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Tracking Control of Multi-Agent Systems Using a Networked Predictive PID Tracking Scheme 被引量:2
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作者 Guo-Ping Liu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第1期216-225,共10页
With the rapid development of network technology and control technology,a networked multi-agent control system is a key direction of modern industrial control systems,such as industrial Internet systems.This paper stu... With the rapid development of network technology and control technology,a networked multi-agent control system is a key direction of modern industrial control systems,such as industrial Internet systems.This paper studies the tracking control problem of networked multi-agent systems with communication constraints,where each agent has no information on the dynamics of other agents except their outputs.A networked predictive proportional integral derivative(PPID)tracking scheme is proposed to achieve the desired tracking performance,compensate actively for communication delays,and simplify implementation in a distributed manner.This scheme combines the past,present and predictive information of neighbour agents to form a tracking error signal for each agent,and applies the proportional,integral,and derivative of the agent tracking error signal to control each individual agent.The criteria of the stability and output tracking consensus of multi-agent systems with the networked PPID tracking scheme are derived through detailed analysis on the closed-loop systems.The effectiveness of the networked PPID tracking scheme is illustrated via an example. 展开更多
关键词 coordinative tracking control networked multiagent systems PID control predictive control
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Group Hybrid Coordination Control of Multi-Agent Systems With Time-Delays and Additive Noises
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作者 Chuanjian Li Xiaofeng Zong 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第3期737-748,共12页
A new kind of group coordination control problemgroup hybrid coordination control is investigated in this paper.The group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two s... A new kind of group coordination control problemgroup hybrid coordination control is investigated in this paper.The group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,respectively.For MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,respectively.By developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,respectively.It is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented case.Finally,the validity of the group control results is verified by several simulation examples. 展开更多
关键词 Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) TIME-DELAYS
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State coordinated voltage control in an active distribution network with on-load tap changers and photovoltaic systems 被引量:13
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作者 Praveen Prakash Singh Ivo Palu 《Global Energy Interconnection》 CAS CSCD 2021年第2期117-125,共9页
Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utili... Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system. 展开更多
关键词 Photovoltaic(PV)system On-load tap changer(OLTC) Voltage regulation Coordinated control Droop control
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Improved Voltage Control Strategy for Photovoltaic Grid-Connected System Based on DoubleLayer Coordination Control 被引量:3
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作者 戚艳 贾宏杰 《Transactions of Tianjin University》 EI CAS 2012年第4期271-278,共8页
An improved automatic voltage coordination control strategy (AVCCS) based on ;automatic voltage control (AVC) and battery energy storage control (BESC) is proposed for photovoltaic grid-connected system (PVGS)... An improved automatic voltage coordination control strategy (AVCCS) based on ;automatic voltage control (AVC) and battery energy storage control (BESC) is proposed for photovoltaic grid-connected system (PVGS) to mitigate the voltage fluctuations caused by environmental disturbances. Only AVC is used when small environ- mental disturbances happen, while BESC is incorporated with AVC to restrain the voltage fluctuations when large disturbances happen. An adjustable parameter determining the allowed amplitudes of voltage fluctuations is introduced to realize the above switching process. A benchmark low voltage distribution system including ]?VGS is established by using the commercial software Dig SILENT. Simulation results show that the voltage under AVCCS satisfies the IEEE Standard 1547, and the installed battery capacity is also reduced. Meanwhile, the battery's service life is ex- tended by avoiding frequent charges/discharges in the control process. 展开更多
关键词 photovoltaic power system voltage control pulse width modulation (PWM) inverter state ofcharge (SOC) automatic voltage coordination control strategy (AVCCS)
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Coordinated Control of Multi-Agent Systems with a Varying-Velocity Leader and Input Saturation 被引量:1
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作者 PENG Ke SU Hou-Sheng YANG Yu-Pu 《Communications in Theoretical Physics》 SCIE CAS CSCD 2009年第9期449-456,共8页
In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be complet... In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be completelymeasured.We theoretically prove that each agent can follow the leader with estimable track errors.Finally,somenumerical simulations are presented to illustrate our theoretical results. 展开更多
关键词 CONSENSUS coordinated control multi-agent system networked system input saturation switching topology
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Researches On The Design And Application Of DSP Multi- motor Collaborative Control System 被引量:1
