The Experts below are selected from a list of 261 Experts worldwide ranked by ideXlab platform
Lei Guo - One of the best experts on this subject based on the ideXlab platform.
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CCIS - Adaptive fuzzy control of a Front-Wheel Drive bicycle robot
2016 4th International Conference on Cloud Computing and Intelligence Systems (CCIS), 2016Co-Authors: Shimin Wei, Lei Guo, Xin FengAbstract:In the study of the Front-Wheel Drive bicycle robot, we found a lot of disadvantage in linear control method. This is because the linear system ignores many important nonlinear characteristics. Therefore, we designed a nonlinear control method for the Front-Wheel Drive bicycle robot based on adaptive fuzzy control method. The simulation results are provided to show the efficacy of the adaptive fuzzy control strategy.
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Dynamic modeling and robust controller design for circular motion of a Front-Wheel Drive bicycle robot
2016 IEEE International Conference on Mechatronics and Automation, 2016Co-Authors: Bin Xing, Shimin Wei, Lei Guo, Yuan SongAbstract:A kind of Front-Wheel Drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front Drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H ∞ robust control theory can meet the control requirements and has good robustness.
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A control strategy for rectilinear motion of a Front-Wheel Drive bicycle robot
2014 IEEE 7th Joint International Information Technology and Artificial Intelligence Conference, 2014Co-Authors: Shimin Wei, Lei Guo, Jiming LiuAbstract:This paper describes a method for approximate linearization of nonlinear systems, a method based on the Jacobian matrix of Taylor series expansion, which is used to handle the nonlinear mechanical model of rectilinear motion of the Front-Wheel Drive bicycle, and then a linear model is achieved. And based on this model and the partial feedback linearization method, a controller is designed to simulate the rectilinear motion of the Front-Wheel Drive bicycle robot. The result of this simulation shows that the controller has a good effect on the dip of the bicycle, upon which the rectilinear motion of the bicycle robot can be realized.
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ICIA - Dynamic modeling and adaptive controller design for the track-stand motion of a Front-Wheel Drive bicycle robot under 90 degrees front-bar steering angle
2014 IEEE International Conference on Information and Automation (ICIA), 2014Co-Authors: Deng Guo, Lei Guo, Shimin Wei, Qizheng LiaoAbstract:The track stand motion for the bicycle robot with Front-Wheel Drive under 90 degrees front-bar turning angle is analyzed in this paper. A kind of dynamic model is proposed based on Appell Equation. To achieve the goal of track stand motion control, the controller is designed based on RBF neural network and adaptive sliding mode control algorithm. And the computer simulation is carried out based on MATLAB to compare the stable equilibrium motion of the robot without interference and under interference separately. The validity of the dynamic model and the control algorithm are testified by the simulation results. And the coefficients in the controller can be tuned automatically. The uncertainties in the model are estimated by the RBF neural network so that the controller is adaptive. Besides, it has certain ability of anti-interference.
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Balanced Motions Realization for a Mechanical Regulators Free and Front-Wheel Drive Bicycle Robot Under Zero Forward Speed
International Journal of Advanced Robotic Systems, 2013Co-Authors: Yonghua Huang, Qizheng Liao, Lei Guo, Shimin WeiAbstract:This paper focuses on a mechanical regulator free and front- wheel Drive bicycle robot. We present a scheme to achieve the robotʹs track-stand motion and circular motion under zero forward speed. In a situation where the robotʹs front-bar is locked at 90 degrees, a kinetic constraint about the rotating rate of the Front-Wheel and the yawing rate of the frame is derived. Using the constraint as a basis, we developed a simplified model of two independent velocities for the robot. The model suggests there is an under- actuated rolling angle in the system. Our control strategy originates from the under- actuated characteristics of the robot system. Concretely, we linearize the rolling angle of the frame and set the bicycle robot to regulate its tilting by rotating the Front-Wheel. In the track-stand motion, we control the position and the rotational rate of the Front-Wheel; but in the circular motion, only the rotational rate of the Front-Wheel is strictly regulated. Both simulations and physical experiments results show that our strategy is effective for achieving these two motions.
Shimin Wei - One of the best experts on this subject based on the ideXlab platform.
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CCIS - Adaptive fuzzy control of a Front-Wheel Drive bicycle robot
2016 4th International Conference on Cloud Computing and Intelligence Systems (CCIS), 2016Co-Authors: Shimin Wei, Lei Guo, Xin FengAbstract:In the study of the Front-Wheel Drive bicycle robot, we found a lot of disadvantage in linear control method. This is because the linear system ignores many important nonlinear characteristics. Therefore, we designed a nonlinear control method for the Front-Wheel Drive bicycle robot based on adaptive fuzzy control method. The simulation results are provided to show the efficacy of the adaptive fuzzy control strategy.
