The problem of the stability analysis and controller design which the network-induced delays and data dropout problems network-induced delays are assumed to be time-varying and bounded, for Lurie networked control sys...The problem of the stability analysis and controller design which the network-induced delays and data dropout problems network-induced delays are assumed to be time-varying and bounded, for Lurie networked control systems （NCSs） is investigated, in are simultaneously considered. By considering that the and analyzing the relationship between the delay and its upper bound, employing a Lyapunov-Krasovskii function and an integral inequality approach, an improved stability criterion for NCSs is proposed. Furthermore, the resulting condition is extended to design a less conservative state feedback controller by employing an improved cone complementary linearization （ICCL） algorithm. Numerical examples are provided to show the effectiveness of the method.展开更多
In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible ...In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.展开更多
In this paper,the authors analyze the stability of a class of interconnected systems withsubsystem unmodeled dynamics and dynamic interactions employing decentralized adaptive controllersdesigned by Wen,Zhou,and Wang ...In this paper,the authors analyze the stability of a class of interconnected systems withsubsystem unmodeled dynamics and dynamic interactions employing decentralized adaptive controllersdesigned by Wen,Zhou,and Wang (2008) in the presence of actuator failures.It will be shown that theglobal stability of the remaining closed-loop system is still ensured and the outputs are also regulatedto zero when some subsystems break down.展开更多
This paper presents a new control strategy based on current differential feedback to accelerate the dynamic response of electromagnetic actuators, instead of traditional closed-loop control based on displacement feedb...This paper presents a new control strategy based on current differential feedback to accelerate the dynamic response of electromagnetic actuators, instead of traditional closed-loop control based on displacement feedback. The method mainly includes a differentiator, proportioner and signal synthesizer. Analysis and simulation on the step characteristics of an electromagnetic actuator were discussed, and all the results show that the approach can improve the actuator's step response greatly. Finally, the control method is applied to a real gravure system which verifies the control performance.展开更多
基金Project(61025015)supported by the National Natural Science Foundation of China for Distinguished Young ScholarsProject (IRT1044)supported by the Program for Changjiang Scholars and Innovative Research Team in University of China+2 种基金Projects(61143004,61203136,61074067,61273185)supported by the National Natural Science Foundation of ChinaProjects(12JJ4062,11JJ2033)supported by the Natural Science Foundation of Hunan Province,ChinaProject(12C0078)supported by Hunan Provincial Department of Education,China
文摘The problem of the stability analysis and controller design which the network-induced delays and data dropout problems network-induced delays are assumed to be time-varying and bounded, for Lurie networked control systems （NCSs） is investigated, in are simultaneously considered. By considering that the and analyzing the relationship between the delay and its upper bound, employing a Lyapunov-Krasovskii function and an integral inequality approach, an improved stability criterion for NCSs is proposed. Furthermore, the resulting condition is extended to design a less conservative state feedback controller by employing an improved cone complementary linearization （ICCL） algorithm. Numerical examples are provided to show the effectiveness of the method.
文摘In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.
文摘In this paper,the authors analyze the stability of a class of interconnected systems withsubsystem unmodeled dynamics and dynamic interactions employing decentralized adaptive controllersdesigned by Wen,Zhou,and Wang (2008) in the presence of actuator failures.It will be shown that theglobal stability of the remaining closed-loop system is still ensured and the outputs are also regulatedto zero when some subsystems break down.
基金Project supported by the Science and Technology Plan of Zhejiang Province (No. 2008C11028), China
文摘This paper presents a new control strategy based on current differential feedback to accelerate the dynamic response of electromagnetic actuators, instead of traditional closed-loop control based on displacement feedback. The method mainly includes a differentiator, proportioner and signal synthesizer. Analysis and simulation on the step characteristics of an electromagnetic actuator were discussed, and all the results show that the approach can improve the actuator's step response greatly. Finally, the control method is applied to a real gravure system which verifies the control performance.
