Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ameliorated.Specially,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be addressed.To deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI control.The upper limb-robotic exoskeleton system is re-modelled as an artificial system.Depending on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical system.Furthermore,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and compared.Theoretical results substantiate the global convergence and robustness of the proposed controller in the presence of different external disturbances.In addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

Distributed H_∞ control of multi-agent systems with directed networks

This paper studies the distributed H∞control problem of identical linear time invariant multi-agent systems subject to external disturbances. A directed graph containing a spanning tree is used to model the communication topology. Based on the relative states of the neighbor agents and a subset of absolute states of the agents, distributed static H∞controllers are proposed. The concept of an H∞performance region is extended to the directed graph situation. Then the results are used to solve the leader–follower H∞consensus problem. Sufficient conditions are proposed based on bounded real lemma and algebraic graph theory. The effectiveness of the theoretical results is illustrated via numerical simulations.

Application of hybrid robust three-axis attitude control approach to overactuated spacecraft——A quaternion based model

A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.

Application of composite nonlinear feedback control approach to linear and nonlinear systems

The objective of this research is to realize a composite nonlinear feedback control approach for a class of linear and nonlinear systems with parallel-distributed compensation along with sliding mode control technique.The proposed composite nonlinear feedback control approach consists of two parts.In a word,the first part provides the stability of the closed-loop system and the fast convergence response,as long as the second one improves transient response.In this research,the genetic algorithm in line with the fuzzy logic is designed to calculate constant controller coefficients and optimize the control effort.The effectiveness of the proposed design is demonstrated by servo position control system and inverted pendulum system with DC motor simulation results.

Backstepping-Based Synchronization Control of Cross-Strict Feedback Hyper-Chaotic Systems

A certain backstepping control is proposed for synchronization of a class of hyper-chaotic systems.Only two control inputs are used to realize synchronization between hyper-chaotic systems,and the control avoids the possible singularity in the virtual control design.In addition,the adaptive backstepping control is proposed for the synchronization when the system parameters are unknown.The proposed methods can be applied to a variety of chaos systems which can be described by the so-called cross-strict feedback form.Numerical simulations are given to demonstrate the efficiency of the proposed control schemes.

Study on Modeling and Control Strategy for Electric Drive Motor of Tracked Vehicles

Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permanent magnet (IPM) synchronous motor was brought forward by using finite element analysis. And its control strategy based on the largest running capability was studied also. The experiment results for a scale model show that the modelling method improves the model's accuracy, and the motor's control strategy is effective.

Adaptive Iterative Learning Control for a Class of Nonlinear Time-varying Systems with Unknown Delays and Input Dead-zone

This paper presents an adaptive iterative learning control(AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone.A novel nonlinear form of dead-zone nonlinearity is presented.The assumption of identical initial condition for iterative learning control(ILC) is removed by introducing boundary layer function.The uncertainties with time-varying delays are compensated for by using appropriate Lyapunov-Krasovskii functional and Young’s inequality.Radial basis function neural networks are used to model the time-varying uncertainties.The hyperbolic tangent function is employed to avoid the problem of singularity.According to the property of hyperbolic tangent function,the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function(CEF) in two cases,while keeping all the closedloop signals bounded.Finally,a simulation example is presented to verify the effectiveness of the proposed approach.

Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered to be a powerful QPs solver due to its parallel processing capability and feasibility of hardware implementation[2].

Control and Simulation of Continuously Variable Transmission for Electric Transmission System

According to the study of electric transmission, the concept of the fore and the aft power chain is presented. The control method of continuously variable transmission is established in the aft chain of electric transmission based on brushless DC motor. A fuzzy controller is designed with continuous fuzzy variables and the simulation module of the aft power chain is proved by test. The fuzzy controller controls the process of continuously variable transmission steadily and the acceleration of vehicle is quick according to simulation results. The elementary performance exhibited in the simulation is a foundation for the further study of the electric transmission track vehicle.

Precisely controlling the twist angle of epitaxial MoS_(2)/graphene heterostructure by AFM tip manipulation

Two-dimensional(2D)moirématerials have attracted a lot of attention and opened a new research frontier of twistronics due to their novel physical properties.Although great progress has been achieved,the inability to precisely and reproducibly manipulate the twist angle hinders the further development of twistronics.Here,we demonstrated an atomic force microscope(AFM)tip manipulation method to control the interlayer twist angle of epitaxial MoS_(2)/graphene heterostructure with an ultra-high accuracy better than 0.1°.Furthermore,conductive AFM and spectroscopic characterizations were conducted to show the effects of the twist angle on moirépattern wavelength,phonons and excitons.Our work provides a technique to precisely control the twist angle of 2D moirématerials,enabling the possibility to establish the phase diagrams of moiréphysics with twist angle.

Chaos Control and Modified Projective Synchronization of Chaotic Dissipative Gyroscope Systems

This paper proposes the chaos control and the modified projective synchronization methods for chaotic dissipative gyroscope systems. Because of the nonlinear terms of the gyroscope system, the system exhibits chaotic motions. Occasionally, the extreme sensitivity to initial states in a system operating in chaotic mode can be very destructive to the system because of unpredictable behavior. In order to improve the performance of a dynamic system or avoid the chaotic phenomena, it is necessary to control a chaotic system with a periodic motion beneficial for working with a particular condition. As chaotic signals are usually broadband and noise like, synchronized chaotic systems can be used as cipher generators for secure communication. This paper presents chaos synchronization of two identical chaotic motions of symmetric gyroscopes. Using the variable structure control technique, control laws are established which guarantees the chaos control and the modified projective synchronization. By Lyapunov stability theory, control lows are proposed to ensure the stability of the controlled and synchronized system. Numerical simulations are presented to verify the proposed control and the synchronization approach. This paper demonstrates that synchronization and anti-synchronization can coexist in dissipative gyroscope systems via variable structure control.

