Chongqing SANY High Intelligent Robots Co.

Chongqing, China

Chongqing SANY High Intelligent Robots Co.

Chongqing, China
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Zhao X.,Bohai University | Zhao X.,University of Hong Kong | Zhao X.,Chongqing SANY High intelligent Robots Co. | Zheng X.,Bohai University | And 2 more authors.
IEEE Transactions on Automation Science and Engineering | Year: 2017

In this paper, the distributed consensus problem for a class of multiple Euler-Lagrange systems is solved. The considered issues are: 1) sampled-data information; 2) transmission delay; and 3) data packet dropouts. The considered mathematical models can describe a large number of practical systems in the actual engineering. In particular, all of the information exchanges are modeled by a sample-And-hold mechanism, which is more reliable and practical in applications. Moreover, this framework can deal with time-varying transmission delays and data packet dropouts by taking into account the limited communication capacity of information exchanges. By utilizing model transformation and applying the Lyapunov-Krasovskii functional method, sufficient conditions are first established with single-packet information exchanges to ensure that the networked Euler-Lagrange systems can achieve consensus under undirected communication topology. Then, the obtained results are further extended to the multiple-packet transmission case. Finally, an example of four two-link manipulators with time-varying transmission delays and data packet dropouts is addressed to verify the effectiveness and applicability of our theoretical results.Note to Practitioners-The motivation of this paper is to investigate a practical networking strategy for the cooperative control of multiple Euler-Lagrange systems that have been widely applied in modeling robotic manipulators, autonomous underwater vehicles, and spacecrafts. Existing approaches are mainly based on the continuous-Time communication network, which are difficult to be implemented in the real-world applications. In addition, energy consumption problems for multi-Agent systems have received increasing attention in recent years, which also motivate us to carry out the present study. Since continuous-Time communications inevitably consume much energy, how to find an effective way to reduce energy cost is an urgent task. Therefore, this paper presents a novel method for communications among multiple Euler-Lagrange systems based on the sampled-data information, where discrete-Time communications are used instead of continuous-Time communications. Another advantage of the proposed method is that it can significantly reduce the transmission energy consumption. Furthermore, both transmission delays and data packet dropouts are taken into account which make our results more applicable in practice. © 2004-2012 IEEE.


Yang H.,Bohai University | Shi P.,University of Adelaide | Shi P.,Victoria University of Melbourne | Shi P.,Harbin Engineering University | And 3 more authors.
Information Sciences | Year: 2016

This paper focuses on the problem of adaptive neural output-feedback control for a class of nonstrict-feedback nonlinear systems where the system coefficient functions are unknown. First, the original system is transformed into a new defined system by a linear state transformation. Then, by using the dynamic surface control (DSC) technique, an improved input-driven filter is proposed. Based on this filter and the approximation property of radial basis function (RBF) neural networks, an adaptive neural output-feedback controller is designed via backstepping technique, which can guarantee that all the signals in the closed-loop system are ultimately bounded. The main contribution of this paper lies in that a simpler and more effective design procedure of adaptive neural output-feedback tracking controller is proposed for the underlying system which is more general than some existing ones in literature. Finally, simulation results are given to demonstrate the feasibility and effectiveness of the new design algorithm. © 2015 Elsevier Inc. All rights reserved.


Zhang J.,Hangzhou Dianzi University | Zhao X.,Bohai University | Zhao X.,Chongqing SANY Highintelligent Robots Co. | Zhu F.,Shanghai JiaoTong University | Han Z.,Shanghai JiaoTong University
ISA Transactions | Year: 2016

This paper is concerned with stability analysis and control synthesis of Markovian jump positive systems with time delay. The notions of stochastic stability with L 1- and ℓ1-gain performances are introduced for continuous- and discrete-time contexts, respectively. Using a stochastic copositive Lyapunov function, sufficient conditions for the stability with L1/ℓ1-gain performance of the systems are established. Furthermore, mode-dependent controllers are designed to achieve the stabilization with L1/ℓ1-gain of the resulting closed-loop systems. All proposed conditions are formulated in terms of linear programming. Numerical examples are provided to verify the effectiveness of the findings of theory. © 2016 ISA.


Zhao X.,Bohai University | Zhao X.,Chongqing SANY High intelligent Robots Co. | Ma C.,Harbin Institute of Technology | Xing X.,Bohai University | Zheng X.,Bohai University
IEEE Transactions on Industrial Informatics | Year: 2015

The consensus problem of networked Euler-Lagrange systems is studied in this paper. Different from the continuous-time communication setting, a novel sampled-data communication strategy is proposed, which is more reliable and applicable in practice. In particular, the sampling period is described by a probabilistic model. Furthermore, the communication network burden is lower since only the coordinate information is required to be exchanged. By efficiently utilizing the communication network to transfer the sampled-data information, an advantage of our consensus protocol is that the communication energy consumption can be efficiently reduced. Based on the Lyapunov-Krasovskii method, sufficient conditions are derived to ensure that the consensus can be achieved. Finally, a two-link manipulator example is provided to demonstrate the effectiveness and advantage of our proposed method. © 2005-2012 IEEE.


