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Asynchronous Event-Inertial Odometry using a Unified Gaussian Process Regression Framework
Xudong Li;Zhixiang Wang;Zihao Liu;Yizhai Zhang;Fan Zhang;Xiuming Yao;Panfeng Huang
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
Recent works have combined monocular event camera and inertial measurement unit to estimate the SE(3) trajectory. However, the asynchronicity of event cameras brings a great challenge to conventional fusion algorithms. In this paper, we present an asynchronous event-inertial odometry under a unified Gaussian Process (GP) regression framework to naturally fuse asynchronous data associations and ine...Show More
Asymptotic Adaptive Tracking Control Based on Disturbance Observer for Non-Strict Feedback Nonlinear Systems
IEEE Transactions on Automation Science and Engineering
Year: 2024 | Early Access Article |
This paper proposes an innovative composite anti-disturbance asymptotic tracking control strategy for a class of nonlinear non-strict feedback systems facing unknown nonlinearities and external disturbances. Based on the separation principle, a new adaptive learning disturbance observer (ALDO) is first introduced, designed to accurately estimate the unknown nonlinear dynamics and time-varying dist...Show More
Adaptive Refined Disturbance Observer-Based Velocity-Tracking Control for Gimbal Servo System With Multiple Disturbances
Multiple disturbances are the main factors to degrade high-accuracy velocity tracking of gimbal servo system in control moment gyro. In this article, a noncascade structured velocity-tracking control scheme in accordance with an adaptive refined disturbance observer (ARDO) is figured out and applied to suppress multiple disturbances and promote tracking accuracy. However, because disturbances affe...Show More
Composite Attitude Tracking Control for Launch Vehicles Subject to Actuator Degradation Fault and Multiple Disturbances
The safety and high-precision attitude control of launch vehicles are threatened by degradation fault and multiple disturbances (such as model uncertainty, uncertain inertia, and external disturbance) during the reentry stage. To address these challenges, an adaptive sliding mode observer (ASMO)-based composite control scheme is proposed in this article for launch vehicles to achieve simultaneous ...Show More
Fixed-Time Composite Anti-Disturbance Control for Flexible-Link Manipulators Based on Disturbance Observer
In this paper, a novel fixed-time composite anti-disturbance control framework is proposed for $n$ -degrees of freedom ( $n$ -DOF) flexible-link manipulator systems with modelling uncertainties and external disturbances. The aim is to ensure that the considered system achieves suppression of elastic vibrations while tracking time-varying trajectories. First, based on the singular perturbation the...Show More
Disturbance Rejection Self-Triggered Distributed MPC With Adaptive Prediction Horizon for Asynchronous Multiagent Systems
This article proposes a disturbance-observer-based self-triggered distributed model predictive control (DSDMPC) algorithm with an adaptive prediction horizon mechanism for discrete-time nonlinear multiagent systems (MASs) with disturbances and system constraints. First, decentralized discrete-time nonlinear disturbance observers are designed. They are combined with a space decomposition technique ...Show More
Distributed Formation Control Based on Disturbance Observers for High-Speed Trains With Communication Delays
This paper investigates the position and velocity tracking control of the high-speed train (HST) formation with communication delay and proposes a distributed anti-disturbance control criterion based on the graph theory and the Lyapunov-Razumikhin theory. Firstly, the tracking error systems of the $n$ -HSTs convoy is established with the consideration of the non-linearity of aerodynamic drag, the...Show More
Disturbance Rejection Event-Triggered Robust Model Predictive Control for Tracking of Constrained Uncertain Robotic Manipulators
IEEE Transactions on Cybernetics
Cited by: Papers (5)
A novel hierarchical control framework combining computed-torque-like control (CTLC) with disturbance-observer-based event-triggered robust model predictive control (DO-ET-RMPC) is proposed for the trajectory tracking control of robotic manipulators with bounded disturbances and state and control input constraints. The CTLC approach is first used to cancel the exact nonlinear dynamics of the origi...Show More
Disturbance-Observer-Based Hierarchical Control for Vehicle Front Steering: Interval Type-2 Fuzzy System Approach
