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Tao Xue, Zi-wei Wang, Tao Zhang, Ou Bai, Meng Zhang, Bin Han,taozhang@tsinghua.edu.cn
Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5, Pages 649-808 doi: 10.1631/FITEE.1900418
Adaptive tracking control for air-breathing hypersonic vehicles with state constraints Article
Gong-jun LI
Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 5, Pages 599-614 doi: 10.1631/FITEE.1500464
Keywords: Hypersonic vehicle Constraints Output redefinition Barrier Lyapunov function
Construction of a new Lyapunov function for a dissipative gyroscopic system using the residual energy function Personal View
Cem CİVELEK, Özge CİHANBEĞENDİ
Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 4, Pages 629-634 doi: 10.1631/FITEE.1900014
Keywords: Lyapunov function Residual energy function Stability of dissipative gyroscopic system
Cross-industry standard test method developments: from manufacturing to wearable robots Review
Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU
Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 10, Pages 1447-1457 doi: 10.1631/FITEE.1601316
Keywords: Wearable robot Exoskeleton Cross-industry Artifact Standards Grasping
Finite-time formation control for first-order multi-agent systems with region constraints Research Articles
Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen,zquanyang@163.com,1219006322@qq.com,qz120168@hotmail.com,chenzq@nankai.edu.cn
Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1, Pages 1-140 doi: 10.1631/FITEE.2000177
Keywords: Finite-time formation Multi-agent system Asymptotic convergence Set constraint Lyapunov theorem
Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation Article
Robins Mathew,Somashekhar S. Hiremath
Engineering 2018, Volume 4, Issue 4, Pages 491-499 doi: 10.1016/j.eng.2018.07.013
Finding an optimal trajectory from an initial point to a final point through closely packed obstacles, and controlling a Hilare robot through this trajectory, are challenging tasks. To serve this purpose, path planners and trajectory-tracking controllers are usually included in a control loop. This paper highlights the implementation of a trajectory-tracking controller on a stepper motor-driven Hilare robot, with a trajectory that is described as a set of waypoints. The controller was designed to handle discrete waypoints with directional discontinuity and to consider different constraints on the actuator velocity. The control parameters were tuned with the help of multi-objective particle swarm optimization to minimize the average cross-track error and average linear velocity error of the mobile robot when tracking a predefined trajectory. Experiments were conducted to control the mobile robot from a start position to a destination position along a trajectory described by the waypoints. Experimental results for tracking the trajectory generated by a path planner and the trajectory specified by a user are also demonstrated. Experiments conducted on the mobile robot validate the effectiveness of the proposed strategy for tracking different types of trajectories.
Keywords: Trajectory tracking Adaptive control Waypoint navigation Hilare robot Particle swarm optimization Probabilistic road map
Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions Research Article
Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG
Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 2, Pages 231-244 doi: 10.1631/FITEE.2200211
Keywords: Chaotic mobile robot Lü system Complete coverage path planning (CCPP) Parameter value selection strategy Lyapunov exponent Pearson correlation coefficient
Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization Research Article
Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn
Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1, Pages 104-116 doi: 10.1631/FITEE.2200065
Keywords: Lower limb exoskeleton Human-robot interaction Motion learning Trajectory generation Movement primitive Black-box optimization
Stabilization of switched linear systems under asynchronous switching subject to admissible edge-dependent average dwell time Research Article
Linlin HOU, Xuan MA, Haibin SUN,houtingting8706@126.com,maxuan24@163.com,fengyun198212@163.com
Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 5, Pages 810-822 doi: 10.1631/FITEE.2000698
Keywords: Asynchronous switching Admissible edge-dependent average dwell time Multi-Lyapunov function
The Shortest Path for Mobile Robots in Obstacle Avoidance
Guo Ge
Strategic Study of CAE 2003, Volume 5, Issue 5, Pages 70-75
An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size information. Furthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final important result of optimal path for mobile robot to avoid an obstacle. Simple as the results are, they have been shown by simulations te be effective and convenient in implementation. A good application prospect of the result can thus be expected.
Keywords: mobile robot ultrasonic sensor obstacle avoidance path planning optimal path
Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation Article
Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos
Engineering 2015, Volume 1, Issue 1, Pages 66-72 doi: 10.15302/J-ENG-2015016
This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current (DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.
