A5004226105- Adaptive Control of Nonlinear Systems
- Advanced Control Systems Optimization
- Iterative Learning Control Systems
- Adaptive Dynamic Programming Control
- Teleoperation and Haptic Systems
- Robot Manipulation and Learning
- Autonomous Vehicle Technology and Safety
- Human-Automation Interaction and Safety
- Advanced Vision and Imaging
- Traffic Prediction and Management Techniques
- Sensorless Control of Electric Motors
- Electric Motor Design and Analysis
- Distributed Control Multi-Agent Systems
- Fault Detection and Control Systems
- Extremum Seeking Control Systems
- Stability and Control of Uncertain Systems
- Industrial Technology and Control Systems
- Electric Power Systems and Control
- Quantum chaos and dynamical systems
- Guidance and Control Systems
- Stroke Rehabilitation and Recovery
University of Science and Technology Beijing
2021-2025
North China University of Water Resources and Electric Power
2024
Liaoning Academy of Materials
2023
This article discusses a building-like structure composed of flexible beam, rigid support plate, and motor fixture. The beam causes significant vibration, which leads to user discomfort. proposes solution suppress the vibration by designing performance constraint boundary limit amplitude in terms transient steady-state performance. system model with uncertainties is approximated using radial basis function (RBF) neural networks. Fixed-time methods are employed further reduce enhance...
In this article, we propose a hybrid visual–haptic framework enabling robot to achieve motion synchronization in human–robot cotransporting. Visual sensing is employed capturing human real time. To deal with the inherent delays between human's initiative and robot's responsive cotransporting, prediction method developed make follow proactively. Motion achieved when accurately tracks filtered predicted motion. Force utilized regulate interaction forces ensure compliance error generated. A...
In this paper, a luenberger observer is designed to estimate the rotor position and speed of sensorless permanent magnet synchronous motor. A neural network (NN) used improve adaptability Firstly, based on mathematical model motor in two-phase stationary reference frame, general for vector control constructed. phase-locked loop estimated accuracy observer. To deal with disturbance problem load changes plant mismatches, networks are adjust parameters real time according running state...
Abstract In this paper, we present a broad learning control method for two-link flexible manipulator with prescribed performance (PP) and actuator faults. The trajectory tracking errors are processed through two consecutive error transformations to achieve the constraints in terms of overshoot, transient error, steady-state error. And barrier Lyapunov function is employed implement on transition state variable. Then, improved radial basis neural networks combined theory constructed...
A fixed-time robotic system control method is proposed with input deadzone under a delayed time constraint. Radial basis function neural networks (RBFNN) employed, and an error-driven adaptive law designed. The stability of the achieved by introducing new error shifting function, Lyapunov theory convergent tracking to small set near zero has been observed. Simulation results proved effectiveness.
We propose a hybrid vision-force control that combines vision servo with force to perform robot collaborative by human carrying task on ball-and-board systems. The proposed allows the effectively cooperate successfully moving board desired target position, while actively avoiding ball from falling off board. A RBFNN-based is designed ensure able of complying motion under uncertain dynamics. Visual based image recognition and location used generate reference height angle adjust position...
In this paper, we proposed an adaptive control scheme for a robotic manipulator with continuous repetitive deferred and constant (CRDC) output performance constraints. A new shifting function errors is introduced entrapped into barrier Lyapunov (BLF) to address the negative aspects of functions. By adopting error synthesis, tracking approach considering uncertain initial conditions external perturbations first developed guarantee CRDC other existing literatures, system states must satisfy...