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Dynamic modeling and robust controller design for circular motion of a Front-Wheel Drive bicycle robot
2016 IEEE International Conference on Mechatronics and Automation, 2016Co-Authors: Bin Xing, Shimin Wei, Lei Guo, Yuan SongAbstract:A kind of Front-Wheel Drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front Drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H ∞ robust control theory can meet the control requirements and has good robustness.
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A control strategy for rectilinear motion of a Front-Wheel Drive bicycle robot
2014 IEEE 7th Joint International Information Technology and Artificial Intelligence Conference, 2014Co-Authors: Shimin Wei, Lei Guo, Jiming LiuAbstract:This paper describes a method for approximate linearization of nonlinear systems, a method based on the Jacobian matrix of Taylor series expansion, which is used to handle the nonlinear mechanical model of rectilinear motion of the Front-Wheel Drive bicycle, and then a linear model is achieved. And based on this model and the partial feedback linearization method, a controller is designed to simulate the rectilinear motion of the Front-Wheel Drive bicycle robot. The result of this simulation shows that the controller has a good effect on the dip of the bicycle, upon which the rectilinear motion of the bicycle robot can be realized.
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ICIA - Dynamic modeling and adaptive controller design for the track-stand motion of a Front-Wheel Drive bicycle robot under 90 degrees front-bar steering angle
2014 IEEE International Conference on Information and Automation (ICIA), 2014Co-Authors: Deng Guo, Lei Guo, Shimin Wei, Qizheng LiaoAbstract:The track stand motion for the bicycle robot with Front-Wheel Drive under 90 degrees front-bar turning angle is analyzed in this paper. A kind of dynamic model is proposed based on Appell Equation. To achieve the goal of track stand motion control, the controller is designed based on RBF neural network and adaptive sliding mode control algorithm. And the computer simulation is carried out based on MATLAB to compare the stable equilibrium motion of the robot without interference and under interference separately. The validity of the dynamic model and the control algorithm are testified by the simulation results. And the coefficients in the controller can be tuned automatically. The uncertainties in the model are estimated by the RBF neural network so that the controller is adaptive. Besides, it has certain ability of anti-interference.
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Balanced Motions Realization for a Mechanical Regulators Free and Front-Wheel Drive Bicycle Robot Under Zero Forward Speed
International Journal of Advanced Robotic Systems, 2013Co-Authors: Yonghua Huang, Qizheng Liao, Lei Guo, Shimin WeiAbstract:This paper focuses on a mechanical regulator free and front- wheel Drive bicycle robot. We present a scheme to achieve the robotʹs track-stand motion and circular motion under zero forward speed. In a situation where the robotʹs front-bar is locked at 90 degrees, a kinetic constraint about the rotating rate of the Front-Wheel and the yawing rate of the frame is derived. Using the constraint as a basis, we developed a simplified model of two independent velocities for the robot. The model suggests there is an under- actuated rolling angle in the system. Our control strategy originates from the under- actuated characteristics of the robot system. Concretely, we linearize the rolling angle of the frame and set the bicycle robot to regulate its tilting by rotating the Front-Wheel. In the track-stand motion, we control the position and the rotational rate of the Front-Wheel; but in the circular motion, only the rotational rate of the Front-Wheel is strictly regulated. Both simulations and physical experiments results show that our strategy is effective for achieving these two motions.
Guo Lei - One of the best experts on this subject based on the ideXlab platform.
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Robust controller design for 90 degrees stand motion of a Front-Wheel Drive bicycle robot
2016 IEEE International Conference on Mechatronics and Automation, 2016Co-Authors: Guo Lei, Hei Kai, Song Yuan, Xing BinAbstract:The 90 degrees stand motion of a Front-Wheel Drive bicycle robot is analyzed in this paper. A kind of dynamic model is presented based on Routh Equation. The linear dynamic modelling of the bicycle robot was presented after the linearization by ignoring the effects of the high-order terms and the multiplications of coupling terms. According to 90 degrees stand motion control, the controller was designed based on LMI H ∞ robust control algorithm, on this basis, the simulation of the controller for the stand motion of the robot without interference and under interference is presented separately. The validity of the control algorithm is testified by the simulation. It has certain ability of anti-interference, the real prototype was built, it could lay a foundation for the control of the robot prototype.
