Associate Professor Zhiyong Chen

Associate Professor Zhiyong Chen

Associate Professor

School of Electrical Engineering and Computing (Electrical and Computer Engineering)

Career Summary

Biography

Research Expertise
Biological Control Systems, Nonlinear Systems and Control, Robotics, Complex Network Dynamics, Flock/Swarm Control 


Qualifications

  • PhD, Chinese University of Hong Kong

Keywords

  • Biological Control
  • Electronics
  • Machines and Sensors
  • Nonlinear Systems
  • Sensors and Actuators
  • Systems and Control

Languages

  • Cantonese (Fluent)
  • Mandarin (Fluent)
  • Chinese, nec (Fluent)

Fields of Research

Code Description Percentage
090602 Control Systems, Robotics and Automation 65
091099 Manufacturing Engineering not elsewhere classified 15
091399 Mechanical Engineering not elsewhere classified 20

Professional Experience

UON Appointment

Title Organisation / Department
Associate Professor University of Newcastle
School of Electrical Engineering and Computing
Australia

Academic appointment

Dates Title Organisation / Department
1/04/2005 - 1/08/2006 Research Associate University of Virginia
Department of Mechanical and Aerospace Engineering
United States
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Publications

For publications that are currently unpublished or in-press, details are shown in italics.


Book (1 outputs)

Year Citation Altmetrics Link
2015 Chen Z, Huang J, Stabilization and Regulation of Nonlinear Systems: A Robust and Adaptive Approach, Springer, Cham, 356 (2015) [A1]

Chapter (2 outputs)

Year Citation Altmetrics Link
2010 Chen Z, Huang J, 'Global Output Regulation with Uncertain Exosystems', , SPRINGER-VERLAG BERLIN 105-119 (2010)
2005 Chen Z, 'Robust input-to-state stability and small gain theorem for nonlinear systems containing time-varying uncertainty', Advanced Robust and Adaptive Control -Theory and Applications, Springer, Berlin, Germany (2005) [B1]

Journal article (107 outputs)

Year Citation Altmetrics Link
2017 He J, La HJ, Chen Z, Ge SS, 'Guest editorial: special issue on Consensus-based Applications in Networked Systems', INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 27 1376-1378 (2017)
DOI 10.1002/rnc.3821
2017 Chen Z, Zhang H, Zhu L, Knorn S, Cheng Z, 'Advanced Techniques for Networked Systems with Applications', MATHEMATICAL PROBLEMS IN ENGINEERING, (2017)
DOI 10.1155/2017/3849019
2017 Chen X, Chen Z, 'Robust Sampled-Data Output Synchronization of Nonlinear Heterogeneous Multi-Agents', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 62 1458-1464 (2017) [C1]
DOI 10.1109/TAC.2016.2585306
Citations Scopus - 1Web of Science - 1
2017 Zhang H-T, Wang Q, Chen Z, Wei F-L, 'Dynamics and Feedback Control of Electrospinning Processes', IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 25 611-618 (2017) [C1]
DOI 10.1109/TCST.2016.2557224
Citations Web of Science - 1
2017 Zhong C, Chen Z, Guo Y, 'Attitude Control for Flexible Spacecraft With Disturbance Rejection', IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 53 101-110 (2017) [C1]
DOI 10.1109/TAES.2017.2649259
2017 Zhu L, Chen Z, 'Robust input-to-output stabilization of nonlinear systems with a specified gain*', AUTOMATICA, 84 199-204 (2017) [C1]
DOI 10.1016/j.automatica.2017.07.019
2017 Ponomarev A, Chen Z, Zhang HT, 'Discrete-Time Predictor Feedback for Consensus of Multi-Agent Systems with Delays', IEEE Transactions on Automatic Control, (2017)

IEEE This note develops a discrete-time predictor feedback control scheme for continuous-time multi-agent systems with input and communication time-delays. With measurement of loc... [more]

IEEE This note develops a discrete-time predictor feedback control scheme for continuous-time multi-agent systems with input and communication time-delays. With measurement of locally available relative state signals among neighbored agents, the controller is able to achieve consensus for a large variety of linear open-loop agent dynamics, including exponentially unstable systems. Moreover, the new design can deal with arbitrarily large time-delays in some special scenarios. The feature of discrete-time and relative state measurement substantially saves implementation cost compared with the existing methods in literature. Numerical simulation demonstrates the effectiveness of the proposed theoretical design.

DOI 10.1109/TAC.2017.2722860
2017 Wang X, Chen Z, Xu D, 'A Framework for Global Robust Output Regulation of Nonlinear Lower Triangular Systems with Uncertain Exosystems', IEEE Transactions on Automatic Control, (2017)

IEEE This technical note considers global robust output regulation (GROR) for nonlinear lower triangular systems with uncertain exosystems. Under standard minimum phase and solvab... [more]

IEEE This technical note considers global robust output regulation (GROR) for nonlinear lower triangular systems with uncertain exosystems. Under standard minimum phase and solvability of regulator equations like assumptions, the problem has not been completely solved to some extend in the past literature. It has attracted many researchers to contribute efforts to build solutions, however only partially from different aspects. Most existing studies or attempts are based on adaptive internal models. The bottleneck is that the adaptive approach is not suitable for recursive implementation due to the so-called & #x201C;propagation of uncertainties & #x201D; while recursion is usually indispensable for global control of lower triangular systems. This motivates us to develop an expanded and & #x201C;non-adaptive & #x201D; internal model based design framework. Hence, we are able to avoid propagation of uncertainties and construct an acceptable solution for the problem.

DOI 10.1109/TAC.2017.2738150
Citations Scopus - 1
2017 Bazaei A, Chen Z, Yong YK, Moheimani SOR, 'A Novel State Transformation Approach to Tracking of Piecewise Linear Trajectories', IEEE Transactions on Control Systems Technology, (2017)

In this paper, we propose a novel approach for tracking of piecewise linear trajectories, such as triangular and staircase waveforms. We derive state and input transformations, wh... [more]

In this paper, we propose a novel approach for tracking of piecewise linear trajectories, such as triangular and staircase waveforms. We derive state and input transformations, which result in closed-loop error dynamics driven by a series of impulses. The proposed control structure takes the form of an output-feedback-feedforward system that is straightforward to implement. In contrast to the recently proposed tracking control methods for such trajectories, the closed-loop stability is not affected by the frequency of the desired triangular reference. The method is implemented on a nanopositioner serving as the scanning stage of an atomic force microscope.

DOI 10.1109/TCST.2017.2654061
Citations Scopus - 1
Co-authors Yuenkuan Yong, Reza Moheimani, Ali Bazaei
2017 Zhu L, Shi X, Chen Z, Zhang H-T, Xiong C-H, 'Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties', IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 64 3329-3337 (2017) [C1]
DOI 10.1109/TIE.2016.2573266
Citations Scopus - 1Web of Science - 1
2017 Chen Z, Zhang H-T, 'A Minimal Control Multiagent for Collision Avoidance and Velocity Alignment', IEEE TRANSACTIONS ON CYBERNETICS, 47 2185-2192 (2017) [C1]
DOI 10.1109/TCYB.2017.2712641
2017 Zhang H-T, Chen Z, Mo X, 'Effect of Adding Edges to Consensus Networks with Directed Acyclic Graphs', IEEE Transactions on Automatic Control, 62 4891-4897 (2017) [C1]
DOI 10.1109/TAC.2017.2692527
2017 Chen Z, Zheng J, Zhang H-T, Ding H, 'Tracking of piezoelectric actuators with hysteresis: A nonlinear robust output regulation approach', INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 27 2610-2626 (2017) [C1]
DOI 10.1002/rnc.3702
2017 Dong Q, Chen L, Li H, Chen Z, 'Force/position control for dual-arm space robot capturing object', Xitong Fangzhen Xuebao / Journal of System Simulation, 29 424-429 (2017)

© 2017, The Editorial Board of Journal of System Simulation. All right reserved. The dynamics control and simulation of dual-arm space robot capture object was studied. The dynam... [more]

© 2017, The Editorial Board of Journal of System Simulation. All right reserved. The dynamics control and simulation of dual-arm space robot capture object was studied. The dynamics model of space robot was derived by the second Lagrange equation, for the object capture process, the impact influence on space robot base and arm was calculated by momentum theory. For the space robot and object close-chain system after capturing, a force/position coordinate control algorithm was designed to control the system motion and object clamp force; the stability, reliability and safety of capture process would be ensured by the control algorithm. The simulation result based on the dynamics model and control algorithm was carried out. The result indicates the validity of above analysis.

