Applied methods and techniques for mechatronic systems

Lecture Notes in Control and Information Sciences 452

Applied Methods

and Techniques

for Mechatronic

Systems

Lei Liu  Quanmin Zhu

Lei Cheng  Yongji Wang

Dongya Zhao Editors

Modelling, Identification and Control

Lecture Notes in Control and Information

Sciences

Volume 452

Series editors

Manfred Thoma, Hannover, Germany

Frank Allgöwer, Stuttgart, Germany

Manfred Morari, Zürich, Switzerland

Series Advisory Board

P. Fleming, University of Sheffield, UK

P. Kokotovic, University of California, Santa Barbara, CA, USA

A. B. Kurzhanski, Moscow State University, Russia

H. Kwakernaak, University of Twente, Enschede, The Netherlands

A. Rantzer, Lund Institute of Technology, Sweden

J. N. Tsitsiklis, MIT, Cambridge, MA, USA

For further volumes:

http://www.springer.com/series/642

About this Series

This series aims to report new developments in the fields of control and

information sciences—quickly, informally and at a high level. The type of material

considered for publication includes:

1. Preliminary drafts of monographs and advanced textbooks

2. Lectures on a new field, or presenting a new angle on a classical field

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(a) of exceptional interest and

(b) devoted to a specific topic. The timeliness of subject material is very

important.

Lei Liu • Quanmin Zhu • Lei Cheng

Yongji Wang • Dongya Zhao

Editors

Applied Methods and

Techniques for Mechatronic

Systems

Modelling, Identification and Control

123

Editors

Lei Liu, Yongji Wang

Huazhong University of Science and

Technology

Wuhan

People’s Republic of China

Quanmin Zhu

University of the West of England

Bristol

UK

Lei Cheng

Wuhan University of Science and

Technology

Wuhan

People’s Republic of China

Dongya Zhao

China University of Petroleum

Qingdao

People’s Republic of China

ISSN 0170-8643 ISSN 1610-7411 (electronic)

ISBN 978-3-642-36384-9 ISBN 978-3-642-36385-6 (eBook)

DOI 10.1007/978-3-642-36385-6

Springer Heidelberg New York Dordrecht London

Library of Congress Control Number: 2013956325

Springer-Verlag Berlin Heidelberg 2014

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Preface

Most of the research and experiments in the fields of science, engineering, and

social studies have spent significant effort to find rules from various complicated

phenomena by principles, observations, measured data, and logic derivations. The

rules are normally summarized as concise and quantitative expressions or

‘‘models.’’ ‘‘Identification’’ provides mechanisms to establish the models from

measured data and ‘‘control’’ provides mechanisms to improve the system (rep￾resented by its model) performance. The book will reflect the relevant studies in

mechatronic fields, with the latest research from interdisciplinary theoretical

studies, computational algorithm development to exemplary applications.

Mechatronics system analysis and design include a combination of mechanical

engineering, electrical engineering, control engineering, computer engineering,

and so on. Mechatronics is a multidisciplinary field of engineering and technology,

that is to say, it rejects splitting engineering into separate disciplines. Originally,

mechatronics just included the combination of mechanics and electronics, hence

the word is a combination of mechanics and electronics; however, as technical

systems have become more and more complex to provide high-level functions, the

word has been ‘‘updated’’ during recent years to include more technical areas.

Research and applications in the synergistic integration of mechanical engineering,

electronic control and systems concepts have contributed significantly to the

design of systems, devices, processes, and products in modern technology

development.

It has been deemed that such fast and highly demanded development and

applications should be reported in book, journals, and other media regularly and

systematically. So does this book. There are 22 chapters from nine countries in this

edited volume presenting a clear route/unique format of each paper, background

? motivation ? quantitative development (equations) ? case studies/illustration/

tutorial (curve, table, etc.), which is compiled as an application-oriented reference

(Applied Methods and Techniques for Mechatronic Systems—Modelling, Identi￾fication, and Control) for readers/users easily tailoring the techniques to accom￾modate their ad hoc applications. Primary readers could be postgraduate students

(M.Sc. and Ph.D.), researchers (post-doc research fellows), and teachers (lecturers

and professors) in academia. The secondary readers could be engineers (technical

engineers, managers, and directors) in company R&D departments.

v

The best way to introduce the major contribution from this book is to include a

brief abstract of each chapter, which gives readers a clear picture about the book

contents.