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control and realization for rectilinear motion of a front wheel Drive bicycle robot
Journal of Beijing University of Posts and Telecommunications, 2012Co-Authors: Guo LeiAbstract:Dynamic model for a Front-Wheel Drive bicycle robot free from regulator weight was presented and balanced controller for rectilinear motion was investigated.By analyzing the turning radius of the robot,kinetic energy were derived with the driving angle velocities of Front-Wheel and front bar,and then the dynamic model was established based on Lagrange formulation.The balance controller for rectilinear motion was constructed by linearizing Front-Wheel and front-bar input angle and considering the under-actuated frame rolling angle as the internal dynamics.Simulation result shows the effectiveness of the proposed controller.Physical experiment result further verifies that the proposed controller can realize rectilinear motion with reasonable driving torque.
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Track-stand Motion of a Front-Wheel Drive Bicycle Robot under 45° Front-bar Turning Angle
Journal of Mechanical Engineering, 2012Co-Authors: Guo LeiAbstract:In view of the difficulty of balanced control in low speed for bicycle robot without regulator weight,a Front-Wheel Drive bicycle robot is concerned,dynamics of the robot and stable-balanced controller for the track-stand motion under 45° front-bar turning angle are investigated.Considering wheels' turning radius,yaw angle velocity of frame and rotational velocity of rear-wheel are derived from rotational velocity of Front-Wheel and rotational angle of front-bar,dynamics for the system is established with Lagrange Formulation.By the linearization of under-actuated subsystem of frame rolling angle,controller for 45° front-bar turning angle track-stand motion is constructed with partial feedback linearization.Numerical simulation for the controller shows the bicycle robot can realize 45° front-bar turning angle track-stand motion quickly with appropriate controller parameters.Prototype experiment further validates track-stand motion can be achieved with torque not exceeding driving motor's torque tolerance.The study verifies from theory and experiment that,in low running velocity,the Front-Wheel Drive bicycle robot can keep balance only with front-bar turning and Front-Wheel driving torque,and regulator weight is not prerequisite.
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Modeling and Realization of Track Stand Motion for a Bicycle Robot with Front-Wheel Drive
Journal of Beijing University of Posts and Telecommunications, 2012Co-Authors: Guo LeiAbstract:Considering pure rolling condition and track stand motion's characteristics of front-bar being vertical to frame,nonholonomic constraints between Front-Wheel's driving angle velocity and frame's yaw angle rotational rate are derived,from which dynamic model is built by Lagrange formulation.With partial feedback linearization method,a track stand motion controller is designed,in which the under-actuated frame rolling angle is linearized and the whole dynamics are taken as output.Simulation of the controller indicates that,under proper parameters,the track stand motion within ±10° rolling angle can be achieved quickly with a small driving torque.Experiment also validates that,with the proposed controller,the Front-Wheel Drive bicycle robot can realized a small rolling angle range of track stand motion only by Front-Wheel driving torque input.
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Control and Realization of the Rotation Stand Motion for a Bicycle Robot With Front-Wheel Drive
2012Co-Authors: Guo LeiAbstract:Dynamics for a Front-Wheel Drive bicycle robot is established under the state of frame being vertical to front-bar,and stable-balanced control of the rotation stand is investigated.Rolling rate of frame is derived with driving velocity of Front-Wheel by combining frame and front-bar's orthogonal configuration and Front-Wheel's pure rolling assumption.Dynamic model is built with Lagrange formulation.Nonlinear controller for the rotation stand motion is constructed based on partial feedback linearization technology.The controller linearizes the underactuated rolling angle of frame,takes the whole dynamics as output,and sets the rolling angle with a fixed value.Simulation and prototype experiment with the proposed controller indicates that the rotation stand motion can be achieved stably,and different given rolling angle leads to different rotational frequence in which the relationship can be approximately described as a simple linearized function.
Qizheng Liao - One of the best experts on this subject based on the ideXlab platform.
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ICIA - Dynamic modeling and adaptive controller design for the track-stand motion of a Front-Wheel Drive bicycle robot under 90 degrees front-bar steering angle
2014 IEEE International Conference on Information and Automation (ICIA), 2014Co-Authors: Deng Guo, Lei Guo, Shimin Wei, Qizheng LiaoAbstract:The track stand motion for the bicycle robot with Front-Wheel Drive under 90 degrees front-bar turning angle is analyzed in this paper. A kind of dynamic model is proposed based on Appell Equation. To achieve the goal of track stand motion control, the controller is designed based on RBF neural network and adaptive sliding mode control algorithm. And the computer simulation is carried out based on MATLAB to compare the stable equilibrium motion of the robot without interference and under interference separately. The validity of the dynamic model and the control algorithm are testified by the simulation results. And the coefficients in the controller can be tuned automatically. The uncertainties in the model are estimated by the RBF neural network so that the controller is adaptive. Besides, it has certain ability of anti-interference.