DOI 10.16182/j.issn1004731x.joss.201702026
2017 Zhu L, Chen X, Chen Z, Hill DJ, 'Output Synchronization of Linear MIMO Heterogeneous Multi-agent Systems via Output Communication', IFAC-PapersOnLine, 50 1748-1753 (2017)

© 2017 The output synchronization of heterogeneous multi-agent systems becomes more challenging when only output information is exchanged over the network rather than state infor... [more]

© 2017 The output synchronization of heterogeneous multi-agent systems becomes more challenging when only output information is exchanged over the network rather than state information. We showed that the problem can be solved in two mutually coupled steps, namely perturbed consensus which is closely related to the well solved synchronization of homogeneous multi-agent systems and perturbed regulation which for MIMO systems is of particular interest. The perturbed regulation problem takes the consensus error of homogeneous reference model constructed for each agent as the disturbance while its regulation error also enters into the perturbed consensus problem as the disturbance. As opposed to traditional regulation problem, we aim to render the gain from the consensus error to the regulation error satisfy a small-gain condition at the second step. Based on the controllability property, we establish a lemma that derives a bound condition for the solution to a class of Riccati equations. Applying the lemma, we propose state and dynamic output feedback controllers to solve perturbed regulation problem and hence the output synchronization problem for linear MIMO multi-agent systems.

DOI 10.1016/j.ifacol.2017.08.503
2017 Xu D, Chen Z, Wang X, 'Global robust stabilization of nonlinear cascaded systems with integral ISS dynamic uncertainties', AUTOMATICA, 80 210-217 (2017) [C1]
DOI 10.1016/j.automatica.2017.02.023
Citations Scopus - 1
2016 Salton AT, Chen Z, Zheng J, Fu M, 'Constrained Optimal Preview Control of Dual-Stage Actuators', IEEE-ASME TRANSACTIONS ON MECHATRONICS, 21 1179-1184 (2016) [C1]
DOI 10.1109/TMECH.2015.2496343
Citations Scopus - 2Web of Science - 2
Co-authors Minyue Fu
2016 Chen X, Chen Z, 'Robust Perturbed Output Regulation and Synchronization of Nonlinear Heterogeneous Multiagents', IEEE TRANSACTIONS ON CYBERNETICS, 46 3111-3122 (2016) [C1]
DOI 10.1109/TCYB.2015.2497359
Citations Scopus - 1Web of Science - 3
2016 Zhang H-T, Chen Z, Chen P, Zhang X, Ding H, 'Saturated Output Regulation Approach for Active Vibration Control of Thin-Walled Flexible Workpieces With Voice Coil Actuators', IEEE-ASME TRANSACTIONS ON MECHATRONICS, 21 266-275 (2016) [C1]
DOI 10.1109/TMECH.2015.2440425
Citations Scopus - 3Web of Science - 1
2016 Xu D, Wang X, Chen Z, 'Output regulation of nonlinear output feedback systems with exponential parameter convergence', SYSTEMS & CONTROL LETTERS, 88 81-90 (2016) [C1]
DOI 10.1016/j.sysconle.2015.12.004
Citations Scopus - 9Web of Science - 7
2016 Zhang J, Zhu L, Chen Z, 'Control of Natural Oscillation Gait for Mechanical Locomotors in Three Dimensional Space', ASIAN JOURNAL OF CONTROL, 18 302-315 (2016) [C1]
DOI 10.1002/asjc.1030
Citations Scopus - 1
2016 Chen Z, Xu D, 'OUTPUT REGULATION AND ACTIVE DISTURBANCE REJECTION CONTROL: UNIFIED FORMULATION AND COMPARISON', ASIAN JOURNAL OF CONTROL, 18 1668-1678 (2016) [C1]
DOI 10.1002/asjc.1262
Citations Web of Science - 1
2016 Zhu L, Chen Z, Middleton RH, 'A General Framework for Robust Output Synchronization of Heterogeneous Nonlinear Networked Systems', IEEE Transactions on Automatic Control, 61 2092-2107 (2016) [C1]

© 1963-2012 IEEE.The paper aims to establish a general framework for robust output synchronization of a group of networked agents. The agents under investigation have nonlinear, ... [more]

© 1963-2012 IEEE.The paper aims to establish a general framework for robust output synchronization of a group of networked agents. The agents under investigation have nonlinear, uncertain and heterogeneous dynamics. Output synchronization denotes that all agents, through collaborative control, achieve output agreement and follow a desired pattern. In particular, the agreed trajectory is not defined by nor known to any agent in advance. Collaborative control is achieved using only output information from neighboring agents. Two concurrent actions are revealed in the proposed synchronization framework. This framework involves design strategies for both perturbed consensus and perturbed regulation problems, subject to a class of small gain conditions. The success of the framework is verified by constructive proof and numerical simulation.

DOI 10.1109/TAC.2015.2492141
Citations Scopus - 19Web of Science - 14
Co-authors Richard Middleton
2016 Meng H, Chen Z, Zhu L, Middleton R, 'Consensus of a class of second-order nonlinear heterogeneous multi-agent systems with uncertainty and communication delay', International Journal of Robust and Nonlinear Control, 26 3311-3329 (2016) [C1]

Copyright © 2016 John Wiley & Sons, Ltd. In this paper, a consensus problem is studied for a group of second-order nonlinear heterogeneous agents with non-uniform time dela... [more]

Copyright © 2016 John Wiley & Sons, Ltd. In this paper, a consensus problem is studied for a group of second-order nonlinear heterogeneous agents with non-uniform time delay in communication links and uncertainty in agent dynamics. We design a class of novel decentralized control protocols for the consensus problem whose solvability is converted into stability analysis of an associated closed-loop system with uncertainty and time delay. Using an explicitly constructed Lyapunov functional, the stability conditions or the solvability conditions of the consensus problem are given in terms of a set of linear matrix inequalities apart from a small number of scalar parameters that appear nonlinearly. Furthermore, the linear matrix inequalities are theoretically verified to be solvable when the communication delay is sufficiently small. The effectiveness of the proposed control protocol is illustrated by numerical examples. Copyright © 2016 John Wiley & Sons, Ltd.

DOI 10.1002/rnc.3508
Citations Scopus - 4Web of Science - 2
Co-authors Richard Middleton
2016 Lin Z, Wang L, Chen Z, Fu M, Han Z, 'Necessary and sufficient graphical conditions for affine formation control', IEEE Transactions on Automatic Control, 61 2877-2891 (2016) [C1]

© 2015 IEEE. This paper introduces a new multi-agent control problem, called an affine formation control problem, with the objective of asymptotically reaching a configuration th... [more]

© 2015 IEEE. This paper introduces a new multi-agent control problem, called an affine formation control problem, with the objective of asymptotically reaching a configuration that preserves collinearity and ratios of distances with respect to a target configuration. Suppose each agent updates its own state using a weighted sum of its neighbor's relative states with possibly negative weights. Then the affine control problemcan be solved for either undirected or directed interaction graphs. It is shown in this paper that an affine formation is stabilizable over an undirected graph if and only if the undirected graph is universally rigid,while an affine formation is stabilizable over a directed graph in the d-dimensional space if and only if the directed graph is (d + 1)-rooted. Rigorous analysis is provided, mainly relying on Laplacian associated with the interaction graph, which contain both positive and negative weights.

DOI 10.1109/TAC.2015.2504265
Citations Scopus - 3Web of Science - 2
Co-authors Minyue Fu
2016 Chen X, Chen Z, Mei C, 'Sampled Measurement Output Feedback Control of Multi-Agent Systems With Jointly-Connected Topologies', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 61 1670-1675 (2016) [C1]
DOI 10.1109/TAC.2015.2479113
Citations Scopus - 3Web of Science - 1
2016 Zhu L, Chen Z, Middleton R, 'Robust asymptotic model matching and its application to output synchronization of heterogeneous multi-agent systems', Systems and Control Letters, 94 37-45 (2016) [C1]

© 2016 Elsevier B.V. All rights reserved. Output synchronization of heterogeneous multi-agent systems has been one of the most interesting cooperative control problems. This pape... [more]

© 2016 Elsevier B.V. All rights reserved. Output synchronization of heterogeneous multi-agent systems has been one of the most interesting cooperative control problems. This paper first gives a brief survey of the research on the problem from which we see that the problem can be solved in a two-step manner with the aid of a properly designed local reference for each agent: (i) a controller is designed for each agent to achieve the trajectory regulation of the agent output to its associated reference; (ii) network collaboration is added to achieve consensus among references. In the presence of system uncertainties, the robust trajectory regulation problem in (i) can be solved by an internal model design. In this paper, we formulate a novel robust asymptotic model matching problem which is less conservative than trajectory regulation and can be solved by a static controller not relying on an internal model. Moreover, network collaboration is designed in (ii) within the so-called output communication setting such that consensus among references occurs concurrently with robust asymptotic model matching. As a result, output synchronization of heterogeneous multi-agent systems is achieved with a novel approach.