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作者 Jin Yao 《International Journal of Technology Management》 2014年第8期4-6,共3页
As an important branch in the field of servo control, multi-motor coordination motion control applications are increasingly widespread.For open CNC system requirement, taking DSP as master core, combing with specific ... As an important branch in the field of servo control, multi-motor coordination motion control applications are increasingly widespread.For open CNC system requirement, taking DSP as master core, combing with specific integrated stepper motor driver chip LMDI8201T, this designed a serial communication-based new collaborative multi-motor control system, which has characters of highly integrated, good stability, real-time, convenient man-machine interface.The test results show that the system fully meet performance requirements and achieved the motion control functions. 展开更多
关键词 Dual DSP MULTI-MOTOR coordinated control simulation
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Control method on serial type pump-valve coordinated electro-hydraulic servo system 被引量:1
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作者 谢文 汪首坤 +1 位作者 王军政 吴建 《Journal of Beijing Institute of Technology》 EI CAS 2016年第1期100-107,共8页
In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corr... In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was proposed.The system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic cylinder.Based on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control precision.The experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy. 展开更多
关键词 pump-valve coordinated grey prediction adaptive robust control efficiency
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Coordinated nonlinear robust control of TCSC and excitation for multi-machine systems
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作者 ShengweiMEI JumingCHEN +2 位作者 QiangLU AkihikoYOKOYAMA MasuoGOTO 《控制理论与应用(英文版)》 EI 2004年第1期35-42,共8页
An advanced nonlinear robust control scheme is proposed for multi-machine power systems equipped with thyristor-controlled series compensation (TCSC). First, a decentralized nonlinear robust control approach based on ... An advanced nonlinear robust control scheme is proposed for multi-machine power systems equipped with thyristor-controlled series compensation (TCSC). First, a decentralized nonlinear robust control approach based on the feedback linearization and H∞ theory is introduced to eliminate the nonlinearities and interconnections of the studied system, and to attenuate the exogenous disturbances that enter die system. Then, a system model is built up, which has considered all the generators’ and TCSC’s dynamics, and the effects of uncertainties such as disturbances. Next, a decentralized nonlinear robust coordinated control law is developed based on this model. Simulation results on a six-machine power system show that the transient stability of the power system is obviously improved and die power transfer capacity of long distance transmission lines is enhanced regardless of fault locations and system operation points. In addition, the control law has engineering practicality since all the variables in the expression of he control strategy can be measured locally. 展开更多
关键词 Multi-machine power systems TCSC Nonlinear robust Decentralized coordinated control
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Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System
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作者 HAO Zhenyang ZHANG Qiyao +2 位作者 CHEN Huajie CAO Xin MIAO Wei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第5期507-520,共14页
In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a... In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting. 展开更多
关键词 smart electromechanical actuator(EMA) force fighting coordinated control strategy cross coupling control singular value method of return difference matrix sensitivity H∞norm control
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Optimal design of coordination control strategy for distributed generation system
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作者 王爱华 Norapon Kanjanapadit 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2009年第1期51-56,共6页
This paper presents a novel design procedure for optimizing the power distribution strategy in distributed generation system. A coordinating controller, responsible to distribute the total load power request among mul... This paper presents a novel design procedure for optimizing the power distribution strategy in distributed generation system. A coordinating controller, responsible to distribute the total load power request among multiple DG units, is suggested based on the conception of hierarchical control structure in the dynamic system. The optimal control problem was formulated as a nonlinear optimization problem subject to set of constraints. The resulting problem was solved using the Kuhn-Tucker method. Computer simulation results demonstrate that the proposed method can provide better efficiency in terms of reducing total costs compared to existing methods. In addition, the proposed optimal load distribution strategy can be easily implemented in real-time thanks to the simplicity of closed-form solutions. 展开更多
关键词 distributed generation coordination control strategy Kuhn-Tucker method
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Novel ARC-Fuzzy Coordinated Automatic Tracking Control of Four-Wheeled Mobile Robot
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作者 G.Pandiaraj S.Muralidharan 《Intelligent Automation & Soft Computing》 SCIE 2023年第3期3713-3726,共14页
Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-d... Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches. 展开更多
关键词 Adaptive robust control coordinated control mobile robot fuzzy adaptation law fuzzy parameter adjustment direct torque allocation
