仿人顶双杆杂技机器人简介

顶杆杂技是一种具有悠久历史的技巧性表演艺术,是力量与智慧有机结合的艺术体现。仿人顶双杆杂技机器人就是以此为实现目标,以具有世界领先水平的环形二级倒立摆控制系统为原型,模仿人类顶杆杂技演员,应用独创的仿人智能控制方法控制两摆杆的自动摆起和倒立稳定,在世界上率先提出并率先完成了对环形二级倒立摆两支摆杆可能构成的四种平衡状态及状态之间进行任意切换运动的控制,实现杂技机器人模仿人类杂技演员的各种顶杆杂技动作表演。     

二级倒立摆状态反馈控制器设计优化方法

设计了一种二级倒立摆的状态反馈控制器。研究了一种基于单纯形算法的参数优化方法。首先给出了二级倒立摆系统模型并分析了系统特性,设计了状态反馈控制器,提出基于ITAE(Integrated Time&Absolute Error)性能指标应用单纯形优化方法对状态反馈控制参数进行优化设计,以快速准确地得到状态反馈阵,并利用固高GLIP2002型直线倒立摆系统进行仿真分析和二级倒立摆系统控制实验,实现了二级倒立摆优化控制。提出的一种如何寻找使系统稳定且具有较好性能的状态反馈控制参数这一控制领域重要问题的解决方法,避免了极点配置法手动试凑方法调试参数困难的问题,对非线性、强耦合运动体的控制具有理论意义和应用价值。     

基于能量控制与近似输出调节的二级倒立摆起摆和跟踪控制

二级倒立摆是一个典型的欠驱动非线性系统,其控制问题具有一定的挑战性.为了解决时变参考信号下二级倒立摆的起摆和跟踪控制问题,本文提出了一种基于能量控制与近似输出调节方法的起摆和三阶控制器设计方案.首先,采用能量控制方法将第1级摆杆从下垂位置摆起到倒立位置附近;其次,采用滑模控制方法将第1级摆杆稳定在倒立位置,同时,采用等效小车与能量控制相结合的方法将第2级摆杆摆起到倒立位置附近;最后,采用基于近似输出调节理论的多项式近似方法设计三阶控制器实现二级倒立摆的位置跟踪控制.仿真和实验结果均验证了该控制方案的有效性.     

二级倒立摆的鲁棒建模及其鲁棒H∞最优控制

针对倒立摆系统本身存在的大量不确定性因素，建立其不确定数学模型。苦于最优控制的思想，针对二级倒立摆的参数摄动及干扰，设计了鲁棒H∞最优控制器，并在二级倒立摆实验装置上进行控制。实验结果表明；用鲁棒H∞最优控制器的二级倒立摆系统，具有很强的鲁棒稳定性和抗干扰性。     

二级倒立摆控制器设计及稳定性研究

在二级倒立摆控制器优化设计的研究中,由于二级倒立摆系统是一种复杂多变量、强耦合的不稳定系统,较难达到稳定平衡状态,首先要建立模型,之后才能够进行系统仿真与实际控制实验.由于系统对控制器性能要求较高,因此选用遗传算法训练的小波神经网络控制器,并针对遗传算法仍然存在的收敛速度慢,泛化性能差,可能陷入“早熟”等许多问题,对算法加以改进.将采用罚函数为基础的小生境技术引进到遗传算法中;并根据个体适应度来改进交叉概率.在仿真与实物控制实验中,控制器能够实现二级倒立摆系统的稳定控制,且抗干扰能力、系统平衡恢复速度优良,验证了设计的二级倒立摆控制器的有效性.     