IEEE Transactions on Fuzzy Systems
Cited by: Papers (7)
This article addresses the composite hierarchical antidisturbance control issue for the front steering vehicle system with uncertain parameters. First, the front steering vehicle system is modeled as an interval type-2 Takagi–Sugeno (T–S) system, which contains the unknown disturbance matching the input channel and the norm bounded disturbance. Considering that the embedded membership functions of...Show More
Disturbance Observer-Based Tracking Control of High-Speed Trains Under Adhesion Dynamics
As the anti-skid control and speed tracking control of high-speed trains (HSTs) are interrelated and mutually constrained, it is very challenging to achieve simultaneous tracking of speed and slip ratio. In this paper, it is proposed for the first time that when the traction braking force has been limited to a reasonable range by the adhesion anti-skid condition, the high-precision tracking of the...Show More
Adaptive Fixed-Time Disturbance Observer-Based Proximity Control for Spacecrafts With Dynamic Obstacle Constraints
The high-precision and fast-response safety proximity control for servicing spacecrafts is affected by dynamic obstacle constraints and multiple disturbances, such as actuator deviations and flexible vibration. To address this challenge, an adaptive fixed-time disturbance observer (AFTDO)-based composite proximity control scheme is proposed for the servicing spacecrafts to achieve effective obstac...Show More
Composite Adaptive Anti-Disturbance Fault Tolerant Control of High-Speed Trains With Multiple Disturbances
This article investigates the fault tolerant control problem with anti-disturbance performance of high speed trains (HSTs) with actuator constraints in case of multiple random faults that may occur. By taking multiple disturbances into account, a new multiple point-mass stochastic jump system model of the HST is firstly established to describe the possible multiple faults. Based on the adaptive di...Show More
Composite Anti-Disturbance Control for Interval Type-2 Fuzzy System via Disturbance Observer
2022 5th International Symposium on Autonomous Systems (ISAS)
Year: 2022 | Conference Paper |
This paper concentrates on the matter of composite disturbance-observer-based control (DOBC) for nonlinear object provided with parameter uncertainties and the disturbance. The nonlinear system containing uncertainties is depicted by an interval type-2 (IT2) Takagi-Sugeno (T-S) fuzzy model. Based on the DOBC method, a disturbance observer is established to cancel out the disturbance produced by a ...Show More
Lazy Prescribed-Time Synchronization Control of Half Bogie for High-Speed Maglev Train Considering Track Irregularities and Input Constraints
Shihui Jiang;Hongze Xu;Tianbo Zhang;Xiuming Yao;Zhiqiang Long
Inevitable irregularities excite a traveling maglev train along a journey by disturbing air gaps and thus modifying levitation forces. For a half bogie which is a rigid coupled structure with a separate levitation unit at each endpoint, the effects of track irregularities hamper the synchronization of the two units. Motivated by the aforementioned, this paper establishes a newly nonlinear model fo...Show More
Composite Disturbance-observer-based Control and MPC for Discrete-Time T-S Fuzzy Semi-Markovian Jump Systems
2021 International Conference on Security, Pattern Analysis, and Cybernetics（SPAC)
Year: 2021 | Conference Paper |
This technical note discusses the stability and stabilization problems for Takagi-Sugeno (T-S) fuzzy semi-Markovian jump systems (S-MJSs) in the discrete-time domain subjected to matched disturbances. The disturbance observer is designed to estimate the external disturbance. And then by combining the disturbance observer with model predictive control (MPC), a composite controller is proposed, such...Show More
Uncertain Disturbance Rejection and Attenuation for Semi-Markov Jump Systems With Application to 2-Degree-Freedom Robot Arm
This paper studies the composite refined anti-disturbance control problem of a 2-degree-of-freedom robot arm system modeled by a semi-Markov jump system with multiple disturbances, which includes harmonic disturbances with unknown frequency and amplitude as well as energy bounded disturbances. Firstly, the semi-Markov jump system model is proposed to construct a novel linear model of the 2-degree-...Show More
Anti-Disturbance Control for Robot Arm Based on a Nonlinear Semi-Markov Jump System Model
2020 Chinese Automation Congress (CAC)
Year: 2020 | Conference Paper |