Effect of Silane Coupling Agent Concentration on Interfacial Properties of Basalt Fiber Reinforced Composites

The purpose of this study is to investigate the effect of the concentration of silane coupling solution on the tensile strength of basalt fiber and the interfacial properties of basalt fiber reinforced polymer composites.The surface treatment of basalt fibers was carried out using an aqueous alcohol solution method.Basalt fibers were subjected to surface treatment with 3-Methacryloxypropyl trimethoxy silane at 0.5 wt.%,1 wt.%,2 wt.%,4 wt.%and 10 wt.%.The basalt monofilament tensile tests were carried out to investigate the variation in strength with the concentration of the silane coupling agent.The microdroplet test was performed to examine the effect of the concentration of the silane coupling agent on interfacial strength of basalt reinforced polymer composites.The film was formed on the surface of the basalt fiber treated silane coupling agent solution.The tensile strength of basalt fiber increased because the damaged fiber surface was repaired by the firm of silane coupling agent.The firm was effective in not only the surface protection of basalt fiber but also the improvement on the interfacial strength of fiber-matrix interface.However,the surface treatment using the high concentration silane coupling agent solution has an adverse effect on the mechanical properties of the composite materials,because of causing the degradation of the interfacial strength of the composite materials.

Evaluation of Mechanical Properties of Highly Filled Jute Fiber Reinforced Composites

This study aims for development of highly filled jute fiber reinforced composites that contains jute fiber over fiber weight fraction 60%,and jute fiber reinforced composite was fabricated by the hot-pressing method.The molding temperature was changed from 175°C to 230°C,to investigate the effect of molding temperature on the mechanical properties of jute fiber reinforced composites.The effect of surface treatment of jute fiber on the mechanical properties of jute fiber reinforced composites was also investigated.As a result,the jute fiber reinforced composites using surface treated fiber has low porosity,and the jute fiber reinforced composite having low porosity has high flexural strength and modulus.The jute fiber reinforced composite using acetone treated fiber molded at 200°C has the maximum flexural strength and modulus.

Rapid transfer alignment for SINS of carrier craft

In order to improve the survival ability and rapid response ability of the carrier craft,a new rapid transfer alignment method of the strapdown inertial navigation system（SINS） on a rocking base is put forward.In the method,the aircraft carrier does not need any form of movement.Meantime,interfering motions such as rolling,pitching,and yawing motions caused by sea waves are effectively used.Firstly,the deck flexure deformation model is made.Secondly,the state space model of transfer alignment is presented.Finally,the feasibility of this method is validated by the simulation.Simulation results show that the misalignment angle error can be estimated and reach an anticipated precision-0.2 mrad in 5 s,while the deck deformation angle error can be estimated and reach a better precision- 0.1 mrad in 20 s.

Eigenstructure assignment in a class of second-order dynamic systems

Eigenstructure assignment using the proportional-plus-derivative feedback controller in a class of secondorder dynamic system is investigated. Simple, general, complete parametric expressions for both the closed-loop eigenvector matrix and the feedback gains are established based on two simple Smith form reductions. The approach utilizes directly the original system data and involves manipulations only on n-dimensional matrices. Furthermore, it reveals all the degrees of freedom which can be further utilized to achieve additional system specifications. An example shows the effect of the proposed approach.

Research on Hybrid Power System with Dual Stator-winding and Its Decoupled Control Strategy

For the bi-power system adopted widely in future armored vehicles,a hybrid power generator with dual stator-winding was proposed.Its structure and working principle were analyzed first,and its main parameters were determined and verified according to the power requirements.The system's mathematical model was established,and a decoupled control method was put forward on the basis of the instantaneous reactive power theory.For the voltage building-up,a voltage control strategy was designed on the basis of mixed reactive power compensation to implement stabilized 28V and 270V outputs simultaneously.The simulation results show that the stabilization accuracy and disturbance rejection ability of the system are improved much more than other ordinary generators.

Sensor fault diagnosis of nonlinear processes based on structured kernel principal component analysis

A new sensor fault diagnosis method based on structured kernel principal component analysis （KPCA） is proposed for nonlinear processes. By performing KPCA on subsets of variables, a set of structured residuals, i.e., scaled powers of KPCA, can be obtained in the same way as partial PCA. The structured residuals are utilized in composing an isolation scheme for sensor fault diagnosis, according to a properly designed incidence matrix. Sensor fault sensitivity and critical sensitivity are defined, based on which an incidence matrix optimization algorithm is proposed to improve the performance of the structured KPCA. The effectiveness of the proposed method is demonstrated on the simulated continuous stirred tank reactor （CSTR） process.

A Lyapunov-based three-axis attitude intelligent control approach for unmanned aerial vehicle

A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art.The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches,as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control.And the corresponding rotation angles are dealt with in the outer closed loop control.It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator(PD based LQR) approach under optimum coefficients,while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances.In order to complete the inner closed loop control,there is a pulse-width pulse-frequency(PWPF) modulator to be able to handle on-off thrusters.Furthermore,the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system,where the control allocation scheme is realized in the proposed strategy.It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results.At the end,the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.