the closed-loop system with the sampled-data controller, where the input/output signals are held constant over the sampling period. Numerical examples are provided to validate the theoretical results, comparisons between the constrained sampled-data controller and unconstrained adaptive controller with the implementation of different sampling times are carried out.     

Adaptive fuzzy control for nontriangular form systems with time-varying full-state constraints

This article investigates an adaptive fuzzy tracking control problem for a class of nontriangular form systems with asymmetric time-varying full state constraints. Unknown functions are approximated by the fuzzy logic systems. A domination approach is employed to tackle the nontriangular form structure. Time-varying asymmetric barrier Lyapunov functions (ABLFs) are adopted to ensure full-state constraints satisfaction. Based on the backstepping technique and time-varying ABLFs, an adaptive controller is proposed and guarantees that all the signals in the closed-loop system are ultimately bounded and the time-varying full state constraints are met. Simulation examples are presented to further demonstrate the effectiveness of the proposed approach.     

Disturbance observer-based adaptive boundary iterative learning control for a rigid-flexible manipulator with input backlash and endpoint constraint

In this article, an observer-based adaptive boundary iterative learning control law is developed for a class of two-link rigid-flexible manipulator with input backlash, the unknown external disturbance, and the endpoint constraint. To tackle the backlash nonlinearities and ensure the vibration suppression, the disturbance observers based upon the iterative learning conception are considered in the adaptive boundary control design. A barrier Lyapunov function is incorporated with boundary control law to restrict the endpoint state. Based on the defined barrier composite energy function, the tracking angle error convergence of the rigid part is guaranteed, and the vibrations of the flexible part are suppressed through the rigorous analysis. Finally, a numerical simulation is provided to illustrate the effectiveness of the proposed control.     

云制造平台资源需求的高效匹配策略研究

为快速、精确地从云制造平台资源池中搜索到满足用户需求的资源,实现资源与需求的高效匹配,提出了一种资源需求高效匹配策略。首先,建立了资源与需求的形式化描述模型,在此基础上,采用改进的K-means聚类算法按基本信息进行聚类,对云服务池中的资源进行预处理,形成多个资源簇;其次,计算用户需求与各资源簇聚类中心基本信息的相似度,确立备选资源簇;最后,再分别从资源的状态信息、功能信息和服务信息3个方面对备选资源簇中的备选资源进行筛选匹配。实例分析和研究结果表明:与已有的匹配方法相比,该方法在保持较高匹配精度的同时具有更高的匹配效率。     

基于K-均值聚类与贝叶斯判别的我国煤矿顶板灾害事故安全评价

顶板事故是我国煤矿安全生产中的重大隐患,开展顶板灾害事故安全评价,识别顶板灾害危险性是煤矿安全生产亟待解决的问题。本文在文献调研的基础上,对影响顶板灾害的影响因素进行分析,从自然因素、技术因素和管理因素三个方面构建了顶板灾害安全评价指标体系,结合专家意见对各评价指标进行量化,采用K-均值聚类与贝叶斯判别的方法对我国顶板灾害安全水平进行评价,以我国煤矿实际样本数据为研究对象开展实证分析。研究结果表明:基于K-均值聚类与贝叶斯判别的煤矿顶板安全评价方法具有较高的准确度,能够用于定量化描述煤矿顶板灾害危险,具有一定的应用前景。     

基于 MPDE-EEMD 及自适应共振解调的轴承故障特征提取方法

针对滚动轴承振动信号具有非线性、非平稳性和非高斯性,并且故障特征往往淹没于系统噪声之中而难于识别的问题, 提出了以多种群差分进化(multiple population differential evolution, MPDE) 算法来改进集合经验模式分解( ensemble empirical mode decomposition, EEMD) 的 MPDE-EEMD 消噪方法,并与自适应共振解调技术( adaptive resonance demodulation technique, ARDT)相结合实现故障特征提取。 首先,为了解决 EEMD 中加入参数依靠人工选择且难以准确获取的问题,建立极值点分布 特性评价函数,利用 MPDE 来寻优获取最佳白噪声幅值,实现 EEMD 自适应分解。 然后,采用峭度与相关性相结合的准则对分 解后的 IMF 分量进行自动筛选,将满足条件的有效信号进行重构,实现对原始振动信号的降噪处理。 最后,采用 ARDT 自动确 定对消噪信号进行带通滤波的带宽和中心频率,再通过包络解调提取出滤波信号的特征频率。 将轴承仿真故障信号与实际故 障信号用于算法的验证,结果表明 MPDE-EEMD+ARDT 能有效提取出轴承故障特征。     

Distributed adaptive state estimation and tracking by using active-passive sensor networks

Heterogeneous sensor networks (HSN) find a wide range of applications in the field of military and civilian environments, where sensor nodes are utilized to estimate the position of a target with both dynamics and control input being unknown for the purposes of tracking. In the HSN, nodes are considered active depending upon their ability to sense the target output while the others are taken passive. Accurate estimation requires local information exchange among the spatially located sensor nodes, so that the active nodes as well as the passive nodes converge simultaneously to the same value. The local information exchange among the nodes is dictated by a connected graph. By using the criterion of collective observability, a novel distributed adaptive estimation scheme is introduced via adaptive observer where the nodes are allowed to have different sensor modalities. Using the estimated information, a subset of active and passive nodes, referred to as mobile nodes, can track the moving target. By using a constant state feedback controller at each mobile node, the state and parameter estimation as well as the tracking errors are shown to be uniformly ultimately bounded. Simulation results verify theoretical claims.     

Observer‐based fuzzy adaptive quantized control for uncertain nonlinear multiagent systems

This paper focuses on consensus quantized control design problem for uncertain nonlinear multiagent systems with unmeasured states. Every follower can be denoted through a system with unmeasurable states, hysteretic quantized input, and unknown nonlinearities. Fuzzy state observer and Fuzzy logic systems are employed to estimate unmeasured states and approximate unknown nonlinear functions, respectively. The hysteretic quantized input can be split into two bounded nonlinear functions to avoid chattering problem. By combining adaptive backstepping and first‐order filter signals, an observer‐based fuzzy adaptive quantized control scheme is designed for each follower. All signals exist in closed‐loop systems are semiglobally uniformly ultimately bounded, and all followers can accomplish a desired consensus results. Finally, a numerical example is employed to elaborate the effectiveness of proposed control strategy.