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RISS 인기검색어
- 검색키워드
- 저자 : Congqing Wang (검색결과 4 건)
- 무료
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- 유료
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Congqing Wang,Junjun Jiang,Xuewei Wu,Linfeng Wu 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
In this paper, a backstepping control using switching strategy is proposed for the motion control of the aircraft skin inspection robot with double frame in the presence of external disturbances. The inspection robot equipped with a CCD camera and an ultrasonic sensor can alternately adsorb and move on the aircraft surface. The influence of the external disturbances is obvious in the switching motion. The disturbances are efficiently estimated using a Nussbaum disturbance observer (NDO), and the disturbance observer errors are uniformly ultimately bounded. Then, the backstepping control method is used to design the motion controller. The stability of the closed-loop robot system is proved by Lyapunov analysis through the average dwell time method .The tracking errors and the disturbance observer errors are semi-globally uniformly bounded using the proposed control schemewith NDO,and NDO is compared with Super-twisting disturbance observer. Finally, simulation results illustrate that the proposed control scheme with NDO can achieve satisfactory tracking performance under the external disturbance.
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Self-adjusted adsorption strategy for an aircraft skin inspection robot
Jiayue Gu,Congqing Wang,Xuewei Wu 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.6
A self-adjusted adsorption strategy is developed for an aircraft skin inspection robot with double frames to improve adsorption safety and movement stability. The principal aim is to determine the optimal value of adsorption force when the robot slips or overturns on the fuselage. A pneumatic system that consists of suction cup and cylinder control is designed. Static force analysis shows that the adsorption force of the aircraft skin inspection robot is related to the curvature of the fuselage. The relationship between the minimum value of adsorption force and offset angle of the robot barycenter is established with the least-squares support vector regression algorithm. Pulsewidth modulation is then applied to control the pressure difference in the suction cup. Experimental results prove the feasibility of suction cup control with the self-adjusted adsorption strategy.
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Xuewei Wu,Congqing Wang 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
This paper presents a model-free optimal tracking control algorithm for an aircraft skin inspection robot with constrained-input and input time-delay. To tackle the input time-delay problem, the original system is transformed into a delay-free system with constrained-input and unknown input coupling term. In order to overcome the optimal control problem subject to constrained-input,a discounted value function is employed. In general, it is known that the HJB equation does not admit a classical smooth solution. Moreover, since the input coupling term of the delay-free system is unknown, a model-free integral reinforcement learning(IRL) algorithm which only requires the system sampling data generated by arbitrary different control inputs and external disturbances is proposed. The model-free IRL method is implemented on an actor-critic neural network (NN) structure. A system sampling data set is utilized to learn the value function and control policy. Finally, the simulation verifies the effectiveness of the proposed algorithm.
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Xingkai Feng,Congqing Wang 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.2
In this paper, an adaptive terminal sliding mode control scheme for an omnidirectional mobile robot is proposed as a robust solution to the trajectory tracking control problem. The omnidirectional mobile robot has a double-frame structure, which adsorbes on the aircraft surface by suction cups. The major difficulties lie in the existence of nonholonomic constraints, system uncertainty and external disturbance. To overcome these difficulties, the kinematic model is established, the dynamic model is derived by using Lagrange method. Then, a robust adaptive terminal sliding mode (RATSM) control scheme is proposed to solve the problem of state stabilization and trajectory tracking. In order to enhance the robustness of the system, an adaptive online estimation law is designed to overcome the total uncertainty. Subsequently, the asymptotic stability of the system without total uncertainty is proved with basis on Lyapunov theory, and the system considering total uncertainty can converge to the domain containing the origin. Simulation results are given to show the verification and validation of the proposed control scheme.
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