Chapter 1 Synchronized Control of Mechanical Systems: A Tutorial. This study

summarizes the work on synchronized control mainly developed from the authors

and their colleagues. In the presentation, it tries to use several classical mechanical

systems to show the design philosophy of the synchronized control systems,

consequently establishes a reader/user-friendly framework with tutorial, survey,

applications, and potential research expansion.

Chapter 2 Control Reconfiguration on Deadlocked Gimballed Thrust of Launch

Vehicle. This study investigates actuator failure compensation for new generation

launch vehicle control. A control reconfiguration scheme of fault-tolerant control

is developed to enhance the reliability of launch vehicle attitude control systems

and prevent the control invalidation caused by the deadlock of the oscillating

actuator, based on the congruity of the composite moment before and after the

failure happens. This reconfiguration scheme is capable of utilizing the remaining

control authority to achieve the desired performance in the presence of deadlock at

certain detectable angle occurring in one or several actuators at unknown time

instants.

Chapter 3 Synthesis of an Advanced State Feedback Control for Continuous

Nonlinear Polynomial Systems. This study considers the problem of approximate

linearization of affine nonlinear control systems by a static state feedback. First of

all, it proposes an analytical method, based on the development into generalized

Taylor series expansions and the Kronecker product tools, in order to simplify the

complex implementation of the input-state feedback linearization formalism. Next,

to improve the synthesized polynomial feedback control, the genetic algorithm, as

an optimization method, is used. Finally, the new approach presented in this work

is applied to investigate the control problem of a chemical reactor. Moreover, it

proves that the controlled process is locally asymptotically stable in a wide region

around the operating point, in the Lyapunov sense.

Chapter 4 Recent Advances on Nonsingular Terminal Sliding Mode Control

Method. This study reviews the research history of the singularity and introduces

the recent advance on nonsingular and fast terminal sliding mode (NFTSM)

control method. The synthesis of NFTSM controller synthesis is based on a newly

proposed nonsingular fast terminal function and a terminal attractor with non￾negative exponential coefficient. Both theoretical analyses and computer simula￾tions have proved its effectiveness under the condition that plant uncertainties are

bounded.

Chapter 5 Flocking Behavior via Leader’s Backstepping on Nonholonomic

Robot Group. This study aims to improve flocking control for group of nonhol￾onomic robots. It introduces a new flocking control algorithm with potential-based

flocking being its foundation. By incorporating Leader’s Backstepping algorithm

into the flocking strategy, an improved flocking performance is obtained, which

leads the flock to the target point swiftly in a smoothed trajectory. Simulations in

vi Preface

this paper test and verify the effectiveness of the algorithm, in which key

parameters’ influences on system performance are discussed.

Chapter 6 Performance Comparison Between NCTF and PV Techniques for the

Control of Linear Motion Servo System. This study considers two types of con￾trollers for Proportional-Velocity (PV) and Nominal Characteristic Trajectory

Following (NCTF). The experimental results showed that the PV was successfully

implemented which controlled the settling time, rise time, and steady-state error of

the desired position. However, the overshoot performances show its disadvantages.

Additionally, the PV controller design is time-consuming process, since model and

parameters of the linear motion servo system are needed. Therefore, the needs for

higher performance controller become important for the simplicity of the con￾troller design. Hence, the investigation proceed with the nonmodel-based NCTF

controller was to control the cart position of the linear motion servo system. The

NCTF controller consists of a Nominal Characteristic Trajectory (NCT) and PI

compensator. The NCTF controller was designed based on a simple open-loop

experiment of the object. The experimental results showed that the NCTF con￾troller is more effective for controlling position of linear motion servo system than

the PV controller.

Chapter 7 A High-Order PID-Sliding Mode Control: Simulation on a Torpedo.

This study deals with the basic concepts, mathematics, and design aspects of a

control for nonlinear systems that make the chattering effect lower. As solution to

this problem it adopts as a starting point the high order sliding mode approaches

then the PID sliding surface. Simulation results show that this control strategy can

attain excellent control performance with no chattering problem.

Chapter 8 Sliding Mode Control with Self-Turning Law for Uncertain Non￾linear Systems with Time-Delay and External Disturbances. This study proposes a

novel sliding mode control with self-turning law for nonlinear systems with time￾delay and external disturbances possessing uncertain parameters. The adjustable

control gain and a bipolar sigmoid function are online tuned to force the tracking

error to approach zero. The proposed control scheme provides good transient and

steady-state performance. Moreover as the proposed controller, the chatting phe￾nomenon can be avoided and the problem of the time-delay and the external

disturbances are solved for a class of nonlinear systems. The closed-loop control

system stability is proved to use the Lyapunov method. Steady-state system per￾formance and the chattering are considerably improved. Numerical simulation

results are given to illustrate the effectiveness of the proposed procedure.