DOI 10.1016/j.sysconle.2016.04.003
Citations Scopus - 2
Co-authors Richard Middleton
2016 Chen ZY, Chen L, 'Anti-torque-windup control and vibration suppression of flexible-joint dual-arm space robot with an attitude-controlled base', Gongcheng Lixue/Engineering Mechanics, 33 (2016)

© 2016, Engineering Mechanics Press. All right reserved. The paper studies the anti-torque-windup control and flexible vibration suppression problems on the coordinated positioni... [more]

© 2016, Engineering Mechanics Press. All right reserved. The paper studies the anti-torque-windup control and flexible vibration suppression problems on the coordinated positioning of the base attitude and manipulator joints of a free-floating flexible-joint dual-arm space robot. The full-actuated dynamic equations of flexible-joint dual-arm space robot with an attitude-controlled base are derived by using the linear momentum conservation and Lagrange method. With the flexibility compensating and singular perturbation technology, singular perturbation model of the system is obtained. To suppress the joint flexible vibration of two arms, a torque differential state feedback control strategy is presented for the fast subsystem. Meanwhile, an anti-torque-windup control method based on the torque active constraint design is proposed for the slow subsystem to track the desired positions of the base attitude and joints, and then the control saturation problems of the actual base attitude control system and joint motors are avoided. The obtained simulation results show that the proposed control scheme can accurately position the base attitude and two arms' joint, suppress the flexible vibration of joints and limit the output amplitude of the actual control torques effectively.

DOI 10.6052/j.issn.1000-4750.2014.09.0812
2016 Flores JV, Salton AT, Gomes da Silva JM, Neto NB, Chen Z, 'A discrete-time framework for proximate time-optimal performance of damped servomechanisms', MECHATRONICS, 36 27-35 (2016) [C1]
DOI 10.1016/j.mechatronics.2016.04.003
2016 Jin H, Zhu L, Chen Z, 'TRAJECTORY CONTROL OF SNAKE-LIKE ROBOTS IN NATURAL OSCILLATION', ASIAN JOURNAL OF CONTROL, 18 1908-1913 (2016) [C1]
DOI 10.1002/asjc.1271
2016 Zhang H-T, Chen Z, Fan M-C, 'Collaborative Control of Multivehicle Systems in Diverse Motion Patterns', IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 24 1488-1494 (2016) [C1]
DOI 10.1109/TCST.2015.2487864
Citations Scopus - 2Web of Science - 1
2016 Mei C, Zhu L, Chen Z, 'Robustness analysis of locomotion controllers for mechanical rectifier systems in natural oscillation', IET CONTROL THEORY AND APPLICATIONS, 10 833-837 (2016) [C1]
DOI 10.1049/iet-cta.2015.1162
2016 Cheng Z, Chen Z, Vicsek T, Chen D, Zhang H-T, 'Pattern phase transitions of self-propelled particles: gases, crystals, liquids, and mills', NEW JOURNAL OF PHYSICS, 18 (2016) [C1]
DOI 10.1088/1367-2630/18/10/103005
Citations Scopus - 2Web of Science - 2
2015 Huang T, Chen Z, Zhang HT, Ding H, 'Active control of an active magnetic bearings supported spindle for chatter suppression in milling process', Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 137 (2015) [C1]

© 2015 by ASME. In machining process, chatter is an unstable dynamic phenomenon which causes overcut and quick tool wear, etc. To avoid chatter, traditional methods aim to optimi... [more]

© 2015 by ASME. In machining process, chatter is an unstable dynamic phenomenon which causes overcut and quick tool wear, etc. To avoid chatter, traditional methods aim to optimize machining parameters. But they have inherent disadvantage in gaining highly efficient machining. Active magnetic bearing (AMB) is a promising technology for machining on account of low wear and friction, low maintenance cost, and long operating life. The control currents applied to AMBs allow not only to stabilize the supported spindle but also to actively suppress chatter in milling process. This paper, for the first time, studies an integrated control scheme for stability of milling process with a spindle supported by AMBs. First, to eliminate the vibration of an unloaded spindle rotor during acceleration/deceleration, we present an optimal controller with proper compensation for speed variation. Next, the controller is further enhanced by adding an adaptive algorithm based on Fourier series analysis to actively suppress chatter in milling process. Finally, numerical simulations show that the stability lobe diagram (SLD) boundary can be significantly expanded. Also, a practical issue of constraints on controller output is discussed.

DOI 10.1115/1.4030841
Citations Scopus - 4
2015 Chen Z, Iwasaki T, Zhu L, 'Feedback Control for Natural Oscillations of Locomotion Systems Under Continuous Interactions With Environment', IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 23 1279-1291 (2015) [C1]
DOI 10.1109/TCST.2014.2363432
Citations Scopus - 1
2015 Han Z-M, Lin Z-Y, Fu M-Y, Chen Z-Y, 'Distributed coordination in multi-agent systems: a graph Laplacian perspective', FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING, 16 429-448 (2015) [C1]
DOI 10.1631/FITEE.1500118
Citations Scopus - 1Web of Science - 1
Co-authors Minyue Fu
2015 Knorn S, Chen Z, Middleton R, 'Overview: Collective control of multi-Agent systems', IEEE Transactions on Control of Network Systems, PP (2015)

© 2015 IEEE. Collective control of a multi-Agent system is concerned with designing strategies for a group of autonomous agents operating in a networked environment. The aim is t... [more]

© 2015 IEEE. Collective control of a multi-Agent system is concerned with designing strategies for a group of autonomous agents operating in a networked environment. The aim is to achieve a global control objective through distributed sensing, communication, computing, and control. It has attracted many researchers from a wide range of disciplines, including the literature of automatic control. The present paper aims to give a general framework that is able to accommodate many of these outcomes. Within this framework, the development on this topic is systematically reviewed and the representative outcomes can be sorted out from four aspects: (i) agent dynamics, (ii) network topologies, (iii) feedback and communication mechanisms, and (iv) collective behaviors. Thus, the state-of-The-Art approach and technology is described. Moreover, within this framework, further interesting and promising directions on this research topic are envisioned.

DOI 10.1109/TCNS.2015.2468991
Citations Scopus - 9Web of Science - 3
Co-authors Richard Middleton
2015 Meng HF, Kang Y, Chen Z, Zhao YB, Liu GP, 'Stability analysis and stabilization of a class of cutting systems with chatter suppression', IEEE/ASME Transactions on Mechatronics, 20 991-996 (2015) [C1]

© 2014 IEEE. In this paper, a new method for stability analysis of a single degree of freedom (SDOF) cutting system with sinusoidal spindle speed variation (SSSV) is proposed. Ba... [more]

© 2014 IEEE. In this paper, a new method for stability analysis of a single degree of freedom (SDOF) cutting system with sinusoidal spindle speed variation (SSSV) is proposed. Based on the approximately periodic property of the time delay in the turning process and the delay decomposition method, novel criteria of stability analysis for an SDOF cutting system are presented. Moreover, a state feedback controller is designed to stabilize the system and improve the steady-state response. Numerical simulation shows the effectiveness of the method.

DOI 10.1109/TMECH.2014.2319825
Citations Scopus - 6Web of Science - 6
2015 Chen Z, 'A novel adaptive control approach for nonlinearly parameterized systems', International Journal of Adaptive Control and Signal Processing, 29 81-98 (2015) [C1]

Copyright © 2013 John Wiley & Sons, Ltd. Nonlinearly parameterized systems are commonly encountered in control of practical systems. However, the conventional adaptive esti... [more]

Copyright © 2013 John Wiley & Sons, Ltd. Nonlinearly parameterized systems are commonly encountered in control of practical systems. However, the conventional adaptive estimation and control strategies, based on the essential assumption of linear parameterization, are incapable of dealing with this class of systems. This incapability in turn becomes a bottleneck for prevalent applications of adaptive control. In literature, there have been some attempts to break through this bottleneck by investigating the characteristics of nonlinearities. However, it is still open for an implementable strategy that is powerful for nonlinearly parameterized systems as the certainty equivalence principle for linearly parameterized systems. This paper aims to contribute an attempt to this open problem by proposing a novel adaptive control approach. On the one hand, the controller is conceptually simple, and it does not explicitly rely on the expression of system nonlinearities. On the other hand, the controller is able to achieve system stability and parameter convergence.

