Chao Zhang

Harbin Institute of Technology

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Max Q.‐H. Meng

Southern University of Science and Technology

Shuang Song

Tongji Hospital

Jiaole Wang

Harbin Institute of Technology

Tangyou Liu

Donghua University

Xing Yang

Guizhou University

Yanhe Zhu

Harbin Institute of Technology

Guangdu Cen

Harbin Institute of Technology

Jie Zhao

Harbin Institute of Technology

Hongying Yu

Harbin Institute of Technology

Fangfei Guo

Griffith University

Cooperative Institutions

Harbin Institute of Technology

Chinese Academy of Sciences

Tongji University

Shanghai East Hospital

Huazhong University of Science and Technology

Peking University

Second Military Medical University

Nanjing University of Aeronautics and Astronautics

University of Chinese Academy of Sciences

State Key Laboratory of Robotics and Systems

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Interval type-2 fuzzy-neuro control of nonlinear systems with proved overall system stability

2022 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) (2017)

Chao Zhang Cláudio Rossi Erdal Kayacan

In this paper, we put forward an interval type-2 fuzzy neural network (IT2FNN) to deal with control issues of nonlinear systems with uncertainties. The fuzzy rules of the IT2FNN use interval type-2 triangular fuzzy sets to account for antecedent parts and adopt crisp numbers for the corresponding consequents. To effectively cope with uncertainties in the systems, a sliding-mode-control theory-based approach with new parameter learning rules is proposed to update the IT2FNN. The overall stability of the proposed methodology is also proved by using appropriate Lyapunov functions. Finally, the proposed method is applied to control the angular position of an inverted pendulum system. Simulation results indicate that, compared to a conventional proportional-derivative controller, the IT2FNN with the proposed learning rules can eliminate the uncertainties in performance and efficiently track the angle trajectory as desired.

Lyapunov stability

10.1109/fuzz-ieee.2017.8015495

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Citations (1)

Research of a Robust Control for Electro Hydraulic Servo System

Advanced materials research (2014)

Xiao Gang Tang Chao Zhang

In recent years, electro hydraulic servo systems are more and more widely used in the aerospace, manufacturing industry and the agricultural machinery. As a result, higher requirements are put forward for the performance and application environment, including better tracking precision and respond speed. Aiming at the shortcomings of conventional PID controller, such as the large overshoot, long transfer time and poor robustness performance, a robust control scheme with dual-loop structure is proposed in this paper. Simulation results show that better performances are acquired in the novel approach in contrast with the PID control scheme and the structure of the proposed scheme is simple and easy to implement.

Robustness

Servomechanism

Overshoot (microwave communication)

10.4028/www.scientific.net/amr.986-987.1103

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Research on Path Tracking Control for Vision Based Intelligent Vehicle

Applied Mechanics and Materials (2011)

Sheng Min Cui Chao Zhang Jianfeng Wang Kun Zhang

This paper proposes an optimal control method to achieve the path tracking mission for the vision based intelligent vehicle. After the access of road trajectory, path tracking task is achieved by the intelligent vehicle automatic steering devices. The angle deviation and lateral deviation relative to the target path can be controlled in the smaller range by state feedback optimal control. A car model contained road information is established for the achievement of intelligent vehicle path tracking and automatic steering. Some values of the variables needed for the control system are obtained by sensors mounted on the car, and achieve the path tracking by the optimal state feedback controller. The algorithm proposed has been validated by simulations. It can make the lateral deviation within the expected range stability. And also the lateral acceleration meets the ride comfort requirements.

Tracking (education)

Tracking system

10.4028/www.scientific.net/amm.63-64.305

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Citations (3)

Efficient Energy Collection of an Autoregulatory Driving Arm Harvester in the Breeze Environment

Chao Zhang

The breeze energy is a widely distributed renewable energy, but its efficient exploitation is highly difficult by the wind generator that has a relatively large start-up wind speed owing to the large and constant rotational inertia. To address this issue, the paper proposes a concept of autoregulatory driving arm (ADA), which consists of an elastic string and a stretchable arm for each wind cup to achieve adjustable rotational inertia and low start-up speed. Due to the coordinated interaction between the elastic force and the centrifugal force, the arm length of the wind cup changes automatically with the wind speed, which contributes to the self-adjustable rotational inertia of the harvester. With a small rotational inertia at the idle state, a low start-up speed of 1 m/s is achieved by the proposed ADA harvester. As the wind speed increases, the enlarged centrifugal force brings about stretched driving arms, which enables the ADA harvester to generate improved power as compared with the corresponding harvester with a constant driving arm (CDA). Moreover, after the wind stops, the ADA harvester can work with longer duration. As a result, the ADA harvester can provide the renewable power source in the natural breeze environment.

