A5100328343- Hydraulic and Pneumatic Systems
- Robotic Locomotion and Control
- Control Systems in Engineering
- Iterative Learning Control Systems
- Vehicle Dynamics and Control Systems
- Magnetic Bearings and Levitation Dynamics
- Tribology and Lubrication Engineering
- Control and Dynamics of Mobile Robots
- Real-time simulation and control systems
- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Adaptive Control of Nonlinear Systems
- Force Microscopy Techniques and Applications
- Stability and Control of Uncertain Systems
- Robotic Path Planning Algorithms
- Prosthetics and Rehabilitation Robotics
- Industrial Automation and Control Systems
- Advanced Sensor and Control Systems
- Piezoelectric Actuators and Control
- Soft Robotics and Applications
- Control Systems and Identification
- HVDC Systems and Fault Protection
- Control and Stability of Dynamical Systems
- Industrial Technology and Control Systems
- Advanced MEMS and NEMS Technologies
University of Manchester
2014-2025
Henan University of Science and Technology
2015-2025
Shanghai Electric (China)
2023-2024
Liaocheng University
2022-2024
Taiyuan University of Technology
2024
Tianjin University
2024
Tencent (China)
2019-2023
Ningbo University
2022-2023
Hefei University of Technology
2023
Changsha University of Science and Technology
2023
This letter studies the adaptive optimal control problem for a wheel-legged robot in absence of an accurate dynamic model. A crucial strategy is to exploit recent advances reinforcement learning (RL) and programming (ADP) derive learning-based solution control. It shown that suboptimal controllers can be learned directly from input-state data collected along trajectories robot. Rigorous proofs convergence novel data-driven value iteration (VI) algorithm stability closed-loop system are...
Modular Multilevel Converters in High Voltage Direct Current (MMC-HVDC) systems with Synchronous Reference Frame- Phase-Locked Loops (SRF-PLLs) have been extensively studied for power transmission networks. This paper investigates the impact of Short Circuit Ratio (SCR) and SRF-PLL bandwidth on small-signal stability grid-connected MMC-HVDC systems. Small-signal state-space models were established, through which impedance/admittance grid calculated. An impedance/admittance-based analysis...
To address the weak adaptability of passive X-type interconnection hydropneumatic suspension to different road surfaces and poor performance traditional single-control methods, an active controller based on extended state observer (ESO) model predictive control (MPC) was designed for heavy-duty special vehicles. First, structure analyzed. A three-degree-of-freedom (DOF) linearized with disturbances established seven-DOF full-vehicle suspension. The were analyzed, a disturbance ESO developed....
In this paper we develop and analyse convex searches for Zames--Falb multipliers. We present two different approaches: Infinite Impulse Response (IIR) Finite (FIR) The set of FIR multipliers is complete in that any IIR can be phase-substituted by an arbitrarily large order multiplier. show discrete-time are effective even orders. As expected, the numerical results provide best $\ell_{2}$-stability literature slope-restricted nonlinearities. Finally, demonstrate search method to find suitable...
To enrich legged robots with fast energy-efficient mobility on even terrain, wheeled-legged have emerged as a valued robot form in robotics research. This paper describes the complete development of new quadruped named Max, ranging from its mechanical design over system architecture to core algorithms implemented for it realize various motion behaviors. Instead attaching wheels distal ends legs existing designs, this has installed knees special switching mechanism convert leg between and...
To optimize a vehicle platoon system in terms of car-following behavior, decentralized model predictive control (MPC) strategy for longitudinal velocity was established (namely, CF-MPC). Firstly, considering the influence behavior on states, platoons connected and automated vehicles (CAV) designed. Based that model, an upper-level MPC controller built to obtain desired acceleration vehicles. Secondly, lower-level received signal converted it into expected throttle opening/braking pressure,...
We propose a convex search for subclass of discrete-time Zames-Falb multipliers. Specifically we noncausal multipliers with FIR (finite impulse response) structure arbitrary order. The is shown to be phase-equivalent the class rational can expressed as an LMI (linear matrix inequality) whose number parameters increases quadratically model order and linear constraints linearly may used both case where nonlinearity slope-restricted odd slope-restricted. report favourable results respect those...