DOI 10.1002/acs.2462
Citations Scopus - 1Web of Science - 1
2015 He J, La HJ, Chen Z, Ge SS, 'Call for submissions: Special issue on consensus-based applications in networked systems', International Journal of Robust and Nonlinear Control, (2015)
DOI 10.1002/rnc.3471
2015 Chen Z, Zhang HT, Chen X, Chen D, Zhou T, 'Two-level leader-follower organization in pigeon flocks', EPL, 112 (2015) [C1]

© EPLA, 2015. The most attractive trait of collective animal behavior is the emergence of highly ordered structures (Cavagna A., Giardina I. and Ginelli F., Phys. Rev. Lett., 110... [more]

© EPLA, 2015. The most attractive trait of collective animal behavior is the emergence of highly ordered structures (Cavagna A., Giardina I. and Ginelli F., Phys. Rev. Lett., 110 (2013) 168107). It has been conjectured that the interaction mechanism in pigeon flock dynamics follows a hierarchical leader-follower influential network (Nagy M., Ákos Z., Biro D. and Vicsek T., Nature, 464 (2010) 890). In this paper, a new observation is reported that shows that pigeon flocks actually adopt a much simpler two-level interactive network composed of one leader and some followers. By statistically analyzing the same experimental dataset, we show that for a certain period of time a sole leader determines the motion of the flock while the remaining birds are all followers directly copying the leader's direction with specific time delays. This simple two-level despotic organization is expected to save both motional energy and communication cost, while retaining agility and robustness of the whole group. From an evolutionary perspective, our results suggest that a two-level organization of group flight may be more efficient than a multilevel topology for small pigeon flocks.

DOI 10.1209/0295-5075/112/20008
Citations Scopus - 2Web of Science - 2
2015 He WJ, Zhang HT, Chen Z, Lin JL, Tian K, Shan B, Chen R, 'Temperature Control for Nano-Scale Films by Spatially-Separated Atomic Layer Deposition Based on Generalized Predictive Control', IEEE Transactions on Nanotechnology, 14 1094-1103 (2015) [C1]

© 2002-2012 IEEE. This paper established a closed-loop temperature control system for a spatially-separated atomic layer deposition (S-ALD) reactor using generalized predictive c... [more]

© 2002-2012 IEEE. This paper established a closed-loop temperature control system for a spatially-separated atomic layer deposition (S-ALD) reactor using generalized predictive control (GPC) alg orithm. The GPC-based closed-loop control system rapidly and precisely stabilized the reactor temperature in the presence of thermal field disturbances. Compared with the proportion-integration differentiation (PID) control commonly used for S-ALD, the closed-loop GPC system attenuated reaction temperature oscillations when producing two-element nano-scale thin films. Furthermore, the proposed GPC system demonstrated the superiority in multi-element nano-laminates depositing efficiency by reducing the settling time with a substrate moving between different reactors. Electrical and optical properties of films verified the feasibility of the proposed GPC system. Finally, experimental results presented that the microstructure of the deposited ALD nanometer thin film was improved with the developed GPC system, compared with the PID strategy.

DOI 10.1109/TNANO.2015.2471298
Citations Scopus - 1Web of Science - 1
2015 Chen ZY, Chen L, 'Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot', Zhendong yu Chongji/Journal of Vibration and Shock, 34 79-84 (2015)

©, 2015, Chinese Vibration Engineering Society. All right reserved. To solve the joint movement control problem of a flexible-joint dual-arm space robot system with an uncontroll... [more]

©, 2015, Chinese Vibration Engineering Society. All right reserved. To solve the joint movement control problem of a flexible-joint dual-arm space robot system with an uncontrolled base under the effects of external disturbances and unknown load parameters, a singular perturbation augmented robust adaptive PD composite control method was proposed. On the basis of the under-actuated robot dynamic sub-equations and joint motor dynamic sub-equations, a singular perturbation correction model of robot system was established by using the flexibility compensating singular perturbation technique. Then, a composite control integrating the fast varying state feedback control and the augmented robust adaptive PD slowly varying control were designed for the flexible-joint dual-arm space robot with unknown upper bound external disturbances and unknown load parameters. The simulation results confirm that the influences of the joint flexibility, unknown external disturbances and unknown load parameters can be eliminated effectively by the presented control method, and the desired joint movement of dual-arm space robot can be achieved accurately.

DOI 10.13465/j.cnki.jvs.2015.16.014
2015 Chen Z, Huang J, 'Global robust adaptive output regulation for nonlinear systems of relative degree up to two', COMMUNICATIONS IN INFORMATION AND SYSTEMS, 15 15-33 (2015)
2015 He W-J, Zhang H-T, Chen Z, Chu B, Cao K, Shan B, Chen R, 'Generalized Predictive Control of Temperature on an Atomic Layer Deposition Reactor', IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 23 2408-2415 (2015) [C1]
DOI 10.1109/TCST.2015.2404898
Citations Scopus - 3Web of Science - 1
2015 Chen Z, Fan MC, Zhang HT, 'How Much Control is Enough for Network Connectivity Preservation and Collision Avoidance?', IEEE Transactions on Cybernetics, 45 1647-1656 (2015) [C1]

© 2013 IEEE. For a multiagent system in free space, the agents are required to generate sufficiently large cohesive force for network connectivity preservation and sufficiently l... [more]

© 2013 IEEE. For a multiagent system in free space, the agents are required to generate sufficiently large cohesive force for network connectivity preservation and sufficiently large repulsive force for collision avoidance. This paper gives an energy function based approach for estimating the control force in a general setting. In particular, the force estimated for network connectivity preservation and collision avoidance is separated from the force for other collective behavior of the agents. Moreover, the estimation approach is applied in three typical collective control scenarios including swarming, flocking, and flocking without velocity measurement.

DOI 10.1109/TCYB.2014.2357838
Citations Scopus - 12Web of Science - 10
2014 Zhang HT, Chen Z, Vicsek T, Feng G, Sun L, Su R, Zhou T, 'Route-dependent switch between hierarchical and egalitarian strategies in pigeon flocks', Scientific Reports, 4 (2014) [C1]

The mechanisms that underlie fascinating inter-individual interactions among animal groups have attracted increasing attention from biologists, physicists, and system scientists. ... [more]

The mechanisms that underlie fascinating inter-individual interactions among animal groups have attracted increasing attention from biologists, physicists, and system scientists. There are two well-known types of interaction patterns: hierarchical and egalitarian. In the former type, individuals follow their leaders, whereas they follow their neighbors in the latter. Using high-resolution spatiotemporal data derived from the free flights of a flock of pigeons, we show that pigeon flocks actually adopt a mode that switches between the two aforementioned strategies. To determine its flight direction, each pigeon tends to follow the average of its neighbors while moving along a smooth trajectory, whereas it switches to follow its leaders when sudden turns or zigzags occur. By contrast, when deciding how fast to fly, each pigeon synthesizes the average velocity of its neighbors. This switching mechanism is promising for possible industrial applications in multi-robot system coordination, unmanned vehicle formation control, and other areas.

DOI 10.1038/srep05805
Citations Scopus - 13Web of Science - 7
2014 Zhang HT, Chen Z, 'Consensus acceleration in a class of predictive networks', IEEE Transactions on Neural Networks and Learning Systems, 25 1921-1927 (2014) [C1]

© 2012 IEEE. A fastest consensus problem of topology fixed networks has been formulated as an optimal linear iteration problem and efficiently solved in the literature. Consideri... [more]

© 2012 IEEE. A fastest consensus problem of topology fixed networks has been formulated as an optimal linear iteration problem and efficiently solved in the literature. Considering a kind of predictive mechanism, we show that the consensus evolution can be further accelerated while physically maintaining the network topology. The underlying mechanism is that an effective prediction is able to induce a network with a virtually denser topology. With this topology, an even faster consensus is expected to occur. The result is motivated by the predictive mechanism widely existing in natural systems.