Keywords: microrobotics vibration micromotor actuation nonholonomic planning nonholonomic constraints compensation
The Control Strategy of SVG in Outer Loop Controller Based on Artificial Immunity Algorithm
Yang Jianning,Sun Yukun,Li Zicheng,Sun Yunyuan
Strategic Study of CAE 2007, Volume 9, Issue 10, Pages 30-35
The control strategy of SVG controller in outer loop based on artificial immunity arithmetic was brought forward in this paper in control technique about voltage error—reactive power in static var generator's controller in allusion to complex control object of multi-dimensional and non-linear power system. Bionically simulating the immune process of human body in which the immunity system can bring excellent antibody for biting evil invasive antigen and maintain normal function, the control strategy takes voltage fluctuate as equivalence antigen and produces antibody for voltage stabilization. Output reference value of reactive power instruction in inner loop is gained by identifying voltage change factor in power system which corresponds to antigen mater in immunity system and setting model with fuzzy scheme for cell activation process with Mamdani fuzzy reasoning and gravitational and center fuzzy measure. The control scheme of simulation immune mechanism brought forward in the paper is proved effective on stability of power system through the outline parameter training of the SVG simulation controller on on power system of one generator with two close loop structur the fault influence analysis about short circuit in triphase symmetry power system and comparison with parameter change by PI control manner.
Keywords: power system SVG mimic humoral immune response model (MHIRM) Lyapunov energy function
Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance Special Feature on Intelligent Robats
Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3, Pages 318-329 doi: 10.1631/FITEE.1800561
Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton (Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application range. Unlike traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra support. The new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.
Keywords: Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design
Selective and Independent Control of Microrobots in a Magnetic Field: A Review Review
Min Wang, Tianyi Wu, Rui Liu, Zhuoran Zhang, Jun Liu
Engineering 2023, Volume 24, Issue 5, Pages 21-38 doi: 10.1016/j.eng.2023.02.011
Due to the unique advantages of untethered connections and a high level of safety, magnetic actuation is a commonly used technique in microrobotics for propelling microswimmers, manipulating fluidics, and navigating medical devices. However, the microrobots or actuated targets are exposed to identical and homogeneous driving magnetic fields, which makes it challenging to selectively control a single robot or a specific group among multiple targets. This paper reviews recent advances in selective and independent control for multi-microrobot or multi-joint microrobot systems driven by magnetic fields. These selective and independent control approaches decode the global magnetic field into specific configurations for the individualized actuation of multiple microrobots. The methods include applying distinct properties for each microrobot or creating heterogeneous magnetic fields at different locations. Independent control of the selected targets enables the effective cooperation of multiple microrobots to accomplish more complicated operations. In this review, we provide a unique perspective to explain how to manipulate individual microrobots to achieve a high level of group intelligence on a small scale, which could help accelerate the translational development of microrobotic technology for real-life applications.
Keywords: Microrobot Magnetic microrobot Independent control Selective control Microrobotic manipulation
Switching-based stabilization of aperiodic sampled-data Boolean control networks with all subsystems unstable Research Articles
Liang-jie SUN, Jian-quan LU, Wai-Ki CHING
Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 2, Pages 260-267 doi: 10.1631/FITEE.1900312
Keywords: Aperiodic sampled-data control Boolean control networks Unstable subsystem Discretized Lyapunov function Dwell time
Title Author Date Type Operation
Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks
Tao Xue, Zi-wei Wang, Tao Zhang, Ou Bai, Meng Zhang, Bin Han,taozhang@tsinghua.edu.cn
Journal Article
Adaptive tracking control for air-breathing hypersonic vehicles with state constraints
Gong-jun LI
Journal Article
Construction of a new Lyapunov function for a dissipative gyroscopic system using the residual energy function
Cem CİVELEK, Özge CİHANBEĞENDİ
Journal Article
Cross-industry standard test method developments: from manufacturing to wearable robots
Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU
Journal Article
Finite-time formation control for first-order multi-agent systems with region constraints
Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen,zquanyang@163.com,1219006322@qq.com,qz120168@hotmail.com,chenzq@nankai.edu.cn
Journal Article
Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation
Robins Mathew,Somashekhar S. Hiremath
Journal Article
Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions
Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG
Journal Article
Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization
Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn
Journal Article
Stabilization of switched linear systems under asynchronous switching subject to admissible edge-dependent average dwell time
Linlin HOU, Xuan MA, Haibin SUN,houtingting8706@126.com,maxuan24@163.com,fengyun198212@163.com
Journal Article
Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation
Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos
Journal Article
The Control Strategy of SVG in Outer Loop Controller Based on Artificial Immunity Algorithm
Yang Jianning,Sun Yukun,Li Zicheng,Sun Yunyuan
Journal Article
Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance
Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU
Journal Article
Selective and Independent Control of Microrobots in a Magnetic Field: A Review
Min Wang, Tianyi Wu, Rui Liu, Zhuoran Zhang, Jun Liu
Journal Article