Chapter 9 Applied Methods and Techniques for Modelling and Control on

Micro-Blog Data Crawler. This study presents an algorithm on modelling and

control on microblog data crawler based on simulating browsers’ behaviors. This

needs to analyze the simulated browsers’ behaviors in order to obtain the

requesting URLs, to simulate and parse and analyze the sending URLs requests

according to the order of data sequence. The experimental results and the analysis

show the feasible of the approach. Further works are also presented in the end.

Chapter 10 Development of an Improved Genetic Algorithm for Resolving

Inverse Kinematics of Virtual Human’s Upper Limb Kinematics Chain. This study

Preface vii

presents an Improved Genetic Algorithm (IGA) is proposed to resolve the inverse

kinematics problem in upper limb kinematics chain (ULKC). First, the joint units

of ULKC and its mathematical models are constructed by using D–H method; then

population diversity and population initialization are accomplished by simulating

human being population, and the adaptive operators for mutation are designed. The

simulation results show that compared with the Standard Genetic Algorithm

(SGA), the IGA can provide higher precise solutions in searching process and

avoid ‘‘premature’’ stop or inefficient searching in later stage with high probability.

Chapter 11 Sliding Mode Control for Nonlinear Discrete Time Systems with

Matching Perturbations. This study considers sliding mode control of nonlinear

discrete time systems with matching perturbations. The nonlinear sliding mode

controller, whose parameters assure the closed-loop system stable, is designed in

order to drive the state trajectories toward a small-bounded region. The controller

is approximated by a polynomial equation in current control term according to

Taylor series expansion. The algebraic solutions can be obtained by resolving a

polynomial equation in the latest control term. The integrated procedure provides a

straightforward methodology to apply sliding mode control design technique for

nonlinear systems. The simulation results are provided to illustrate the effective￾ness of the proposed scheme.

Chapter 12 Type-2 Fuzzy Wavelet Neural Network Controller Design Based on

an Adaptive Gradient Descent Method for Nonlinear Dynamic Systems. This study

develops a novel structure of Type-2 Fuzzy Wavelet Neural Networks (T2FWNN)

to control a nonlinear system. This has been performed by invoking some of the

specific advantages of wavelets, such as dynamic compatibility, compression, and

step parameter adaptation along with a combination to type-2 fuzzy concepts

regarding the neural networks abilities. The proposed network is constructed based

on a set of TSK fuzzy rules that includes a wavelet function in the consequent part

of each rule. This can provide appropriate tools on adaptation of plant output

signal to follow a desired one. In this regard, the merits of utilizing wavelets and

type-2 FLS simultaneously have been discussed and explored to efficiently handle

the uncertainties. It is worth mentioning that the stability of the system is effec￾tively dependent on the learning procedure and the initial values of the network

parameters. Here, an adaptive gradient descent strategy is used to adjust the

unknown parameters. Furthermore, the performance of the proposed T2FWNN is

compared with the type-1 FLS networks. As it is investigated, this method has

considerably gained high levels of accuracy with the reasonable number of the

parameters. Finally, the efficiency of the proposed approach is demonstrated via

the simulation results of two nonlinear case studies.

Chapter 13 Multivariable Closed-Loop Identification and Its Application to

Boiler–Turbine System of Power Unit. This study presents a new technique for

multivariable closed-loop identification. On the basis of process input and output

data in the control loops, the process frequency–response matrix is estimated with

signal decomposition and frequency spectrum analysis, and then a transform

function matrix is identified by least square method. The required input and output

data are obtained while the processes are still in normal closed-loop operation. The

viii Preface

closed-loop identification is applied to the boiler–turbine coordinated control

system of power unit. Simulation example is given to show both effectiveness and

accuracy of the identification method for boiler–turbine unit.

Chapter 14 Tracking and Statistics Method Based on LBTM for Traffic Car

Flow. This study proposes a novel tracking method based on local block graphs

targets matching. Car flow tracking is applied to prove the effectiveness of the

method. First, the images containing the targets are captured by the video frames

to get the targets block graphs. Second, the block graphs can be used to achieve

targets matching, and the detection process can be achieved by targets matching to

get the optimal targets set. Finally, the targets set can be used to achieve the

minimum deviation forecasting of all frames, and the targets tracking can be

achieved. A junction video is selected as the experimental data, and a large number

of experiments have been done. The results show that the proposed method not

only has a great effect to track cars, but also has a better detection rate and tracking

accuracy. The car flow statistics can be completed effectively.

