yanghongjiu@tju.edu.cn
081101
未公开
教授
国防科技创新特区项目“XXXX技术研究”
一种无线控制气动仿生爬行机器狗

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一种无杆气缸位置伺服系统的自抗扰控制

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一种基于气动直角型复合运动平台的归位
本发明公开了一种无线控制气动仿生爬行机器狗，主要包括支架和连接件，所述支架分为左右两个完全相同的结构；支架采用双层板体框架结构，在两层板体之间安装电磁换向阀，在两层板体周围使用连杆进行上下连接；两个支架之间通过连接件进行活动连接；在两个支架的上层板同一侧安装转向单元。

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本发明公开了一类无杆气缸伺服系统位置精度控制方法，该方法内容包括以下步骤：1、建立气动位置伺服系统的数学模型；2、基于步骤1建立的数学模型，根据自抗扰控制技术，设计跟踪微分器；3、设计线性扩张状态观测器，对系统的总和扰动给予实时估计和补偿；4、设计线性状态误差反馈控制器，即广义的PID控制器；在控制器中对系统的总和扰动进行补偿，从而将原来的非线性气动伺服控制系统转化成线性的积分串联型控制系统。

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本发明公开了一种基于气动直角型复合运动平台的归位方法，所述方法以“中位为先”的算法结构，只对中区域模块进行扫描，识别模块特征进行判定，利用气动机械手和辅助推动气缸分别对模块进行抓取和推进，对相同特征的模块采用向相同特征区域靠拢的方式进行处理，不断判定当前模块的归位标志位和能动标志位，对所有模块进行循环判定，满足条件结束程序，被打乱的模块恢复至原状态，达到归位效果。本发明方法在处理仓储管理中的满仓状态的自动化搬运系统中具有优先应用价值。
Double-loop stability for high frequency networked control systems subject to actuator saturation

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Security Research on Wireless Networked Control Systems Subject to Jamming Attacks

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Position control for magnetic rodless cylinders with strong static friction

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Active disturbance rejection attitude control for a dual closed-loop quadrotor under gust wind

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Hierarchical fusion estimation for multi-sensor networked systems with transmission delays and packets dropout

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Adaptive dynamic programming for security of networked control systems with actuator saturation

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Nonuniform sampling Kalman filter for networked systems with Markovian packets dropout

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Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints

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Event-triggered predictive control for networked control systems with network-induced delays and packet dropouts

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Event-driven control for networked control systems with quantization and Markov packet losses

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Networked predictive control for nonlinear systems with arbitrary region quantizers

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Parametric delta operator Riccati equation and applications to semi-global stabilization in the presence of actuator saturati

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Overall convergence rate of delta operator systems subject to actuator saturation

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Output regulation for linear delta operator systems subject to actuator saturation

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Stabilization for Markovian jump delta operator systems with time-varying delays and actuator saturation

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Adaptive finite-time control for high-order nonlinear systems with mismatched disturbances

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Adaptive control for large-scale nonlinear systems with time-delays and unmodeled dynamics

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Practical stabilization of delta operator systems subject to actuator saturation and disturbances

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Angle tracking of a pneumatic muscle actuator mechanism under varying load conditions

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Active disturbance rejection attitude control for a hypersonic reentry vehicle with actuator saturation

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Active disturbance rejection tracking control for a nonlinear pneumatic muscle system

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Attitude tracking control for spacecraft formation with time-varying delays and switching topology

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Semi-global stabilization with guaranteed regional performance for delta operator systems subject to actuator saturation

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Stability analysis for delta operator systems subject to state saturation

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Stabilization on null controllable region of delta operator systems subject to actuator saturation

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Quantized stabilization of networked control systems with actuator saturation

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Analysis and design of delta operator systems with nested actuator saturation