DOI 10.1109/TNNLS.2013.2294674
Citations Scopus - 19Web of Science - 20
2014 Chen Z, Fujioka H, 'Performance Analysis of Nonlinear Sampled-Data Emulated Controllers', IEEE Transactions on Automatic Control, 59 2778-2783 (2014) [C1]
DOI 10.1109/TAC.2014.2312854
Citations Scopus - 4Web of Science - 3
2014 Chen Z, 'Pattern Synchronization of Nonlinear Heterogeneous Multiagent Networks With Jointly Connected Topologies', IEEE Transactions on Control of Network Systems, 1 349-359 (2014) [C1]
DOI 10.1109/TCNS.2014.2357551
Citations Scopus - 27Web of Science - 1
2014 Colaneri P, Middleton RH, Chen Z, Caporale D, Blanchini F, 'Convexity of the cost functional in an optimal control problem for a class of positive switched systems', AUTOMATICA, 50 1227-1234 (2014) [C1]
DOI 10.1016/j.automatica.2014.02.025
Citations Scopus - 18Web of Science - 17
Co-authors Richard Middleton
2014 Zhu L, Chen Z, 'Robust homogenization and consensus of nonlinear multi-agent systems', Systems and Control Letters, 65 50-55 (2014) [C1]

In this paper, we consider consensus of a group of heterogeneous agents with nonlinear dynamics in the presence of system uncertainties. It requires that all agent states reach an... [more]

In this paper, we consider consensus of a group of heterogeneous agents with nonlinear dynamics in the presence of system uncertainties. It requires that all agent states reach an agreement which is governed by specified reference dynamics. However, the reference dynamics do not generate a specific reference trajectory for feedback regulation for any agent. For this purpose, the proposed controller integrates two fundamental actions, homogenization and consensus, concurrently. On one hand, it asymptotically regulates each individual (heterogeneous, nonlinear, and uncertain) agent dynamics to the common reference dynamics using a robust homogenization technique; on the other hand, it aligns agent trajectories, asymptotically governed by the common reference dynamics, to consensus through network cooperation. The effectiveness of the controller is verified in the rigorous proof and numerical simulation. © 2014 Elsevier B.V. All rights reserved.

DOI 10.1016/j.sysconle.2013.12.007
Citations Scopus - 30Web of Science - 29
2014 Zhu L, Chen Z, 'Erratum: Robust homogenization and consensus of nonlinear multi-agent systems (Systems and Control Letters (2014) 65 (50-55))', Systems and Control Letters, 67 71 (2014)
DOI 10.1016/j.sysconle.2014.02.006
2014 Chen Z, Huang J, 'Attitude tracking of rigid spacecraft subject to disturbances of unknown frequencies', INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 24 2231-2242 (2014) [C1]
DOI 10.1002/rnc.2983
Citations Scopus - 9Web of Science - 10
2014 Chen Z, Zhang H-T, Zhang X, Ding H, 'Adaptive Active Chatter Control in Milling Processes', Journal of Dynamic Systems, Measurement, and Control, 136 021007-1-021007-7 (2014) [C1]
DOI 10.1115/1.4025694
Citations Scopus - 13Web of Science - 7
2014 Chen Z, Guo Y, Chen L, 'Sliding-mode neural network control of flexible-joint dual-arm space robot', Xitong Fangzhen Xuebao / Journal of System Simulation, 26 2950-2956 (2014)

©, 2014, Chinese Association for System Simulation. All right reserved. The sliding-mode neural network control problem was discussed for a flexible-joint dual-arm space robot un... [more]

©, 2014, Chinese Association for System Simulation. All right reserved. The sliding-mode neural network control problem was discussed for a flexible-joint dual-arm space robot under the influences of parametric uncertainty and external disturbance. The elastic deformation of joint was described by the linear torsion spring, in terms of the principle of linear and angular momentum and the Lagrange method, the dynamic model of flexible-joint dual-arm space robot was derived. By using of the singular perturbation approach, two subsystems which can be controlled independently were separated from the system with the joint flexible compensation. To realize the accurately trajectory tracking of end-effectors on the effects of two uncertain factors and suppress the elastic vibration of joints, a hybrid control scheme composed by the sliding-mode neural network control of rigid motion and the feedback control of flexible motion was put forward. Simulation results show that the presented scheme has stronger ability to resist disturbance and parametric uncertainty, and can control the system to perform the desired circular motions and suppress the elastic vibration of joints.

2014 Fan M-C, Chen Z, Zhang H-T, 'Semi-Global Consensus of Nonlinear Second-Order Multi-Agent Systems With Measurement Output Feedback', IEEE Transactions on Automatic Control, 59 2222-2227 (2014) [C1]
DOI 10.1109/TAC.2014.2299351
Citations Scopus - 41Web of Science - 32
2014 Zhu L, Chen Z, 'Robust homogenization and consensus of nonlinear multi-agent systems (vol 65, pg 50, 2014)', SYSTEMS & CONTROL LETTERS, 67 71-71 (2014)
DOI 10.1016/j.sysconle.2014.02.006
2014 Chen Z, Zhang HT, Fan MC, Wang D, Li D, 'Algorithms and Experiments on Flocking of Multiagents in a Bounded Space', IEEE Transactions on Control Systems Technology, 22 1544-1549 (2014) [C1]
DOI 10.1109/TCST.2013.2279166
Citations Scopus - 23Web of Science - 16
2014 Islam MN, Chen Z, 'Natural gaits for multilink mechanical systems', IEEE Transactions on Robotics, 30 765-771 (2014) [C1]

Typical animal locomotion is achieved by the rhythmical undulation of its body segments while interacting with its environment. It inspires the mechanical design of multilink loco... [more]

Typical animal locomotion is achieved by the rhythmical undulation of its body segments while interacting with its environment. It inspires the mechanical design of multilink locomotors. With different postures, a multilink system may present different locomotion gaits. Recently, a so-called natural oscillation gait was studied for multilink systems, and a class of biologically inspired controllers was designed for the achievement of the gait. In this paper, the theoretical design is experimentally applied on a mechanical multilink testbed of two posture configurations in rayfish-like flapping-wing motion and snake-like serpentine motion. The effectiveness of the design is cross examined by theoretical analysis, numerical simulation, and experiments. © 2004-2012 IEEE.

DOI 10.1109/TRO.2014.2298926
Citations Scopus - 2Web of Science - 2
2013 Chen Z, Zhang H-T, 'A remark on collective circular motion of heterogeneous multi-agents', Automatica, 49 1236-1241 (2013) [C1]
DOI 10.1016/j.automatica.2013.01.017
Citations Scopus - 37Web of Science - 35
2013 Chen Z, Iwasaki T, Zhu L, 'Neural control for coordinated natural oscillation patterns', Systems and Control Letters, 62 693-698 (2013) [C1]

We consider linear mechanical systems with asymmetric stiffness matrices. The class of systems captures essential body dynamics of animal/robotic locomotion. In particular, rhythm... [more]

We consider linear mechanical systems with asymmetric stiffness matrices. The class of systems captures essential body dynamics of animal/robotic locomotion. In particular, rhythmic body movements similar to those observed in animals can be found as a properly defined natural oscillation of the linear system. The objective is to design a nonlinear feedback controller that achieves the natural oscillation as a stable limit cycle for the closed-loop system. The controller structure we employ is inspired by neuronal circuits for animal locomotion. We translate the design requirement into a multivariable harmonic balance condition, and provide characterizations of neural controllers satisfying the condition. © 2013 Elsevier B.V. All rights reserved.

DOI 10.1016/j.sysconle.2013.05.002
Citations Scopus - 2Web of Science - 2
2013 Zhang HT, Chen Z, Yan L, Yu W, 'Applications of collective circular motion control to multirobot systems', IEEE Transactions on Control Systems Technology, 21 1416-1422 (2013) [C1]

Collective circular motion is common in both natural systems and engineering applications. Recent theoretical research has intensively studied the fundamental control mechanism. T... [more]

Collective circular motion is common in both natural systems and engineering applications. Recent theoretical research has intensively studied the fundamental control mechanism. This brief aims to pave the way from theoretical design to practical implementation by addressing a set of issues encountered in real applications. As a result, a practically effective control algorithm is successfully implemented and examined for a multirobot system to achieve a desired circular formation. © 1993-2012 IEEE.

DOI 10.1109/TCST.2012.2200679
Citations Scopus - 24Web of Science - 21
2013 Zhu L, Chen Z, Iwasaki T, 'Oscillation, orientation, and locomotion of underactuated multilink mechanical systems', IEEE Transactions on Control Systems Technology, 21 1537-1548 (2013) [C1]
DOI 10.1109/tcst.2012.2213089
Citations Scopus - 14Web of Science - 15
2013 Peng Z, Wang D, Chen Z, Hu X, Lan W, 'Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics', IEEE Transactions on Control Systems Technology, 21 513-520 (2013) [C1]
DOI 10.1109/TCST.2011.2181513
Citations Scopus - 121Web of Science - 97
2013 Chen ZY, Chen L, 'Augmented adaptive control and joint vibration suppression for flexible-joint space robot with flexibility compensation', Yuhang Xuebao/Journal of Astronautics, 34 1599-1604 (2013)

The problems of joint motion control and flexible vibration suppression of a flexible joint space-based robot for manipulating an unknown payload are studied. Based on the system ... [more]

The problems of joint motion control and flexible vibration suppression of a flexible joint space-based robot for manipulating an unknown payload are studied. Based on the system linear momentum conservation and the Lagrange method, the under-actuated dynamics model of the space robot is established. For convenience of the design of its control system, the system is divided into both fast and slow subsystems by using the joint flexibility compensation technique and the singular perturbation theory. A torque differential feedback controller is proposed for the fast subsystem to suppress the joints' flexible vibration, meanwhile an adaptive control scheme based on the augmentation approach is designed for the slow subsystem to realize the joint trajectory asymptotic tracking under the condition of unknown payload parameters. Because of introduction of the flexibility compensation technique, the presented control scheme can equivalently increase the joint stiffness, and it is suitable to control the space robot systems with low joint stiffness. Moreover, the effect of unknown parameters is real-time compensated by its adaptive controller, and then the specified joint motion task is achieved precisely. The effectiveness of the scheme is verified by the corresponding simulation results.

