Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as pl...Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.展开更多
Studies have established that hybrid models outperform single models.The particle swarm algorithm(PSO)-based PID(proportional-integral-derivative)controller control system is used in this study to determine the parame...Studies have established that hybrid models outperform single models.The particle swarm algorithm(PSO)-based PID(proportional-integral-derivative)controller control system is used in this study to determine the parameters that directly impact the speed and performance of the Electro Search(ESO)algorithm to obtain the global optimum point.ESPID algorithm was created by integrating this system with the ESO algorithm.The improved ESPID algorithm has been applied to 7 multi-modal benchmark test functions.The acquired results were compared to those derived using the ESO,PSO,Atom Search Optimization(ASO),and Vector Space Model(VSM)algorithms.As a consequence,it was determined that the ESPID algorithm’s mean score was superior in all functions.Additionally,while comparing the mean duration value and standard deviations,it is observed that it is faster than the ESO algorithm and produces more accurate results than other algorithms.ESPID algorithm has been used for the least cost problem in the production of pressure vessels,which is one of the real-life pro-blems.Statistical results were compared with ESO,Genetic algorithm and ASO.ESPID was found to be superior to other methods with the least production cost value of 5885.452.展开更多
After a recursive multi-step-ahead predictor for nonlinear systems based on local recurrent neural networks is introduced, an intelligent FID controller is adopted to correct the errors including identified model erro...After a recursive multi-step-ahead predictor for nonlinear systems based on local recurrent neural networks is introduced, an intelligent FID controller is adopted to correct the errors including identified model errors and accumulated errors produced in the recursive process. Characterized by predictive control, this method can achieve a good control accuracy and has good robustness. A simulation study shows that this control algorithm is very effective.展开更多
Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately ...Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately express dynamic performances of the system is built in ADAMS.In addition,an intelligent PID control model is built with MATLAB/Simulink,and the two models are integrated and co-simulated by the interface of ADAMS/Controls.Simulation experiments indicate that co-simulation technique used for design of the servo tracking system mounted with a small arm can effectively improve its design efficiency,and can also provide theoretical bases for the motion control and performance improvement of the servo tracking system mounted with a small arm.展开更多
This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-au...This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry machine.This control algorithm is based on functional analysis and differential algebra,under the concepts of a new type of approach known as model-free intelligent PID control(iPID).As it can be unsafe to test this form of control directly on real hardware,our main contribution is to introduce a framework for developing and testing control software.This framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one,which we design and manufactured using 3D-printing.This downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks,prior to the actual testing on the real machine.The results demonstrate that this development framework is useful to safely test control software for heavy-duty systems,and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.展开更多
基金Projects(51179035,51279221) supported by the National Natural Science Foundation of ChinaProject(2014M561333) supported by Postdoctoral Science Foundation of China
文摘Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.
文摘Studies have established that hybrid models outperform single models.The particle swarm algorithm(PSO)-based PID(proportional-integral-derivative)controller control system is used in this study to determine the parameters that directly impact the speed and performance of the Electro Search(ESO)algorithm to obtain the global optimum point.ESPID algorithm was created by integrating this system with the ESO algorithm.The improved ESPID algorithm has been applied to 7 multi-modal benchmark test functions.The acquired results were compared to those derived using the ESO,PSO,Atom Search Optimization(ASO),and Vector Space Model(VSM)algorithms.As a consequence,it was determined that the ESPID algorithm’s mean score was superior in all functions.Additionally,while comparing the mean duration value and standard deviations,it is observed that it is faster than the ESO algorithm and produces more accurate results than other algorithms.ESPID algorithm has been used for the least cost problem in the production of pressure vessels,which is one of the real-life pro-blems.Statistical results were compared with ESO,Genetic algorithm and ASO.ESPID was found to be superior to other methods with the least production cost value of 5885.452.
基金This project was supported by the National Natural Science Foundation of China(60174021)Natural Science Foundation Key Project of Tianjin(013800711).
文摘After a recursive multi-step-ahead predictor for nonlinear systems based on local recurrent neural networks is introduced, an intelligent FID controller is adopted to correct the errors including identified model errors and accumulated errors produced in the recursive process. Characterized by predictive control, this method can achieve a good control accuracy and has good robustness. A simulation study shows that this control algorithm is very effective.
基金Sponsored by the Independent Research Foundation of State Key Laboratory(ZDKT08-05)the Ministerial Level Research Foundation(06104040)
文摘Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately express dynamic performances of the system is built in ADAMS.In addition,an intelligent PID control model is built with MATLAB/Simulink,and the two models are integrated and co-simulated by the interface of ADAMS/Controls.Simulation experiments indicate that co-simulation technique used for design of the servo tracking system mounted with a small arm can effectively improve its design efficiency,and can also provide theoretical bases for the motion control and performance improvement of the servo tracking system mounted with a small arm.
文摘This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry machine.This control algorithm is based on functional analysis and differential algebra,under the concepts of a new type of approach known as model-free intelligent PID control(iPID).As it can be unsafe to test this form of control directly on real hardware,our main contribution is to introduce a framework for developing and testing control software.This framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one,which we design and manufactured using 3D-printing.This downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks,prior to the actual testing on the real machine.The results demonstrate that this development framework is useful to safely test control software for heavy-duty systems,and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.
