In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communica...The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communication delay is usually ignored,so the path following performance of the AEV cannot be ensured.This article studies the observer-based path following control strategy for the AEV with the communication delay via a robust explicit model predictive control approach.Firstly,a projected interval unscented Kalman filter is proposed to observe the vehicle sideslip angle and yaw rate.The observer considers the state constraints during the observation process,and the robustness of the observer is also considered.Secondly,an explicit model predictive control is designed to reduce the computational complexity.Thirdly,considering the efficiency of the information transmission,the influence of the communication delay is considered when designing the observer-based path following control strategy.Finally,the numerical simulation and the hardware-in-the-loop test are conducted to examine the effectiveness and practicability of the proposed strategy.展开更多
The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the ...The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.展开更多
This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- ...This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.展开更多
Delay and throughput are the two network indicators that users most care about.Traditional congestion control methods try to occupy buffer aggressively until packet loss being detected,causing high delay and variation...Delay and throughput are the two network indicators that users most care about.Traditional congestion control methods try to occupy buffer aggressively until packet loss being detected,causing high delay and variation.Using AQM and ECN can highly reduce packet drop rate and delay,however they may also lead to low utilization.Managing queue size of routers properly means a lot to congestion control method.Keeping traffic size varying around bottleneck bandwidth creates some degree of persistent queue in the router,which brings in additional delay into network unwillingly,but a corporation between sender and router can keep it under control.Proper persistent queue not only keeps routers being fully utilized all the time,but also lower the variation of throughput and delay,achieving the balance between delay and utilization.In this paper,we present BCTCP(Buffer Controllable TCP),a congestion control protocol based on explicit feedback from routers.It requires sender,receiver and routers cooperating with each other,in which senders adjust their sending rate according to the multiple bit load factor information from routers.It keeps queue length of bottleneck under control,leading to very good delay and utilization result,making it more applicable to complex network environments.展开更多
According to the Wide Area Network model and queue dynamics in the router, the authors formulate the Internet flow control as a constrained convex programming problem, where the objective is to maximize the total util...According to the Wide Area Network model and queue dynamics in the router, the authors formulate the Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility and minimize transmission delay and delay jitter of all sources over their transmission rates. Based on this formulation, flow control can be solved by means of a gradient projection algorithm with properly rate iterations. The main difficulty facing the realization of the iteration algorithm is the distributed computation of the congestion measure. Fortunately, Explicit Congestion Notification (ECN) is likely to be used to improving the performance of TCP in the near future. By using ECN, it is possible to realize the iteration algorithm in IP networks. The algorithm is divided into two parts, algorithms in the router and the source. The main advantage of the scheme is its fast convergence ability and robustness, but small queue length fluctuation is unavoidable when the number of users increases.展开更多
当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精...当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精度的转速跟随控制。但实验和理论分析表明,由于ESO的带宽有限,对于变化扰动的补偿能力较弱,参数失配时系统的动态性能恶化。为同时改善参数失配时系统的稳态控制精度和动态性能,并提高鲁棒性,该文将无模型控制与EMP控制进行融合,通过构造超局部预测模型和数据驱动观测器,提出新的EMP直接速度控制策略。实验结果表明:所提方法凭借数据驱动观测器的高观测带宽,可以同时在动态和稳态阶段实现参数失配的优良补偿,兼顾动态与稳态性能。展开更多
This work is to develop a blending-based multiple model adaptive explicit predictive control scheme for nonlinear MiMo systems that can handle parametric uncertainties.Here,for each identification model,an explicit no...This work is to develop a blending-based multiple model adaptive explicit predictive control scheme for nonlinear MiMo systems that can handle parametric uncertainties.Here,for each identification model,an explicit nonlinear model predictive control(ENMPC)law is computed in advance for the corresponding model.The generated control inputs from the set of ENMPC controllers are being blended online using a weighting vector that is continuously updated by the proposed adaptive identification schemes.The proposed control scheme is used to govern the tracking of a highly nonlinear helicopter model known as the twin rotor MIMO system(TRMS).Here,an extended Kalman filter(EKF)is used to estimate the unavailable states of the TRMS.Finally,simulation and experimental results are presented to prove that the proposed controller gives better performance than some reported works in the literature.The effectiveness of the proposed controller is demonstrated by experimental studies of the TRMS model.展开更多
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
基金Supported by the National Key Research and Development Program of China(Grant No.2023YFE0204700)the National Natural Science Foundation of China(Grant Nos.52472402 and 52302469)+7 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515012327 and 2024A1515010449)the research grant of the University of Macao(Grant No.MYRG GRG2023-00235-FST-UMDF)Shandong Provincial Natural Science Foundation(Grant No.ZR2023ME133)the Fundamental Research Funds for the Central Universities(Grant No.N2403012)the Science and Technology Development Fund of Macao SAR(Grant No.0091/2023/AMJ)the China Postdoctoral Science Foundation(Grant Nos.2023M740538 and AM2024003)the Zhuhai Science and Technology Innovation Bureau(Grant No.2220004003107)the Yunfu Science and Technology Project(Grant No.2024090202).