二级倒立摆系统的实时稳定控制实验研究

为实现二级倒立摆系统的实时稳定控制,以深圳固高直线二级倒立摆装置作为控制对象,在MATLAB环境下,利用基于二次型最优控制理论的线性二次型(Linear Quadratic Regulator,LQR)最优控制器,成功实现了该装置的实时稳定控制。为引入新的控制策略,采集二级倒立摆实时控制过程中的LQR控制器数据作为样本,经过自适应神经模糊推理系统(Adaptive Neuro-Fuzzy Inference System,ANFIS)工具箱训练并生成出一种新型模糊神经网络控制器,应用到装置上同样实现了实时平衡。结果表明,新型控制器较LQR控制器控制效果更优,也为成功实现装置的实时平衡提供了一种新的思路和解决方法。     

平面二级倒立摆自适应滑模控制器设计

研究平面二级倒立摆系统稳定性和速度特性优化问题,由于倒立摆系统的外界扰动的不确定性,建立平面二级倒立摆的数学模型,应用变结构控制理论(SMC)和模糊逻辑系统设计了自适应滑模控制器,把趋近律和切换控制的模糊化相结合,采用模糊系统调整趋近速率的大小,在加快趋近速度的同时用模糊逼近切换控制,为减少控制量的抖振和优化控制系统,同时倒立摆控制具有了滑模控制对外界扰动和参数摄动的不变性。进行仿真的结果验证了控制器的稳定性,表明控制器系统能保证在不同的运行条件下具有快速性和鲁棒性。     

二级倒立摆的参变量模糊控制

本文主要研究用参变量模糊控制对二级倒立摆进行实时控制的问题。提出了Ｆｕｚｚｙ控制多变量系统的一种分析方法，给出了综合误差、综合误差变化率的概念，并叙述了综合系数的设计方法。应用综合误差理论设计了带参变量Ｆｕｚｚｙ控制器，且用３８６微机对二级倒立摆进行实时控制，取得了较好的效果。     

车轨长度受限的并行双摆能量控制

采用牛顿-欧拉方法建立并行二级倒立双摆系统的数学模型.针对车轨长度受限的并行二级倒立摆系统,本文提出了一种基于能量控制思想和直接李雅普诺夫函数方法的摆起控制策略.所设计的控制器保证了小车的速度收敛到零和摆杆在达到垂直向上的位置时摆杆的能量为零.同时,它能实现对并行双摆的稳摆控制.控制器简单易行,参数调节方便.在并行二级倒立摆摆起控制器设计的基础上,简述了三级车摆的摆起控制器设计过程.最后,通过计算机仿真验证了控制方法在工作效率和抗干扰方面能保持良好的控制性能.     

小车二级摆摆起控制器设计

研究了小车二级并行摆系统及小车二级串行摆系统的摆起控制器设计问题,并给出了这两种系统的实验结果.首先,针对上述两种系统,设计了两步控制器,即1)摆起双摆达到倒立稳摆位置的控制器,2)进行稳摆控制的控制器.其次,由于小车二级摆位移受轨道长度限制,又考虑了小车位移的控制问题.上述两种实际系统的摆起及稳摆成功,验证了所提出设计方法的有效性.     

WHIRL SSA:一种基于高级中间表示的优化结构

中间表示对编译器的性能、效率和可扩展性都起着决定性作用.Open64编译器采用一种树型结构的中间表示WHIRL,能表示各种高级控制流结构,但不能显式的提供数据流信息.本文基于WHIRL对SSA(Static Single Assignment)进行扩展,提出了一个新的优化结构WHIRL SSA.WHIRL SSA通过将SSA信息标注在WHIRL节点上,显式的为数据流分析提供使用-定义(UD)信息.相比于传统的数据流信息构建方法,WHIRL SSA提供了更精确、有效的数据流信息.本文讨论了WHIRL SSA的设计与实现和基于WHIRL SSA的优化.     