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Balanced Motions Realization for a Mechanical Regulators Free and Front-Wheel Drive Bicycle Robot Under Zero Forward Speed
International Journal of Advanced Robotic Systems, 2013Co-Authors: Yonghua Huang, Qizheng Liao, Lei Guo, Shimin WeiAbstract:This paper focuses on a mechanical regulator free and front- wheel Drive bicycle robot. We present a scheme to achieve the robotʹs track-stand motion and circular motion under zero forward speed. In a situation where the robotʹs front-bar is locked at 90 degrees, a kinetic constraint about the rotating rate of the Front-Wheel and the yawing rate of the frame is derived. Using the constraint as a basis, we developed a simplified model of two independent velocities for the robot. The model suggests there is an under- actuated rolling angle in the system. Our control strategy originates from the under- actuated characteristics of the robot system. Concretely, we linearize the rolling angle of the frame and set the bicycle robot to regulate its tilting by rotating the Front-Wheel. In the track-stand motion, we control the position and the rotational rate of the Front-Wheel; but in the circular motion, only the rotational rate of the Front-Wheel is strictly regulated. Both simulations and physical experiments results show that our strategy is effective for achieving these two motions.
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Modeling and analyzing of stable equilibrium motion of a bicycle robot with Front-Wheel Drive by using moment balance
2010 IEEE International Conference on Mechatronics and Automation, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:Bicycle robot have two points contacting with its support plane, and the connecting line between these two point can be dealt with equilibrium axis when the bicycle perform regular motions. In this paper, we discuses stable equilibrium motion of a Front-Wheel Drive bicycle robot by use of moment balance of inertial forces and gravities. Firstly, under the presupposition of rolling without sliding, recursion forms of velocities and accelerations of the robot are derived with generalized speeds. The derivations reveal there are three nonholonomic velocity constraints in the system. Secondly, stable equilibrium motion mathematical model is established by fully considering moment balance of gravities and inertial forces of the robot. The model indicates the robot system holds one under-actuated degree of freedom. Thirdly, virtual prototype is constructed in ADAMS and balancing motion is performed to validate the proposed model. And finally, numerical simulations are carried out in MATLAB to analyze stable equilibrium motion of the robot under different situations. The result shows that the bicycle robot can realize stable equilibrium motion with proper steering angle and driving angular velocity of Front-Wheel.
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Dynamic modeling of a bicycle robot with Front-Wheel Drive based on Kane's method
The 2010 IEEE International Conference on Information and Automation, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:This paper highlights dynamic modeling of a Front-Wheel Drive bicycle robot by using Kane's method. At first, the unique structure of the proposed bicycle robot was introduced. Then, kinematics of the robot was discussed under the pure rolling presupposition of the two road wheels. The kinematics analysis reveals the nonholonomic constraints in the system. Next, dynamic model of the bicycle robot was derived with the consideration of uneven mass distribution in the system. Finally, numerical simulations of the bicycle's running behavior were implemented in MATLAB to examine the efficiency of the derived model. Simulations results show the model is basically in agreement with the real working condition of the bicycle robot. The work in this paper is the basis for realizing stable running of the bicycle robot in the future. 1
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Research on Dynamics of a Bicycle Robot with Front-Wheel Drive by Using Kane Equations Based on Screw Theory
2010 International Conference on Artificial Intelligence and Computational Intelligence, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:Aiming at the dynamics of a Front-Wheel Drive bicycle, a precise and effective mathematical model was constructed by use of Kane dynamics equations in form of screw theory in this paper. Firstly, partial velocity matrixes were achieved by recursion derivation of velocities and angular velocities of links. Then, dynamical model was developed according to the derived partial velocity matrixes. And finally, numerical simulation about the developed dynamics was carried out to analyze the dynamical characteristics of the robot. The results show that the analyses are in correspondence with the real working condition of the bicycle robot, which verifies the derived dynamical model reliably.
Yonghua Huang - One of the best experts on this subject based on the ideXlab platform.