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Distributed Fault-Tolerant Control of Uncertain Multi-Agent Systems with Connectivity Maintenance
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作者 XING Xueyan HU Guoqiang 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2024年第1期40-62,共23页
In this paper,a distributed cooperative control protocol is presented to deal with actuator failures of multi-agent systems in the presence of connectivity preservation.With the developed strategy,each agent can track... In this paper,a distributed cooperative control protocol is presented to deal with actuator failures of multi-agent systems in the presence of connectivity preservation.With the developed strategy,each agent can track the reference trajectory of the leader in the presence of actuator failures,disturbances and uncertainties.The connectivity of the multi-agent system can always be ensured during the control process.To achieve the aforementioned control objectives,a potential function is introduced to the distributed adaptive fault-tolerant control algorithm to preserve the initial connected network among the agents.The uncertainty of the multi-agent system,which is allowed to be described by discontinuous functions,is approximated and compensated using the fuzzy logic system.The asymptotic stability of the closed-loop system is demonstrated through the use of Cellina’s approximate selection theorem of nonsmooth analysis.Due to the developed adaptive laws,the upper bound of the disturbance is allowed to be uncertain,which facilitates the implementation of the control scheme.Finally,simulation results are provided to verify the effectiveness of the proposed control scheme. 展开更多
关键词 Actuator failure connectivity maintenance coordination control UNCERTAINTIES
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Dual sliding mode coordinated control of manipulator grasping system with visual assistance
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作者 Pengxin Zhang Haisheng Yu +3 位作者 Xiangxiang Meng Zhe Li Qing Yang Xunkai Gao 《Control Theory and Technology》 EI CSCD 2024年第1期106-121,共16页
The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and ... The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments. 展开更多
关键词 Automatic production Joint servo Visual servo Coordinated control Non-singular fast terminal sliding mode Integral sliding mode
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Research on Distributed Coordination Control Method for Microgrid System Based on Finite-time Event-triggered Consensus Algorithm
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作者 Lizhen Wu Heng Yang +1 位作者 Jianping Wei Wendong Jiang 《Chinese Journal of Electrical Engineering》 EI CSCD 2024年第2期103-115,共13页
Microgrids are networked control systems with multiple distributed generators(DGs).Microgrids are associated with many problems,such as communication delays,high sampling rates,and frequent controller updates,which ma... Microgrids are networked control systems with multiple distributed generators(DGs).Microgrids are associated with many problems,such as communication delays,high sampling rates,and frequent controller updates,which make it challenging to realize coordination control among the DGs.Therefore,finite-time consensus algorithms and event-triggered control methods are combined to propose a distributed coordination control method for microgrid systems.The DG in the microgrid system serves as an agent node in the control network,and a distributed secondary controller is designed using finite-time consensus algorithm,such that the frequency and voltage restoration control has a faster convergence time and better anti-interference performance.The event-triggered function was designed based on the state information of the agents.The controller exchanges the state information at the trigger instants.System stability is analyzed using the Lyapunov stability theory,and it is verified that the controller cannot exhibit the Zeno phenomenon in the event-triggered process.A simulation platform was developed in Matlab/Simulink to verify that the proposed control method can effectively reduce the frequency of controller updates during communication delays and the burden on the communication network. 展开更多
关键词 MICROGRID event-triggered control distributed secondary control finite-time consensus algorithm coordination control
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ON HYBRID POSITION/FORCE COORDINATED LEARNING CONTROL OF MULTIPLE MANIPULATORS
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作者 王从庆 尹朝万 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1999年第2期114-119,共6页
In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on obje... In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme. 展开更多
关键词 multiple manipulators learning control hybrid control coordinated control
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Chassis Coordinated Control for Full X-by-Wire Vehicles-A Review 被引量:10
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作者 Lei Zhang Zhiqiang Zhang +2 位作者 Zhenpo Wang Junjun Deng David G.Dorrell 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2021年第2期1-25,共25页
An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims t... An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed. 展开更多
关键词 X-by-wire systems Chassis coordinated control Driving condition identification Active safety
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Review on key technologies and typical applications of multi-station integrated energy systems 被引量:5
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作者 Zhenlan Dou Chunyan Zhang +4 位作者 Wei Wang Dan Wang Qiqi Zhang Yanxing Cai Ruitian Fan 《Global Energy Interconnection》 EI CAS CSCD 2022年第3期309-327,共19页