Equilibrium point control of a robot manipulator using biologically-inspired redundant actuation system

Unlike their robotic counterparts, humans excel at various contact tasks even in unknown environments by utilizing their ability to adaptively modulate the arm impedance. As one of many theories in human motor control, the equilibrium point control hypothesis suggests that multi-joint limb movements can be achieved by shifting the equilibrium positions defined by the central nervous system and utilizing the spring-like property of the peripheral neuromuscular system. To generate human arm-like compliant motion, this study implements the equilibrium point control on a robot manipulator using redundant actuation: two actuators are installed on each joint: one to control the joint position and the other to control the joint stiffness, respectively. With the double-actuator unit, the equilibrium position and stiffness (or impedance) can be independently programmed. Also, it is possible to estimate the contact force based on angle measurement with a user-specified stiffness. These features enable the robot manipulator to execute stable and safe movement in contact tasks. A two-link manipulator equipped with the double-actuator units was developed, and experimental results from teleoperated contact tasks show the potential of the proposed approach.     

基于过设计与欠设计约束的服务质量控制方法

随着Web服务技术的发展,基于服务模式的软件被广泛应用,包括医疗、教育和公共交通等领域。然而,服务质量QoS的控制是目前服务技术难题之一。在服务组合过程中,针对设计时(Design Time)和运行时(Runtime)的不同服务形态,提出了过设计(Over Design)与欠设计(Under Design)两种偏离需求的服务设计模式,并构建能够约束服务组合的变化空间(Variability Space),实现控制服务质量的目的。通过电子商务的案例展示过设计和欠设计,并对相关偏离情形进行价值分析论证,以论证减少过设计和欠设计的重要性。     

An Analytical Study on Structure, Stability and Design of General Nonlinear Takagi–Sugeno Fuzzy Control Systems

In this paper, we first study analytical structure of general nonlinear Takagi-Sugeno (TS, for short) fuzzy controllers, then establish a condition for analytically determining asymptotic stability of the fuzzy control systems at the equilibrium point, and finally use the stability condition in design of the control systems that are at least locally stable. The general TS fuzzy controllers use arbitrary input fuzzy sets, any types of fuzzy logic AND, TS fuzzy rules with linear consequent and the generalized defuzzifier which contains the popular centroid defuzzifier as a special case. We have mathematically proved that the general TS fuzzy controllers are nonlinear controllers with variable gains continuously changing with controllers’ input variables. Using Lyapunov’s linearization method, we have established a necessary and sufficient condition for analytically determining local asymptotic stability of TS fuzzy control systems, each of which is made up of a fuzzy controller of the general class and a nonlinear plant. We show that the condition can be used in practice even when the plant model is not explicitly known. We have utilized the stability condition to design, with or without plant model, general TS fuzzy control systems that are at least locally stable. Three numerical examples are given to illustrate in detail how to use our new results. Our results offer four important practical advantages: (1) our stability condition, being a necessary and sufficient one, is the tightest possible stability condition, (2) the condition is simple and easy to use partially because it only needs the fuzzy controller structure around the equilibrium point, (3) the condition can be used for determining system local stability and designing fuzzy control systems that are stable at least around the equilibrium point even when the explicit plant models are unavailable, and (4) the condition covers a very broad range of nonlinear TS fuzzy control systems, for which a meaningful global stability condition seems impossible to establish.     

Optimization of microorganisms growth processes

Microorganisms growth processes are encountered in many biotechnological applications. For an increased economic benefit, optimizing their productivity is of great interest. Often the growth is inhibited by the presence in excess of other components. Inhibition determines the occurrence of multiple equilibrium points, which makes the optimal steady state reachable only from a small region of the system state space. Thus dynamic control is needed to drive the system from an initial state (characterized by a low concentration of microorganisms) to the optimal steady state. The strategy presented in this paper relies on the solutions of two optimization problems: the problem of optimal operation for maximum productivity in steady state (steady state optimization) and the problem of the start-up to the optimal steady state (transient optimization). Steady state optimization means determining the optimal equilibrium point (the amount of microorganisms harvested is maximum). The transient optimization is solved using the maximum principle of Pontryagin.The proposed control law, which drives the bioreactor from an initial state to the optimal steady state while maximizing the productivity, consists of switching the manipulated variable (dilution rate) from the minimum to the maximum value and then to the optimal value at well defined instants. This control law substantially increases the stability region of the optimal equilibrium point. Aside its efficiency, the strategy is also characterized by simplicity, being thus appropriate for implementation in real-life systems. Another important advantage is its generality: this technique may be applied to any microorganisms growth process which involves only one biochemical reaction. This means that the sequence of the control levels does not depend on the structure and parameters of the reaction kinetics, the values of the yield coefficients or the number of components in the bioreactor.     