DOI 10.3873/j.issn.1000-1328.2013.12.009
Citations Scopus - 2
2013 Chen ZY, Chen L, 'Adaptive backstepping control of flexible-joint space robot based on neural network', Gongcheng Lixue/Engineering Mechanics, 30 397-401 (2013)

The design problem of a joint motion controller for a flexible-joint space robot with an uncontrolled base is discussed. With the linear and angular momentum conservation of the s... [more]

The design problem of a joint motion controller for a flexible-joint space robot with an uncontrolled base is discussed. With the linear and angular momentum conservation of the system and a Lagrangian method, the dynamic model of a space robot is established. To realize the control target of joint motion, an adaptive backstepping control scheme for a flexible-joint space robot is proposed via the function approximation technique of neural network. The presented control scheme need not know the information of system parameters, and avoids the measurements and feedback of the position-related variables of the base. Thusly, it is more suitable for practical applications. Numerical simulation results show that the control scheme proposed can obtain the smaller vibration of flexible joints and effectively control the space robot system to accomplish the desired joint motion.

DOI 10.6052/j.issn.1000-4750.2011.12.0835
Citations Scopus - 3
2013 Chen Z, Zhang H-T, 'Analysis of Joint Connectivity Condition for Multiagents With Boundary Constraints', IEEE Transactions on Cybernetics, 43 437-444 (2013) [C1]
DOI 10.1109/TSMCB.2012.2208952
Citations Scopus - 25Web of Science - 23
2012 Islam MN, Chen Z, 'Natural oscillation control of prototype mechanical rectifiers', IEEE Transactions on Control Systems Technology, 20 1559-1566 (2012) [C1]
Citations Scopus - 4Web of Science - 4
2012 Salton AT, Chen Z, Fu M, 'Improved control design methods for proximate time-optimal servomechanisms', IEEE-ASME Transactions on Mechatronics, 17 1049-1058 (2012) [C1]
Citations Scopus - 17Web of Science - 14
Co-authors Minyue Fu
2012 Chen ZY, Chen L, 'Adaptive variable structure control for flexible space manipulator based on hybrid sliding mode concept', Gongcheng Lixue/Engineering Mechanics, 29 216-221 (2012)

The coordinated motion control and flexible vibration suppression problems of flexible space manipulator are studied. With the assumed mode method and the linear momentum conserva... [more]

The coordinated motion control and flexible vibration suppression problems of flexible space manipulator are studied. With the assumed mode method and the linear momentum conservation of the system, the system dynamics model of the space manipulator is derived. Based on the hybrid sliding mode concept, an adaptive variable structure control scheme is proposed for the flexible space manipulator to achieve the coordinated motion between the base's attitude and the arm's joints, which accounts for the uncertainty in inertial parameters. The hybrid sliding mode introduced consists of two parts, the frequency shaped optimal sliding mode and the terminal sliding mode. The former is used to suppress the vibration of flexible link of the system, and the latter is utilized to guarantee the convergence of system tracking errors in finite time. Moreover, the control scheme proposed does not require the foreknowledge of flexible variables in control. Thus, it can effectively avoid the real-time measurements and feedbacks of system flexible variables, and be more suitable for practical applications. Simulation results demonstrate the effectiveness of the proposed control scheme.

Citations Scopus - 5
2012 Chen ZY, Chen L, 'Robust control of flexible-joint space robot via flexibility compensation', Gongcheng Lixue/Engineering Mechanics, 29 53-57 (2012)

The robust control problem of a free-floating flexible-joint space robot with an uncontrolled base to track the desired trajectory in workspace is discussed. With the system linea... [more]

The robust control problem of a free-floating flexible-joint space robot with an uncontrolled base to track the desired trajectory in workspace is discussed. With the system linear and angular momentum conservation and Lagrangian method, the dynamic equations are derived. In the consideration of the strong joint flexibility of a space robot, a joint flexibility compensation controller is designed to compensate the effects of the joint flexibility to the system control precision. Then by using of the singular perturbation technology, a robust control scheme for the robot system with uncertain inertial parameters to track the desired trajectory in workspace is presented. A planar space robot system with flexible joints is simulated to verify the effectiveness of the proposed control method.

DOI 10.6052/j.issn.1000-4750.2011.04.0218
2011 Chen Z, Zhang H-T, 'No-beacon collective circular motion of jointly connected multi-agents', Automatica, 47 1929-1937 (2011) [C1]
DOI 10.1016/j.automatica.2011.03.012
Citations Scopus - 76Web of Science - 73
2011 Zhang H-T, Zhai C, Chen Z, 'A general alignment repulsion algorithm for flocking of multi-agent systems', IEEE Transactions on Automatic Control, 56 430-435 (2011) [C1]
DOI 10.1109/tac.2010.2089652
Citations Scopus - 90Web of Science - 79
2011 Liu L, Chen Z, Huang J, 'Global disturbance rejection of lower triangular systems with an unknown linear exosystem', IEEE Transactions on Automatic Control, 56 1690-1695 (2011) [C1]
Citations Scopus - 22Web of Science - 20
2011 Salton AT, Chen Z, Zheng J, Fu M, 'Preview control of dual-stage actuator systems for superfast transition time', IEEE/ASME Transactions on Mechatronics, 16 758-763 (2011) [C2]
DOI 10.1109/TMECH.2010.2053851
Citations Scopus - 15Web of Science - 10
Co-authors Minyue Fu
2011 Chen Z, Chen L, 'Study on dynamics modeling and singular perturbation control of free-floating space robot with flexible joints', Zhongguo Jixie Gongcheng/China Mechanical Engineering, 22 2151-2155 (2011)

The dynamic modeling and singular perturbation control problems of free-floating space robot with normal flexible joints and an uncontrolled base were discussed. With the relation... [more]

The dynamic modeling and singular perturbation control problems of free-floating space robot with normal flexible joints and an uncontrolled base were discussed. With the relationship of the system linear and angular momentum conservation, a system dynamics model was established by Lagrangian formulation. To eliminate the limitation of joint flexibility for applications of the traditional singular perturbation control technique in space robot with normal flexible joints, a joint flexibility compensator was introduced, which can level down the equivalent joint flexibility of the system. And then with the help of singular perturbation theory, the singular perturbation control schemes for free-floating space robot with flexible joints to track the desired trajectory in joint space and inertial space were designed successively. The control schemes presented are more suitable for the control of space robot systems with normal flexible joints, because of no joint flexibility limitation. Theoretical analysis and simulation results verify the feasibility of the proposed control schemes.

Citations Scopus - 12
2011 Chen ZY, Chen L, 'Augmented adaptive neural network compensation control of space-based robot', Xitong Fangzhen Xuebao / Journal of System Simulation, 23 2750-2755 (2011)

The compensation control problems of space-based robot system with external disturbances were studied. The dynamic equations of the system were given firstly. Then, with the augme... [more]

The compensation control problems of space-based robot system with external disturbances were studied. The dynamic equations of the system were given firstly. Then, with the augmentation approach, the augmented adaptive neural network compensation control schemes were developed for space-based robot with unknown inertial parameters and external disturbances to track the desired trajectories in joint space and in inertial space, respectively. The control schemes proposed don't require the measurements and feedback of the position, linear velocity and acceleration of the base. Besides, compared with traditional adaptive control schemes, they can avoid linearly parameterizing the dynamic equations of the system and subsequently reduce tedious computations during the determination of the regression matrix for the system. The simulation results validate the presented control schemes.