The wheel-bipedal robot has the advantages of both wheeled robots and legged robots, but as a cost, it is more challenging to perform flexible movements in various surroundings while keeping balanced. inaccurate dynamics makes balance problem even intractable. To solve this problem, Ollie used testbed. whole-body control (WBC) framework adopted enhance dexterity with multiple degrees freedom task space. Moreover, learning-based adaptive technique applied assist WBC such that controller can...
Existing vehicle-road models used for road tracking do not take into account the side slip angle, which leads to a reduction in accuracy scenarios where vehicle is at large such as an emergency lane change. Consequently, this study presents path-tracking control technique based on T-S fuzzy model of heading angle autonomy. In paper, yaw angle-based model, considering constructed. Second, since speed varies with time, paper selects membership function establish autonomous and respectively,...
In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when autonomous is balanced by flywheel, steering angle set zero, and torque of flywheel used as input. The controller designed based on Interconnection Damping Assignment Passivity Based Control (IDA-PBC) method. second handlebar, bicycle's velocity high, turned off. angular handlebar input feedback linearization. these cases,...
In this paper, a novel finite-time command filtered backstepping control algorithm is proposed to address the problems of high order nonlinearity, noise and friction interference when tracking pitch angles wind turbine hydraulic systems. Since taking derivative not required, system cannot be amplified in design process. The filter first employed state variables systems eliminate caused by friction. Moreover, combined with approximate derivatives virtual avoid "Differential expansion"...
The dynamics of a robot may vary during operation due to both internal and external factors, such as non-ideal motor characteristics unmodeled loads, which would lead control performance deterioration even instability. In this paper, the adaptive optimal output regulation (AOOR)-based controller is designed for wheel-legged Ollie deal with possible model uncertainties disturbances in data-driven approach. We test AOOR-based by forcing stand still, conventional index judge balance two-wheel...
Deep-sea submersibles carry limited energy sources, so a high efficiency of the equipment is required to improve endurance. In deep-sea environment, hydraulic power source filled with oil, which causes structural deformation and changes in physical properties medium, leading unknown characteristics source. order explore composed gear pump DC (direct current) brushless motor variable sea depth we undertook following. First, considering effects seawater pressure temperature on medium radial...
A method for the automated alignment of scanning probe polymer pen arrays is reported. This system enables nanolithography over large (cm<sup>2</sup>) areas with high uniformity, any misalignment being ≤0.0003°.
Phase limitations of both continuous-time and discrete-time Zames–Falb multipliers their relation with the Kalman conjecture are analyzed. A phase limitation for given by Megretski is generalized its applicability clarified; to illustrated a classical example from literature. It demonstrated that there exist fourth-order plants where existence suitable Zames– Falb multiplier can be discarded which simulations show unstable behavior. novel developed. Its application second-order...
In this paper, the gain scheduling technique is applied to design a balance controller for an autonomous bicycle with inertia wheel. Previously, two different controllers are needed depending on whether stationary or dynamic. The switch between may cause instability of bicycle. Our proposed scheduled can in both and dynamic cases. A physical system built experiments carried out demonstrate effectiveness controller.
This letter studies the trajectory tracking problem for an autonomous bicycle that is a non-minimum phase, strongly nonlinear system. As compared with most existing methods dealing only approximate tracking, this proposes constructive design to achieve asymptotic tracking. More specifically, under assumption desired generated by virtual bicycle, novel controller scheme presented. Firstly, dynamics of established. Secondly, it decomposed into two interconnected subsystems: subsystem and...
This paper focuses on the frequency domain fluid–structure interaction (FSI) vibration characteristics of aircraft hydraulic pipe with complex constraints. The linear partial differential fourteen-equation model is applied to describe nonlinear FSI dynamics pipes conveying fluid high-speed, high-pressure, a wide Reynolds number, and range. excitation, boundary, middle constraint models liquid-filled are analytically established added into global system. These resulting solved by improved...