Robust output feedback regulation of minimum-phase nonlinear systems using conditional integrators

This paper is on the design of robust output feedback integral control for minimum-phase nonlinear systems with a well-defined relative degree. Previous work has shown how to design such controllers to achieve asymptotic regulation by a two-step process. First, robust control is designed to bring the trajectories to a small neighborhood of an equilibrium point. Within this neighborhood, the control then acts as a high-gain feedback that stabilizes the equilibrium point.The asymptotic regulation achieved by integral action happens at the expense of degrading the transient performance. In this paper, we present an approach to improve the transient performance. The control design is a continuous sliding mode control with integral action. However, the integrator is introduced in such a way that it provides integral action only “conditionally”, effectively eliminating the performance degradation. There are two main results in the paper: the first is asymptotic regulation and the second confirms the transient performance improvement by showing that the output feedback continuous sliding-mode control with integral action can be tuned to recover the performance of a state feedback ideal sliding mode control without integral action.     

有限时间收敛的Terminal滑模控制设计

讨论了一类SISO非线性系统的滑模变结构控制有限时间收敛问题,提出一种新的Terminal滑动模态及相应控制的设计方法,可用于带有外部扰动的二阶非线性系统。研究结果表明,系统状态在滑模面上能以较快的速度达到平衡点,在滑模面上到达平衡点的时间均是有限的,并且与普通的Terminal滑模相比,在滑模面上能以更短的时间到达平衡点。仿真结果表明了所提方法的有效性。     

基于稳定性分析的一类欠驱动系统的滑模控制器设计

从稳定分析的角度提出了一种欠驱动系统的新型滑模控制方法．该方法将各个子系统的一个变量进行组合定义成一个中间变量，然后从这个中间变量出发构造滑模函数，通过求取总的控制量保证中间变量在有限时间内收敛到平衡点；进一步利用LaSalle不变性原理证明该收敛域内只有一个平衡点且是渐近稳定的．仿真实验进一步验证了该结论．     

Swing-up control strategies for a reaction wheel pendulum

Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up control and balancing control schemes. In this article, two novel swing-up control strategies for a reaction wheel pendulum have been proposed. The first swing-up control strategy treats the oscillations of the pendulum as perturbations from the bottom equilibrium point. The second swing-up control is based on interconnection and damping assignment-passivity based control (IDA-PBC). IDA-PBC preserves Euler Lagrangian structure of the system and gives more physical insight about any mechanical system. Any balancing controller can be coupled with the proposed swing-up control strategies to stabilise the pendulum at the top unstable equilibrium position. The control task of balancing the pendulum in top upright position is completed by switching from swing-up scheme to the balancing scheme at the point where the pendulum is very near to the top equilibrium point. Proposed swing-up control strategies have been implemented in real time in switching mode. The two proposed swing-up control schemes provide fast responses as compared to existing energy based schemes.     

电动汽车用感应电机动态平衡点的反馈耗散Hamilton控制

针对电动汽车行驶过程中路况变化频繁,其对应的配套感应电机给定转速和负载不断变化,从而导致系统平衡点也随之变化的特点和忽略铁损引起的控制不精确的问题,研究了基于动态平衡点的计及电动汽车用感应电机反馈耗散Hamilton控制问题.首先根据感应电机的工作特性计算出平衡点,然后选取适当的状态反馈,通过预置反馈的方法建立了系统的动态模型,并基于能量耗散特性实现了对电动汽车用感应电机在动态平衡点处的反馈耗散Hamilton控制,保证了整个系统的全局稳定性.最后仿真结果验证了该控制策略的有效性.