Citations Scopus - 1
2010 Chen Z, 'On observability of nonlinear steady-state generators', Automatica, 46 1712-1718 (2010) [C1]
DOI 10.1016/j.automatica.2010.06.028
Citations Scopus - 4Web of Science - 2
2010 Chen ZY, Chen L, 'Robust-adaptive combined control for dual-arm space robot with external disturbances and uncertain parameters', Gongcheng Lixue/Engineering Mechanics, 27 27-33 (2010)

The control problem of free-floating space robot system with dual-arm is studied. The dynamic equations of the system are formulated by the under-actuated form to guarantee that t... [more]

The control problem of free-floating space robot system with dual-arm is studied. The dynamic equations of the system are formulated by the under-actuated form to guarantee that they can be linearly parameterized. With the augmentation approach, the dynamics of the system is analyzed and the augmented generalized Jacobi matrix of the system can also be linearly dependent on a group of inertial parameters. Based on the results, a robust-adaptive combined control scheme is developed for dual-arm space robot system with external disturbances and uncertain payload parameters to track the desired trajectories in inertial space. Comparing with the adaptive control, the control scheme proposed can effectively reduce the calculation time, because it can transfer many integral operations into four arithmetic operations. Therefore, it is suitable for real-time and on-line applications in space-based robot system. The simulation results verify the proposed control scheme.

Citations Scopus - 6
2010 Chen Z, Chen L, 'On-line self-learning compensation control for dual-arm space robot with external disturbances via neural network', Zhongguo Jixie Gongcheng/China Mechanical Engineering, 21 2114-2118 (2010)

The compensation control problems of coordinated motion between the base's attitude and two end-effector of a free-floating dual-arm space robot with unknown external disturb... [more]

The compensation control problems of coordinated motion between the base's attitude and two end-effector of a free-floating dual-arm space robot with unknown external disturbances to track the desired trajectories were discussed. With the linear momentum conservation of the system, the kinematics and dynamics of the system were analyzed, and then the dynamics equations of the system described in workspace were derived. Based on the results, a neural network on-line self-learning compensation control scheme for coordinated motion of the free-floating dual-arm space robot with unknown external disturbances was designed. The control scheme proposed can avoid the measurements of the position-related variables of the base, and effectively enhance the robustness and adaptive ability of the system because of the good on-line self-learning compensation of the neural network for external disturbances. Simulation results validate the feasibility of the presented control scheme.

Citations Scopus - 1
2010 Chen Z, Chen L, 'Fuzzy terminal sliding mode control of vibration suppression of flexible space manipulator', Zhendong Ceshi Yu Zhenduan/Journal of Vibration, Measurement and Diagnosis, 30 481-486 (2010)

A scheme of fuzzy terminal sliding mode control was proposed for vibration suppression of a flexible space manipulator base position of which was not controlled. The dynamical equ... [more]

A scheme of fuzzy terminal sliding mode control was proposed for vibration suppression of a flexible space manipulator base position of which was not controlled. The dynamical equation of the flexible space manipulator was derived by using the assumed mode method, linear momentum conservation of the system and the Lagrange method. To solve the problems of trajectory tracking control and vibration suppression of the flexible space manipulator, the singular perturbation approach was adopted to decompose the manipulator system into a slow subsystem and a fast subsystem. And then, the controller could be designed separately for the subsystems. A fuzzy terminal sliding mode control scheme was designed to control the slow subsystem and the linear quadratic regulator (LQR) based on the reduced order observer was proposed for the fast subsystem. A simulation example of flexible space manipulator demonstrates that the control scheme not only guarantees that the tracking errors of the base's attitudes and arm's joints of the system converge to zero in finite time, but also weakens the chattering of the sliding mode controller and the vibration of the flexible arm effectively.

Citations Scopus - 12
2010 Zhang H-T, Chen MZQ, Chen Z, 'Nonlinear laguerre-volterra observer-controller and its application to process control', International Journal of Robust and Nonlinear Control, 20 412-423 (2010) [C1]
DOI 10.1002/rnc.1435
Citations Scopus - 2Web of Science - 3
2009 Guo HF, Chen ZY, Yu CW, '3D numerical simulation of compressible swirling flow induced by means of tangential inlets', International Journal for Numerical Methods in Fluids, 59 1285-1298 (2009)

The objective of the present work is to predict compressible swirl flow in the nozzle of air-jet spinning using the realizable k-e turbulence model and discuss the effect of the n... [more]

The objective of the present work is to predict compressible swirl flow in the nozzle of air-jet spinning using the realizable k-e turbulence model and discuss the effect of the nozzle pressure. The periodic change of flow patterns can be observed. The recirculation zone near the wall of the injectors upstream increases in size and moves gradually upstream, whereas the vortex breakdown in the injector downstream shifts slowly towards the nozzle outlet during the whole period. A low axial velocity in the core region moves gradually away from the centerline, and the magnitude of the center reverse flow and the area occupied by it increase with axial distance due to the vortex breakdown. From the tangential velocity profile, there is a very small free-vortex zone. With increasing nozzle pressure, the velocity increases and the location of vortex breakdown is moved slightly downward. However, the increase in the velocity tends to decline at nozzle pressure up to a high level. Copyright © 2008 John Wiley & Sons, Ltd.

DOI 10.1002/fld.1872
Citations Scopus - 9
2009 Liu L, Chen Z, Huang J, 'Parameter convergence and minimal internal model with an adaptive output regulation problem', Automatica, 45 1306-1311 (2009) [C1]
DOI 10.1016/j.automatica.2009.01.003
Citations Scopus - 68Web of Science - 51
2009 Chen Z, 'Global stabilization of nonlinear cascaded systems with a Lyapunov function in superposition form', Automatica, 45 2041-2045 (2009) [C1]
DOI 10.1016/j.automatica.2009.04.021
Citations Scopus - 12Web of Science - 11
2009 Chen Z, Huang J, 'Attitude tracking and disturbance rejection of rigid spacecraft by adaptive control', IEEE Transactions on Automatic Control, 54 600-605 (2009) [C1]
DOI 10.1109/tac.2008.2008350
Citations Scopus - 130Web of Science - 103
2009 Chen Z, 'A remark on sensor disturbance rejection of nonlinear systems', IEEE Transactions on Automatic Control, 54 2206-2210 (2009) [C1]
DOI 10.1109/tac.2009.2026846
Citations Scopus - 17Web of Science - 13
2009 Chen Z, Iwasaki T, 'Matrix perturbation analysis for weakly coupled oscillators', Systems and Control Letters, 58 148-154 (2009) [C1]
DOI 10.1016/j.sysconle.2008.10.002
Citations Scopus - 10Web of Science - 10
2008 Chen Z, Huang J, 'A Lyapunov's direct method for the global robust stabilization of nonlinear cascaded systems', Automatica, 44 745-752 (2008) [C1]
DOI 10.1016/j.automatica.2007.06.027
Citations Scopus - 16Web of Science - 17
2008 Chen Z, Iwasaki T, 'Circulant synthesis of central pattern generators with application to control of rectifier systems', IEEE Transactions on Automatic Control, 53 273-286 (2008) [C1]
DOI 10.1109/TAC.2007.914951
Citations Scopus - 23Web of Science - 19
2008 Chen Z, Zheng M, Friesen WO, Iwasaki T, 'Multivariable harmonic balance analysis of the neuronal oscillator for leech swimming', Journal of Computational Neuroscience, 25 583-606 (2008) [C1]
DOI 10.1007/s10827-008-0105-7
Citations Scopus - 13Web of Science - 13
2007 Chen Z, Huang J, 'Global robust servomechanism of a class of nonlinear systems using output feedback', Asian Journal of Control, 9 292-305 (2007) [C1]
DOI 10.1111/j.1934-6093.2007.tb00415.x
Citations Scopus - 7Web of Science - 6
2006 Xiao C, Chen Z, Liu L, He Y, 'Ordovician Cephalopod Biofacies of South China and Its Provincialization', Journal of China University of Geosciences, 17 221-230 (2006)

The research on biofacies and its provincialization is of important significance not only for the increasing of precision of stratigraphic subdivision and correlation in South Chi... [more]