Sea breeze

10.2139/ssrn.4479454

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The well-posedness of renormalized solutions for a non-uniformly parabolic equation

Proceedings of the American Mathematical Society (2016)

Chao Zhang Shulin Zhou

In this paper we present a unified approach to establish the existence of renormalized solutions and a comparison result for a class of non-uniformly parabolic initial-boundary value problems. As a consequence, the uniqueness of renormalized solutions and the equivalence between entropy and renormalized solutions for such equations are obtained. The results extend the well-posedness results for the classical $p$-Laplacian type equations to a larger class of non-linear elliptic and parabolic PDEs including the nearly linear growth operators.

10.1090/proc/13406

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Citations (7)

Generalized solvability in a chemotaxis-fluid system with nonlinear diffusion and logistic source

Discrete and Continuous Dynamical Systems (2025)

Mengyao Ding Xiaonan Hao Chao Zhang

10.3934/dcds.2025011

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Robot Autonomous Exploration Mapping Based on FD-RRT

Quan Jiang Ling Yin Chao Zhang Xiangyin Chen Yunlong Li

In order to enhance the autonomous exploration efficiency of robots in unknown environments, this study proposes a Fast Double Rapidly Exploring Random Tree (FD-RRT) algorithm. The algorithm combines a globally exploring random tree with adaptive step size and a locally exploring random tree with directional bias, aiming to quickly locate the boundary points of the map. In the algorithm design, considerations encompass information gain of the map, redundancy of information in boundary points, and navigation cost of the robot. Simultaneously, by eliminating the redundant information in boundary points and based on the gain in boundary information and exploration cost, different cost values are assigned to navigation points, guiding the robot to prioritize the exploration of regions with lower costs. The effectiveness of the proposed strategy is validated through a series of simulation experiments and real-world applications.

Random tree

Tree (set theory)

10.1109/cei60616.2023.10527996

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System Design and Balance Control of a Bipedal Leg-wheeled Robot

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2019)

Chao Zhang Tangyou Liu Shuang Song Max Q.‐H. Meng

The combination of wheels and humanoid robots is a promising way to improve the performance of bipedal robots in agility, moving speed, and energy efficiency. This combination enables the robot to move faster on flat ground, which can effectively improve the adaptability of the biped robot in application scenarios such as logistic distribution, inspection and home services. This paper introduces a 6-DOF bipedal leg-wheeled robot SR600, which has two actuated wheels at the end of the robot shanks, and achieves its balance and locomotion through wheel-driven approach. SR600 is mainly composed of five parts: a waist, two thighs, and two shanks with wheels. It is modeled as a variable-structure wheeled inverted pendulum and we derived its kinematics model based on the center of gravity constraint. Control strategies for balance and locomotion of SR600 are handled by proportional integral differential (PID) controllers. Finally, several practical experiments are conducted to validate the feasibility of the robot mechatronic system and the balance control strategies.

Robot locomotion

10.1109/robio49542.2019.8961814

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Citations (26)

A sEMG-driven Musculoskeletal Model to Control Exoskeleton Robot Used in Lower Extremity Rehabilitation

Lei Shi Zhen Liu Chao Zhang

A control system framework of lower extremity rehabilitation exoskeleton robot is presented. It is based on the Neuro-Musculo-Skeletal biological model. Its core composition module, the motion intent parser part, mainly comprises of three distinct parts. The first part is signal acquisition of surface electromyography (sEMG) that is the summation of motor unit action potential (MUAP) starting from central nervous system (CNS).sEMG can be used to decode action intent of operator to make the patient actively participate in specific training .As another composition part, a muscle dynamics model that is comprised of activation and contraction dynamic model is developed. It is mainly used to calculate muscle force. The last part is the skeletal dynamic model that is simplified as a linked segment mechanics. Combined with muscle dynamic model, the joint torque exerted by internal muscles can be exported, which can be used to do a exoskeleton controller design. The developed control framework can make exoskeleton offer assistance to operators during rehabilitation by guiding motions on correct training rehabilitation trajectories, or give force support to be able to perform certain motions. Though the presentation is orientated towards the lower extremity exoskeleton, it is generic and can be applied to almost any part of the human body.

Powered exoskeleton

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Application of a laser-guided docking system in robot-assisted urologic surgery

International Journal of Medical Robotics and Computer Assisted Surgery (2015)

Fei Guo Chao Zhang Huiqing Wang Xia Sheng Xiao Liang

This work explores the clinical significance of a laser-guided docking system for robot-assisted urologic surgery.Between July 2013 and June 2014, 40 patients underwent robot-assisted laparoscopic prostatectomy (RALP), and 32 patients underwent robot-assisted laparoscopic partial nephrectomy (RAPN) performed by a single surgeon. In the RALP and RAPN groups, the robot was docked in the traditional way in 20 and 16 cases, respectively. A laser guiding system was used in the other cases. The docking time and the time required to adjust the angles were recorded.The docking time was significantly shorter for the laser-guided process performed by inexperienced nurses. The time required to adjust the angles was also lower. There were no significant differences between the processes performed by experienced nurses.A laser-guided docking system may simplify and standardize the docking process and shorten the learning curve. Copyright © 2015 John Wiley & Sons, Ltd.

Docking (animal)

10.1002/rcs.1678

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Citations (4)