Vibration Control of a Riser-Vessel System Subject to Input Backlash and Extraneous Disturbances

Zhao, Zhijia; Lin, Shimin; Zhu, Dachang; Wen, Guilin

doi:10.1109/tcsii.2019.2914061

Cited by 41 publications

(14 citation statements)

References 18 publications

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“…After joining the excitation and inhibition together into the pair of pre-S layers, the final S layer is regulated by a switching mechanism. (7) in which the g on and g off are switching parameters that are either 0 or 1. The values for each VMPN are listed in table 1.…”

Section: ) the Summing Layermentioning

confidence: 99%

Coping With Multiple Visual Motion Cues Under Extremely Constrained Computation Power of Micro Autonomous Robots

Chen

Peng

et al. 2020

IEEE Access

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The perception of different visual motion cues is crucial for autonomous mobile robots to react to or interact with the dynamic visual world. It is still a great challenge for a micro mobile robot to cope with dynamic environments due to the restricted computational resources and the limited functionalities of its visual systems. In this study, we propose a compound visual neural system to automatically extract and fuse different visual motion cues in real-time using the extremely constrained computation power of micro mobile robots. The proposed visual system contains multiple bio-inspired visual motion perceptive neurons each with a unique role, for example to extract collision visual cues, darker collision cue and directional motion cues. In the embedded system, these multiple visual neurons share a similar presynaptic network to minimise the consumption of computation resources. In the postsynaptic part of the system, visual cues pass results to corresponding action neurons using lateral inhibition mechanism. The translational motion cues, which are identified by comparing pairs of directional cues, are given the highest priority, followed by the darker colliding cues and approaching cues. Systematic experiments with both virtual visual stimuli and real-world scenarios have been carried out to validate the system's functionality and reliability. The proposed methods have demonstrated that (1) with extremely limited computation power, it is still possible for a micro mobile robot to extract multiple visual motion cues robustly in a complex dynamic environment; (2) the cues extracted can be fused with a lateral inhibited postsynaptic network, thus enabling the micro robots to respond effectively with different actions, accordingly to different states, in real-time. The proposed embedded visual system has been modularised and can be easily implemented in other autonomous mobile platforms for real-time applications. The system could also be used by neurophysiologists to test new hypotheses pertaining to biological visual neural systems. INDEX TERMS Bio-inspired, Neural Network, Visual Motion Perception, Micro Robot, Multiple Cues. I. INTRODUCTION C OMPUTER vision has underpinned the rapid development of autonomous mobile robots in various applications, such as surveillance, transportation and manipulation [1]-[3]. A distinctive feature of computer vision is that its performance is strictly determined by the scale of available computational resources [4], [5]. In many remote robotics applications, such as ruin investigation [6], moon rovers [7] and underwater surveillance [8], micro mobile

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Section: ) the Summing Layermentioning

confidence: 99%

Coping With Multiple Visual Motion Cues Under Extremely Constrained Computation Power of Micro Autonomous Robots

Chen

Peng

et al. 2020

IEEE Access

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“…As we know, constraints commonly exist in industrial control systems and reflect in the input and output of physical, biomedical, hydraulic, mechanical, and piezoelectric systems [2], [32], [33]. If constraints are transgressed [34], [35], system damages or even severe hazards will arise.…”

Section: Introductionmentioning

confidence: 99%

Boundary Control of a Vibrating String Subject to Input Saturation and Output Constraint

et al. 2020

Self Cite

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This paper presents a control framework of a vibrating flexible string system subject to input saturation and output constraint. By integrating the backstepping technique and Lyapunov theory, a smooth function, a Nussbaum function, a barrier function, and an auxiliary system are exploited to establish a constrained boundary control for tacking the output and input constraints as well as stabilizing the system. The derived control can assure the bounded stability in controlled systems depending on Lyapunov criteria. The simulation study and analysis verify the effectiveness of the presented scheme.

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“…The vibration of flexible spacecraft system (Liu et al, 2019) and belt system (Liu et al, 2016) was also eliminated by using the boundary control scheme. Zhao et al (2019) also proposed a boundary control scheme to stabilize a vibrating flexible manipulator. Zhang and Liu (2013) built an adaptive boundary controller based on the PDE model that can suppress the vibration of a flexible manipulator with a changeable payload.…”

Section: Introductionmentioning

confidence: 99%

Neural-network-based adaptive fault-tolerant vibration control of single-link flexible manipulator

Liu

2019

Transactions of the Institute of Measurement and Control

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This paper proposes an adaptive fault-tolerant control scheme for a single-link flexible manipulator with actuator failure and uncertain boundary disturbance. The dynamic model of the flexible manipulator as-described by partial differential equations (PDEs) is derived under Hamilton’s principle. The dynamic model is then used to design an adaptive fault-tolerant control (FTC) scheme which tracks the given angle and regulates vibration in the case of actuator failure. The boundary disturbance is compensated by a radial basis function (RBF) neural network. The whole closed-loop system is proven asymptotically stable by Lyapunov direct method and LaSalle’s invariance principle. Simulation results indicate that the proposed controller is superior to the traditional PD controller.

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Vibration Control of a Riser-Vessel System Subject to Input Backlash and Extraneous Disturbances

Cited by 41 publications

References 18 publications

Coping With Multiple Visual Motion Cues Under Extremely Constrained Computation Power of Micro Autonomous Robots

Coping With Multiple Visual Motion Cues Under Extremely Constrained Computation Power of Micro Autonomous Robots

Boundary Control of a Vibrating String Subject to Input Saturation and Output Constraint

Neural-network-based adaptive fault-tolerant vibration control of single-link flexible manipulator

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