In this paper, a disturbance estimation method is came up with for a semi-Markov jump system with nonlinear and unknown disturbances and applied to a one-connecting rod robot arm. Firstly, the dynamics of the one-connecting rod robot arm model is analyzed, and then the dynamic model is established. By linearizing the equilibrium point, the one-connecting rod robot arm model is represented as a sem...Show More
In this article, the problem of fault-tolerant attitude-tracking control of spacecraft with quantized control torque is addressed. Actuator faults/failures, an uncertain inertia matrix and unknown disturbances are considered in the attitude controller design of the spacecraft. A dynamical quantization strategy is developed to quantize the signals of the control torque, which can reduce the data tr...Show More
Disturbance-Observer-Based Fault Tolerant Control of High-Speed Trains: A Markovian Jump System Model Approach
This paper addresses the fault tolerant control problem for high-speed trains in case of multiple possible failures. A new multiple point-mass model with system faults is built based on a stochastic jump system model approach. A novel active fault tolerant composite hierarchical anti-disturbance control strategy based on the disturbance observer is proposed such that the resulting composite system...Show More
Hierarchical anti-disturbance Control for Semi-Markovian Jump T-S Fuzzy Systems with nonlinearity via multiple disturbances
2019 3rd International Symposium on Autonomous Systems (ISAS)
Year: 2019 | Conference Paper |
This paper addresses a method of hierarchical disturbance-observer-based control (DOBC) and ℋ∞ control for Semi-Markovian jump T-S fuzzy systems with nonlinearity and multiple disturbances. The focus is on designing a disturbance observer to estimate the disturbance. And then design a control strategy by combining the output of the disturbance observer with the state feedback gain to guarantee the...Show More
The key issue of establishing a pedestrian dynamics model is to select the direction and magnitude of the pedestrian velocity. In this paper, an improved Markov jump model based on the heuristic method is proposed to simulate the dynamic behavior of the pedestrians. According to the speed of the pedestrian, the pace is divided into four states, and the next step of the state is only determined by ...Show More
Disturbance-Observer-Based Composite Hierarchical Antidisturbance Control for Singular Markovian Jump Systems
Antidisturbance control issue for singular Markovian jump systems under infinitely unobservable states and multiple disturbances is investigated. One of the disturbances is norm bounded, whereas the other is written in a state-space expression. Under assumption that some of the states of the system are infinitely unobservable, a novel mode-dependent observer is proposed to estimate the modeling di...Show More
Robust Adaptive Nonsingular Terminal Sliding Mode Control for Automatic Train Operation
In this paper, we develop robust adaptive nonsingular terminal sliding mode (NTSM) control methodologies to solve the position and the velocity tracking control problem of the automatic train operation (ATO) system subject to unknown parameters, model uncertainty, and external disturbances. A novel nonlinear nonsingular terminal sliding manifold is proposed by considering that its parameter is unk...Show More
Disturbance-observer-based Control and ℋ∞ Control for Semi-Markovian Jump Nonlinear Systems
2018 Australian & New Zealand Control Conference (ANZCC)
Year: 2018 | Conference Paper |
Cited by: Papers (1)
In this paper, we try to effectively combine disturbance-observer-based control (DOBC) and ℋ∞ control to solve common problems for semi-Markovian jump systems, such as nonlinearity in complex systems and malignant disturbance caused by different factors. We take this opportunity to target two different kinds of disturbances are solved, and a disturbance observer is proposed to help solve the probl...Show More
Modeling of Crowd Dynamics With Emergency Signs via Modified Social Force Model
2018 IEEE 14th International Conference on Control and Automation (ICCA)
Year: 2018 | Conference Paper |
Cited by: Papers (6)
The emergency sign system provides evacuation information and route guidance for people and plays an important role in crowd evacuation in case of emergency. This paper investigates crowd dynamics with emergency signs and mainly focuses on the influence of signs on crowd evacuation dynamics under the visual field-limited environment. A modified social force model is proposed by taking into account...Show More
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