Chapter 15 Object Manipulation Strategy Analysis and Realization for a

Humanoid Robot. This study proposes humanoid robot object operation strategy

that integrates the visual feedforward control strategy and the visual feedback

control strategy. Using the visual feedforward control strategy, the humanoid robot

can walk approaching the target object and make its arm close to the target object;

using the visual feedback control strategy, the humanoid robot achieves the robot

hand fine alignment with the target object. Based on the visual feedforward control

strategy the time of the humanoid robot hand approaching the target object have

been reduced; based on the visual feedback control strategy the accuracy of the

operation has been improved. Based on the control strategy of this paper proposed,

the humanoid robot will be able to walk and operate objects independently.

Chapter 16 Low Intensity Laser Irradiation Influence Proliferation of Mesen￾chymal Stem Cells: Comparison of Experimental Data to an Intelligent Agent￾based Model Predictions. This study provides some of the experiments employed

to measure influence of low intensity laser on proliferation of mesenchymal stem

cells which can vary considerably according to many parameters and biological

conditions such as laser nature of emission, irradiation time, wavelength, and

energy density. These experiments are compared to an intelligent agent-based

model predictions and detailed information about the model description and

comparison results is provided. The model is capable of predicting the data for the

scenarios fairly well although a few are somewhat problematic.

Chapter 17 Motor Soft Starter Based on Variable Reactance. This study

establishes the mathematical model of the soft starter which is based on variable

reactance, and the relationship between the thyristor conduction angle and the

motor current is analyzed. The purpose of the motor and equipment’s protection is

achieved by selecting the appropriate conduction angle to control the starting

current amplitude.

Chapter 18 Mixed H2/H? Robust Controller Design-Based LMI Techniques.

This study introduces the work of design of improved LMI-based robust output

feedback controller and related simulations.

Preface ix

Chapter 19 Advanced Control of Atomic Force Microscope for Faster Image

Scanning. This study discusses the design and experimental implementation of an

observer-based model predictive control (OMPC) scheme which aims to com￾pensate for the effects of creep, hysteresis, cross-coupling, and vibration in pie￾zoactuators in order to improve the nanopositioning of an AFM. The controller

design is based on an identified model of the piezoelectric tube scanner (PTS) for

which the control scheme achieves significant compensation of its creep, hyster￾esis, cross-coupling, and vibration effects and ensures better tracking of the ref￾erence signal. A Kalman filter is used to obtain full-state information of the plant.

The experimental results illustrate the use of this proposed control scheme.

Chapter 20 Design of the State Estimation System in the Advanced Drive

Assistance System. This study designs a novel loose coupling senor fusion, which

uses the Extended Kalman filtering to fuse the sensor measurements from

odometers, accelerometers, gyroscope, and GPS. By using a novel four-wheel

vehicle model, the EKF is able to conduct a multioutput rate sensor fusion,

compensate the latency for GPS signals, and increase the accuracy of vehicle state

estimation even if there exist sensor errors, such as GPS outage, odometer reading

error due to wheel slippage. From the road test, it is proved that the designed EKF

has achieved good results for vehicle state estimation.

Chapter 21 A Collaborative Learning Optimization Strategy for Shared Control

of Walking-Aid Robot. This study develops a collaborative learning optimization

strategy for shared control of an intelligent walking-aid robot for the purpose of

assisting elderly and disabled people. The proposed architecture can adjust two

user control weights dynamically by a learning algorithm according to user control

habit and walking environment, allowing both human and robot to maintain

control of the walking-aid robot. Finally, the experiment results illustrate the

validity of the collaborative learning optimization strategy as part of a shared

control algorithm.

Chapter 22 Vibration Suppression of Deformable Linear Object Based on

Vision Feedback. This study proposes an approach based on robot vision to sup￾press the vibration of a DLO, by means of real-time image processing of high￾speed visual feedback to obtain the geometric coordinates and posture of the DLO.