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Balanced Motions Realization for a Mechanical Regulators Free and Front-Wheel Drive Bicycle Robot Under Zero Forward Speed
International Journal of Advanced Robotic Systems, 2013Co-Authors: Yonghua Huang, Qizheng Liao, Lei Guo, Shimin WeiAbstract:This paper focuses on a mechanical regulator free and front- wheel Drive bicycle robot. We present a scheme to achieve the robotʹs track-stand motion and circular motion under zero forward speed. In a situation where the robotʹs front-bar is locked at 90 degrees, a kinetic constraint about the rotating rate of the Front-Wheel and the yawing rate of the frame is derived. Using the constraint as a basis, we developed a simplified model of two independent velocities for the robot. The model suggests there is an under- actuated rolling angle in the system. Our control strategy originates from the under- actuated characteristics of the robot system. Concretely, we linearize the rolling angle of the frame and set the bicycle robot to regulate its tilting by rotating the Front-Wheel. In the track-stand motion, we control the position and the rotational rate of the Front-Wheel; but in the circular motion, only the rotational rate of the Front-Wheel is strictly regulated. Both simulations and physical experiments results show that our strategy is effective for achieving these two motions.
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Modeling and analyzing of stable equilibrium motion of a bicycle robot with Front-Wheel Drive by using moment balance
2010 IEEE International Conference on Mechatronics and Automation, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:Bicycle robot have two points contacting with its support plane, and the connecting line between these two point can be dealt with equilibrium axis when the bicycle perform regular motions. In this paper, we discuses stable equilibrium motion of a Front-Wheel Drive bicycle robot by use of moment balance of inertial forces and gravities. Firstly, under the presupposition of rolling without sliding, recursion forms of velocities and accelerations of the robot are derived with generalized speeds. The derivations reveal there are three nonholonomic velocity constraints in the system. Secondly, stable equilibrium motion mathematical model is established by fully considering moment balance of gravities and inertial forces of the robot. The model indicates the robot system holds one under-actuated degree of freedom. Thirdly, virtual prototype is constructed in ADAMS and balancing motion is performed to validate the proposed model. And finally, numerical simulations are carried out in MATLAB to analyze stable equilibrium motion of the robot under different situations. The result shows that the bicycle robot can realize stable equilibrium motion with proper steering angle and driving angular velocity of Front-Wheel.
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Dynamic modeling of a bicycle robot with Front-Wheel Drive based on Kane's method
The 2010 IEEE International Conference on Information and Automation, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:This paper highlights dynamic modeling of a Front-Wheel Drive bicycle robot by using Kane's method. At first, the unique structure of the proposed bicycle robot was introduced. Then, kinematics of the robot was discussed under the pure rolling presupposition of the two road wheels. The kinematics analysis reveals the nonholonomic constraints in the system. Next, dynamic model of the bicycle robot was derived with the consideration of uneven mass distribution in the system. Finally, numerical simulations of the bicycle's running behavior were implemented in MATLAB to examine the efficiency of the derived model. Simulations results show the model is basically in agreement with the real working condition of the bicycle robot. The work in this paper is the basis for realizing stable running of the bicycle robot in the future. 1
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Research on Dynamics of a Bicycle Robot with Front-Wheel Drive by Using Kane Equations Based on Screw Theory
2010 International Conference on Artificial Intelligence and Computational Intelligence, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:Aiming at the dynamics of a Front-Wheel Drive bicycle, a precise and effective mathematical model was constructed by use of Kane dynamics equations in form of screw theory in this paper. Firstly, partial velocity matrixes were achieved by recursion derivation of velocities and angular velocities of links. Then, dynamical model was developed according to the derived partial velocity matrixes. And finally, numerical simulation about the developed dynamics was carried out to analyze the dynamical characteristics of the robot. The results show that the analyses are in correspondence with the real working condition of the bicycle robot, which verifies the derived dynamical model reliably.
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Dynamic modeling and analysis of a Front-Wheel Drive bicycle robot moving on a slope
2010 IEEE International Conference on Automation and Logistics, 2010Co-Authors: Yonghua Huang, Qizheng Liao, Shimin Wei, Lei GuoAbstract:Bicycle robots are such a kind of mobile robots subjected to nonholonomic constraints and under-actuated degree of freedom (DOF) simultaneously, and it is a common scenario for these robots to climb a slope. The research in this paper is focused on dynamic modeling and dynamic characteristics analysis of a Front-Wheel Drive bicycle robot under the state of slope-climbing. The concepts of critical angle and critical driving torque were proposed to estimate the slope-climbing capability. Kinematics of the robot was derived under the assumption of rolling without slipping of the two road wheels on a slope plane. Recursion dynamic model of the bicycle robot was constructed by using Kane equation and energy and work analysis is introduced to validate the model. Numerical simulations of the running behavior on different gradients were implemented in MATLAB to analyze the dynamical characteristics of the bicycle robot. Simulations results show the model is basically in agreement with the real working condition of the bicycle robot.