Zhang J.,Hangzhou Dianzi University | Zhao X.,Bohai University | Zhao X.,Chongqing SANY Highintelligent Robots Co. | Chen Y.,Hangzhou Dianzi University
Circuits, Systems, and Signal Processing | Year: 2016

This paper is concerned with finite-time stability analysis and control synthesis of fractional order positive switched systems. By using the linear copositive Lyapunov function integrated with average dwell time switching technique, the finite-time stability of fractional order positive switched systems is first addressed. Then, the finite-time boundedness of fractional order positive switched systems with exogenous input is discussed. Finally, the stabilization of the considered systems is proposed, where a control strategy based on linear programming is designed. Several implemental algorithms are provided to reduce the conservativeness of results. Two numerical examples are given to show the effectiveness of the findings of theory. © 2016, Springer Science+Business Media New York.


Zhang J.,Hangzhou Dianzi University | Huang J.,Soochow University of China | Zhao X.,Chongqing SANY Highintelligent Robots Co. | Zhao X.,Bohai University
IET Control Theory and Applications | Year: 2015

This study is concerned with stability and stabilisation of switched positive systems in both continuous- and discrete-time contexts. Several criteria of Metzler/Hurwitz and non-negative/Schur matrices are presented. By using these criteria and dual system theory, a sufficient condition for stability of switched positive systems is established. On the basis of the sufficient condition, a new controller design is proposed for switched positive systems. It is shown that the proposed design reduces the conservatism of the existing approaches in the literature where the controller gain matrices always have the property of being rank one. The results are also extended to discrete-time systems. Finally, two illustrative examples verify the validity of the theoretical findings. © 2015 The Institution of Engineering and Technology.


Zhao X.,Bohai University | Zhao X.,Chongqing SANY High Intelligent Robots Co. | Yin Y.,Bohai University | Zheng X.,Bohai University
ISA Transactions | Year: 2016

In this paper, the problem of switching stabilization for a class of continuous-time switched positive fractional-order systems is studied by using state-dependent switching. First, the asymptotic stability condition of switched positive fractional-order systems with state-dependent switching is given, which is based on the fractional co-positive Lyapunov method. Moreover, by the sliding sector method, the stability condition of switched positive fractional-order systems whose subsystems are possibly all unstable is obtained. A variable structure (VS) switching law with sliding sector is also proposed to guarantee the switched positive fractional-order system to be asymptotically stable. Finally, two numerical examples are given to demonstrate the advantages and effectiveness of our developed results. © 2016 ISA.


Zhao X.,Bohai University | Zhao X.,Chongqing SANY High intelligent Robots Co. | Zheng X.,Bohai University | Niu B.,Bohai University | Liu L.,Bohai University
Automatica | Year: 2015

This paper is concerned with the problem of tracking control for a class of switched nonlinear systems in lower triangular form with unknown functions and arbitrary switchings. Two classes of state feedback controllers are constructed by adopting the adaptive backstepping technique, and both of them are designed by using the common Lyapunov function (CLF) method. The first controller is designed under multiple adaptive laws. Then, the second one is designed based on constructing a maximum common adaptive parameter, which can overcome the problem of over-parameterization of the first controllers. It is shown that the designed state-feedback controllers can ensure that all the signals remain bounded and the tracking error converges to a small neighborhood of the origin. Finally, simulation results are presented to show the effectiveness of the proposed approaches. © 2014 Elsevier. Ltd All rights reserved.


Zhao X.,Bohai University | Zhao X.,Chongqing SANY High Intelligent Robots Co. | Yin Y.,Bohai University | Zhang L.,Harbin Institute of Technology | Yang H.,Bohai University
IEEE Transactions on Fuzzy Systems | Year: 2016

This paper is concerned with the control problem for a class of switched nonlinear systems possibly composed of all unstable modes by using time-controlled switching signals. To tackle the problem, a new mode-dependent average dwell time (MDADT) switching property is proposed, which is different from the existing one in the literature. Then, the stabilization condition under such MDADT switching signals is established for the switched nonlinear systems with possibly all unstable subsystems. By proposing a class of time-scheduled multiple quadratic Lyapunov function and applying T-S fuzzy models to represent the underlying nonlinear subsystems, numerically easily verified stabilization conditions are further derived in the form of linear matrix inequalities. A numerical example is finally provided to illustrate the effectiveness of the obtained theoretical results. © 1993-2012 IEEE.


Li H.,Loudi Vocational and Technical College | Li R.,Chongqing SANY High Intelligent Robots Co.
Mathematical Problems in Engineering | Year: 2015

A free-floating space manipulator is an underactuated system, of which the spacecraft is permitted to rotate freely in response to the manipulator motions. The dynamic coupling property between the spacecraft and the manipulator makes motion control of such systems a significant challenge. In the paper, a zero-disturbance control method for free-floating space manipulators operating in task space is presented. An explicit direct relationship between the spacecraft attitude quaternions and the manipulator joint variables is established using nonholonomic constraints of the angular momentum conservation. By this means the kinematic redundancy of the system is used to adjust the spacecraft attitude. An integral-type sliding mode controller with adaptive switching gains is developed for coordinated motion control of the spacecraft and the manipulator. Simulations on three-link planar model show that the spacecraft remains undisturbed during the whole process of manipulations, which confirms the effectiveness of the proposed method. © 2015 Heping Li and Ren Li.

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