To realize the low-carbon development of power systems,digital transformation,and power marketization reform,the substation,data center,energy storage,photovoltaic,and charging stations are important components for th... To realize the low-carbon development of power systems,digital transformation,and power marketization reform,the substation,data center,energy storage,photovoltaic,and charging stations are important components for the construction of new infrastructure.The integration infrastructure represented by multi-station integrated energy systems(MSIESs)represents the development trend,and its connotation and denotation are not immutable.This study firstly analyzed the components of MSIESs and their sub-stations and overall characteristics,and proposed an overall architecture for MSIESs.Thereafter,this system was characterized in detail from three aspects:planning and design,operation control,and market operation.The planning and construction of MSIESs was analyzed from the aspects of planning and design process,typical fusion subsystems,supply and demand prediction,and capacity determination;the operational control of MSIESs was analyzed from the aspects of model construction,coordination control,and safety assessment.Moreover,the market operation of MSIESs was examined from the aspects of the business model and spot market.Furthermore,the technical development trend of MSIESs has been explored in this study. 展开更多
关键词 MSIESs New power system Digital transformation Planning and design Coordinated control Electricity market
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Multi-model Predictive Control of Ultra-supercritical Coal-fired Power Unit 被引量:6
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作者 王国良 阎威武 +2 位作者 陈世和 张曦 邵惠鹤 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2014年第7期782-787,共6页
The control of ultra-supercritical(USC) power unit is a difficult issue for its characteristic of the nonlinearity, large dead time and coupling of the unit. In this paper, model predictive control(MPC) based on multi... The control of ultra-supercritical(USC) power unit is a difficult issue for its characteristic of the nonlinearity, large dead time and coupling of the unit. In this paper, model predictive control(MPC) based on multi-model and double layered optimization is introduced for coordinated control of USC unit. The linear programming(LP) combined with quadratic programming(QP) is used in steady optimization for computation of the ideal value of dynamic optimization. Three inputs(i.e. valve opening, coal flow and feedwater flow) are employed to control three outputs(i.e. load, main steam temperature and main steam pressure). The step response models for the dynamic matrix control(DMC) are constructed using the three inputs and the three outputs. Piecewise models are built at selected operation points. Double-layered multi-model predictive controller is implemented in simulation with satisfactory performance. 展开更多
关键词 Ultra-supercritical power unit Coordinated control Multi-model constrained predictive control
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Coordinate Control,Motion Optimization and Sea Experiment of a Fleet of Petrel-Ⅱ Gliders 被引量:5
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作者 Dong-Yang Xue Zhi-Liang Wu +1 位作者 Yan-Hui Wang Shu-Xin Wang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第1期127-141,共15页
The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditiona... The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditional gliders and AUVs.The research on control strategy and energy consumption minimization for the hybrid gliders is necessary both in methodology and experiment. A multi-layer coordinate control strategy is developed for the fleet of hybrid underwater gliders to control the gliders’ motion and formation geometry with optimized energy consumption. The inner layer integrated in the onboard controller and the outer layer integrated in the ground control center or the deck controller are designed. A coordinate control model is proposed based on multibody theory through adoption of artificial potential fields. Considering the existence of ocean flow, a hybrid motion energy consumption model is constructed and an optimization method is designed to obtain the heading angle, net buoyancy, gliding angle and the rotate speed of screw propeller to minimize the motion energy with consideration of the ocean flow. The feasibility of the coordinate control system and motion optimization method has been verified both by simulation and sea trials. Simulation results show the regularity of energy consumption with the control variables. The fleet of three Petrel-Ⅱ gliders developed by Tianjin University is deployed in the South China Sea. The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy. The results of simulation and the sea trial prove the feasibility of the proposed coordinate control strategy and energy optimization method. In conclusion, a coordinate control system and a motion optimization method is studied, which can be used for reference in theoretical research and practical fleet operation for both the traditional gliders and hybrid gliders. 展开更多
关键词 Underwater glider Petrel-Ⅱ Coordinate control Path planning Artificial potential fields(APFs) Energy consumption
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Coordinated control strategy for robotic-assisted gait training with partial body weight support 被引量:6
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作者 秦涛 张立勋 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第8期2954-2962,共9页
Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w... Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging. 展开更多
关键词 robotic-assisted gait training gait training robot (GTR) partial body weight support (PBWS) center of gravity (COG) coordinated control strategy ground reaction force (GRF)
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