A PID controller verifies the validity of the theory along with the expected posture

of the DLO. The effectiveness of the proposed strategy is confirmed by experi￾ment. Results show that the proposed method can damp vibrations effectively.

x Preface

Acknowledgment

The editors wish to express their sincere gratitude to the supports from The

National Natural Science Foundation of China (Grant No. 61273188, 61004080,

60705035); Shandong Provincial Natural Science Foundation under Grant

ZR2011FM003; China and the Fundamental Research Funds for the Central

Universities of China; Taishan Scholar Construction Engineering Special Funding;

Key Program of Open Foundation of Hubei Province Key Laboratory of Systems

Science in Metallurgical Process of China (Grant No. Z201102). Finally, the

editors wish to show their sincere thanks to the reviewers who helped to provide

constructive comments and corrections.

xi

Contents

1 Synchronized Control of Mechanical Systems: A Tutorial ...... 1

Dongya Zhao, Quanmin Zhu, Shaoyuan Li and Feng Gao

2 Control Reconfiguration on Deadlocked Gimballed

Thrust of Launch Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Lei Liu and Yongji Wang

3 Synthesis of an Advanced State Feedback Control

for Continuous Nonlinear Polynomial Systems. . . . . . . . . . . . . . . 61

Houssem Jerbi and Wiem Jebri Jemai

4 Recent Advances in Nonsingular Terminal Sliding Mode

Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Shengbo Eben Li and Kun Deng

5 Flocking Behavior via Leader’s Backstepping on Nonholonomic

Robot Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Lei Cheng, Jun Wang, Huaiyu Wu, Wenxia Xu, Wenhao Zhang,

Pian Jin and Quanmin Zhu

6 Performance Comparison Between NCTF and PV Techniques

for the Control of Linear Motion Servo System. . . . . . . . . . . . . . 117

Jiwa Abdullah, Noor Hisham Jalani and Jamaludin Jalani

7 A High Order PID-Sliding Mode Control:

Simulation on a Torpedo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Ahmed Rhif, Zohra Kardous and Naceur Ben Hadj Braiek

8 Sliding Mode Control with Self-Turning Law for Uncertain

Nonlinear Systems with Time-Delay

and External Disturbances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Ran Zhen, Jinyong Chen, Xueli Wu, Quanmin Zhu,

Hassan Nouri, Xiaojing Wu and Jianhua Zhang

xiii

9 Applied Methods and Techniques for Modeling and Control

on Micro-Blog Data Crawler . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Kai Gao, Er-Liang Zhou and Steven Grover

10 Development of an Improved Genetic Algorithm for Resolving

Inverse Kinematics of Virtual Human’s Upper

Limb Kinematics Chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

Gangfeng Deng, Xianxiang Huang, Qinhe Gao,

Ying Zhan and Quanmin Zhu

11 Sliding Mode Control for Nonlinear Discrete Time Systems

with Matching Perturbations . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

Yang Li, Quanmin Zhu, Xueli Wu and Jianhua Zhang

12 Type-2 Fuzzy Wavelet Neural Network Controller Design

Based on an Adaptive Gradient Descent Method

for Nonlinear Dynamic Systems . . . . . . . . . . . . . . . . . . . . . . . . . 229

Hamidreza Abbasi, Ali Akbar Safavi and Maryam Salimifard

13 Multivariable Closed-Loop Identification and Its Application

to Boiler–Turbine System of Power Unit . . . . . . . . . . . . . . . . . . . 249

Shi-he Chen, Ya-gang Wang, Xi Zhang and Xiao-feng Li

14 Tracking and Statistics Method Based on LBTM

for Traffic Car Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Jian Liu, Zhiheng Gong, Xin Wang, Enyang Gao and Zexian Xu

15 Object Manipulation Strategy Analysis and Realization

for a Humanoid Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Qinjun Du, Hongzhe Sha, Fei Jia, Lina Liu and Xinghua Wu

16 Low Intensity Laser Irradiation Influence Proliferation

of Mesenchymal Stem Cells: Comparison of Experimental

Data to Intelligent Agent-Based Model Predictions . . . . . . . . . . . 293

Aya Sedky Adly, Mohamed H. Haggag

and Mostafa-Sami M. Mostafa

17 Motor Soft Starter Based on Variable Reactance. . . . . . . . . . . . . 307

Xiang Shi and Qinjun Du

18 Mixed H2=H1 Robust Controller Design Based

LMI Techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Yuan Peng, Quanmin Zhu and Hassan Nouri

xiv Contents

19 Advanced Control of Atomic Force Microscope

for Faster Image Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

M. S. Rana, H. R. Pota and I. R. Petersen

20 Design of the State Estimation System in the Advanced

Driver Assistance System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

Wei Huang, Xiaoxin Su and David Bevly

21 A Collaborative Learning Optimization Strategy for Shared

Control of Walking-Aid Robot . . . . . . . . . . . . . . . . . . . . . . . . . . 411

Wenxia Xu, Jian Huang, Yongji Wang and Chunjing Tao

22 Vibration Suppression of Deformable Linear Object

Based on Vision Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

Jian Huang, Feng Ding, Huan Wang and Yongji Wang

About the Editors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

Contents xv