文摘The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communication delay is usually ignored,so the path following performance of the AEV cannot be ensured.This article studies the observer-based path following control strategy for the AEV with the communication delay via a robust explicit model predictive control approach.Firstly,a projected interval unscented Kalman filter is proposed to observe the vehicle sideslip angle and yaw rate.The observer considers the state constraints during the observation process,and the robustness of the observer is also considered.Secondly,an explicit model predictive control is designed to reduce the computational complexity.Thirdly,considering the efficiency of the information transmission,the influence of the communication delay is considered when designing the observer-based path following control strategy.Finally,the numerical simulation and the hardware-in-the-loop test are conducted to examine the effectiveness and practicability of the proposed strategy.
文摘The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.
文摘This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.
基金supported in part by the National Key R&D Program of China(2018YFB1800602)the Ministry of Education-China Mobile Research Fund Project(MCM20180506)the CERNET Innovation Project(NGIICS20190101)and(NGII20170406)。
文摘Delay and throughput are the two network indicators that users most care about.Traditional congestion control methods try to occupy buffer aggressively until packet loss being detected,causing high delay and variation.Using AQM and ECN can highly reduce packet drop rate and delay,however they may also lead to low utilization.Managing queue size of routers properly means a lot to congestion control method.Keeping traffic size varying around bottleneck bandwidth creates some degree of persistent queue in the router,which brings in additional delay into network unwillingly,but a corporation between sender and router can keep it under control.Proper persistent queue not only keeps routers being fully utilized all the time,but also lower the variation of throughput and delay,achieving the balance between delay and utilization.In this paper,we present BCTCP(Buffer Controllable TCP),a congestion control protocol based on explicit feedback from routers.It requires sender,receiver and routers cooperating with each other,in which senders adjust their sending rate according to the multiple bit load factor information from routers.It keeps queue length of bottleneck under control,leading to very good delay and utilization result,making it more applicable to complex network environments.
文摘According to the Wide Area Network model and queue dynamics in the router, the authors formulate the Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility and minimize transmission delay and delay jitter of all sources over their transmission rates. Based on this formulation, flow control can be solved by means of a gradient projection algorithm with properly rate iterations. The main difficulty facing the realization of the iteration algorithm is the distributed computation of the congestion measure. Fortunately, Explicit Congestion Notification (ECN) is likely to be used to improving the performance of TCP in the near future. By using ECN, it is possible to realize the iteration algorithm in IP networks. The algorithm is divided into two parts, algorithms in the router and the source. The main advantage of the scheme is its fast convergence ability and robustness, but small queue length fluctuation is unavoidable when the number of users increases.
文摘当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精度的转速跟随控制。但实验和理论分析表明,由于ESO的带宽有限,对于变化扰动的补偿能力较弱,参数失配时系统的动态性能恶化。为同时改善参数失配时系统的稳态控制精度和动态性能,并提高鲁棒性,该文将无模型控制与EMP控制进行融合,通过构造超局部预测模型和数据驱动观测器,提出新的EMP直接速度控制策略。实验结果表明:所提方法凭借数据驱动观测器的高观测带宽,可以同时在动态和稳态阶段实现参数失配的优良补偿,兼顾动态与稳态性能。
文摘模型预测控制(Model predictive control,MPC)具有很多优点,但用于智能汽车横摆稳定性控制时,由于其动力学模型的多约束和非线性问题,致使MPC优化算法复杂,难以实现足够短的控制周期和步长。为此,提出一种智能汽车横摆稳定性MPC的在线显式求解方法,使用泰勒展开将非线性模型预测控制(Nonlinear model predictive control,NMPC)转换为线性时变模型预测控制(Linear time-varying model predictive control,LTV-MPC)。再使用滚动调整的权重系数,将不等式约束优化转换为能直接显式求解的无约束优化,以避免多步迭代寻优、加快MPC求解速度。仿真试验结果表明,在保证相同控制效果前提下,所提出的显式解方法能使MPC的求解速度提高3~4倍,可显著提高智能汽车横摆稳定性MPC的实时性。
文摘This work is to develop a blending-based multiple model adaptive explicit predictive control scheme for nonlinear MiMo systems that can handle parametric uncertainties.Here,for each identification model,an explicit nonlinear model predictive control(ENMPC)law is computed in advance for the corresponding model.The generated control inputs from the set of ENMPC controllers are being blended online using a weighting vector that is continuously updated by the proposed adaptive identification schemes.The proposed control scheme is used to govern the tracking of a highly nonlinear helicopter model known as the twin rotor MIMO system(TRMS).Here,an extended Kalman filter(EKF)is used to estimate the unavailable states of the TRMS.Finally,simulation and experimental results are presented to prove that the proposed controller gives better performance than some reported works in the literature.The effectiveness of the proposed controller is demonstrated by experimental studies of the TRMS model.