The research on biofacies and its provincialization is of important significance not only for the increasing of precision of stratigraphic subdivision and correlation in South China, the reconstruction of ancient environment and paleogeography and even the guiding of oil and gas exploration, but also for the study of paleobiogeogrphy and sea level changes of southern China in Ordovician. On the basis of the studies of the ecological characteristics of Ordovician cephalopods from South China, eighteen cephalopod biofacies are recognized and described: (1) Open platform Proterocameroceras biofacies; (2) Restricted platform Pseudoectenolites-Xiadongoceras biofacies; (3) Open platform Retroclitendoceras-Pararetroclitendoceras biofacies; (4) Open platform Pronajaceras-Mamagouceras biofacies; (5) Shelf slope-basin Cyclostomiceras biofacies; (6) Open platform Cameroceras-Cyrtovaginoceras biofacies; (7) Open platform Coreanoceras-Manchuroceras biofacies; (8) Shelf slope-basin Kaipingoceras-Kyminoceras biofacies; (9) Inner shelf Bathmoceras-Protocycloceras biofacies; (10) Middle shelf Dideroceras-Ancistroceras biofacies; (11) Deep-water shelf Lituites-Cyclolituites biofacies; (12) Stagnant basin Lituitet-Trilacinoceras biofacies; (13) Deep-water basin Paraendoceras-Sactorthoceras biofacies; (14) Deep-water shelf Sinoceras-Michelinoceras-Disoceras biofacies; (15) Deep-water shelf Beloitoceras-Jiangshanoceras biofacies; (16) Deep-water shelf-basin Eurasiaticoceras biofacies; (17) Shelf-slope Jiangxiceras-Yushanoceras biofacies; (18) Deep-water basin Michelinoceras biofacies. The cephalopods of these biofacies, their ecological characteristics, and living conditions are elucidated in this article. The association law of cephalopod biofacies in time and space shows that there were three cephalopod biofacies provinces in South China during the Ordovician, i. e., Yangtze biofacies province, East Guizhou ({A figure is presented})-West Hunan ({A figure is presented}) biofacies province (mixed-type biofacies province), and Central Hunan-West Zhejiang ({A figure is presented}) biofacies province. It is suggested that differentiation of cephalopod biofacies was mainly controlled by sea level changes and tectonic evolution. The differentiation is obvious during lower sea level and not developed during high sea level. © 2006 China University of Geosciences.

DOI 10.1016/S1002-0705(06)60031-9
Citations Scopus - 2
2005 Chen ZY, Huang H, 'A simplified small gain theorem for time-varying nonlinear systems', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 50 1904-1908 (2005) [C1]
DOI 10.1109/TAC.2005.855126
Citations Scopus - 17Web of Science - 17
2005 Chen Z, Huang J, 'Global robust output regulation for output feedback systems', IEEE Transactions on Automatic Control, 50 117-121 (2005) [C1]

The global robust output regulation problem for the class of nonlinear systems in output feedback form has been studied under the assumption that the solution of the regulator equ... [more]

The global robust output regulation problem for the class of nonlinear systems in output feedback form has been studied under the assumption that the solution of the regulator equations is polynomial. This assumption essentially requires these systems contain only polynomial nonlinearity and is due to the failure of finding a nonlinear internal model to account for more complex nonlinearities than polynomials. Recently, it was found that a nonlinear internal model can be constructed under some assumption much milder than the polynomial assumption. In this note, we will apply this type of internal model to solve the global robust output regulation problem for the class of nonlinear systems in output feedback form. © 2005 IEEE.

DOI 10.1109/TAC.2004.841125
Citations Scopus - 64
2005 Chen Z, Zhao R, Shangguan D, Liu G, 'Preparation and evaluation of uniform-sized molecularly imprinted polymer beads used for the separation of sulfamethazine', Biomedical Chromatography, 19 533-538 (2005)

Uniform-sized molecularly imprinted polymer (MIP) beads were prepared using a one-step swelling and polymerization method. The obtained sulfamethazine (SMZ)-imprinted polymer show... [more]

Uniform-sized molecularly imprinted polymer (MIP) beads were prepared using a one-step swelling and polymerization method. The obtained sulfamethazine (SMZ)-imprinted polymer showed high affinity and selectivity toward SMZ and other structurally related sulfonamides in acetonitrile or water-acetonitrile mobile phases, particularly in high aqueous systems. The column performance of the MIPs for SMZ and its analogues could be improved by elevating the column temperature and optimizing the flow rate. The hydrogen-bonding effect plays a significant role in the recognition process of SMZ-imprinted polymer systems in organic media, while the ion-exchange effect, as well as hydrophobic effect, dominantes the retention mechanism in aqueous-rich media, in addition to shape recognition. Copyright © 2005 John Wiley & Sons, Ltd.

DOI 10.1002/bmc.476
Citations Scopus - 30
2005 Chen Z, Huang J, 'Robust output regulation with nonlinear exosystems', Automatica, 41 1447-1454 (2005) [C1]

For over a decade, the solvability of the nonlinear robust output regulation problem relies on the assumption that the exosystem is linear and neutrally stable. Thus, the only exo... [more]

For over a decade, the solvability of the nonlinear robust output regulation problem relies on the assumption that the exosystem is linear and neutrally stable. Thus, the only exogenous signal that can be accommodated by the existing theory is a combination of finitely many step functions and sinusoidal functions. In this paper, we will show that it is possible to find controllers that can admit exogenous signals produced by nonlinear exosystems. An example with the well known van der Pol oscillator as the exosystem is given to illustrate our approach. © 2005 Elsevier Ltd. All rights reserved.

DOI 10.1016/j.automatica.2005.03.015
Citations Scopus - 67
2005 Chen Z, Huang J, 'A general formulation and solvability of the global robust output regulation problem', IEEE Transactions on Automatic Control, 50 448-462 (2005) [C1]

While the output regulation problem for linear systems accommodates both bounded and unbounded exogenous signals, the existing formulation of the output regulation problem for non... [more]

While the output regulation problem for linear systems accommodates both bounded and unbounded exogenous signals, the existing formulation of the output regulation problem for nonlinear systems only allows bounded exogenous signals produced by an exosystem with a neutrally stable equilibrium. In particular, when it comes to the robust output regulation problem, the only admissible exogenous signal is a finite combination of step and sinusoidal functions. In this paper, we give a general formulation of the robust output regulation problem that admits unbounded exogenous signals, and contains the previous formulations as special cases when the system is linear or when the exogenous signals are bounded. Then, we give conditions under which the problem can be solved by solving a robust stabilization problem of an augmented system. Finally, we apply our general result to obtain the solvability conditions of the general robust output regulation problem for the class of lower triangular nonlinear systems. © 2005 IEEE.

DOI 10.1109/TAC.2005.844721
Citations Scopus - 44
2005 Lan W, Chen Z, Huang J, 'Semi-global robust output regulation for nonlinear systems in normal form using output feedback', Communications in Information and Systems, 5 385-400 (2005) [C1]
2004 Huang J, Chen Z, 'A general framework for tackling the output regulation problem', IEEE Transactions on Automatic Control, 49 2203-2218 (2004) [C1]

Output regulation aims to achieve, in addition to closed-loop stability, asymptotic tracking and disturbance rejection for a class of reference inputs and disturbances. Thus, it p... [more]

Output regulation aims to achieve, in addition to closed-loop stability, asymptotic tracking and disturbance rejection for a class of reference inputs and disturbances. Thus, it poses a more challenging problem than stabilization. For over a decade, the nonlinear output regulation problem has been one of the focuses in nonlinear control research, and active research on this problem has generated many fruitful results. Nevertheless, there are two hurdles that impede the further progress of the research on the output regulation problem. The first one is the assumption that the solution or the partial solution of the regulator equations is polynomial. The second one is the lack of a systematic mechanism to handle the global robust output regulation problem. In this paper, we establish a general framework that systematically converts the robust output regulation problem for a general nonlinear system into a robust stabilization problem for an appropriately augmented system. This general framework, on one hand, relaxes the polynomial assumption, and on the other hand, offers a greater flexibility to incorporate recent new stabilization techniques, thus setting a stage for systematically tackling the robust output regulation with global stability. © 2004 IEEE.

DOI 10.1109/TAC.2004.839236
Citations Scopus - 295
2004 Chen Z, Huang J, 'Dissipativity, stabilization, and regulation of cascade-connected systems', IEEE Transactions on Automatic Control, 49 635-650 (2004) [C1]

This paper presents a technical framework utilizing the dissipativity mechanism that gives rise to the solution of the global regulation problem of the cascade-connected systems s... [more]

This paper presents a technical framework utilizing the dissipativity mechanism that gives rise to the solution of the global regulation problem of the cascade-connected systems subject to both dynamic uncertainty and static uncertainty without knowing the bound of the static uncertainty. Additionally, this paper shows that the nonlinear robust servomechanism problem for the lower triangular systems can be cast into the regulation problem for the cascade-connected systems, thus leading to a complete solution of the nonlinear robust servomechanism problem for the lower triangular systems for the most general case where both the uncertain parameters and the exogenous signals can be arbitrarily large.

DOI 10.1109/TAC.2004.826712
Citations Scopus - 53
2004 Chen Z, Huang J, 'Global robust servomechanism problem of lower triangular systems in the general case', Systems and Control Letters, 52 209-220 (2004) [C1]

The global robust servomechanism problem (alternatively, global robust output regulation problem) for lower triangular systems has been studied for two special cases. The first ca... [more]

The global robust servomechanism problem (alternatively, global robust output regulation problem) for lower triangular systems has been studied for two special cases. The first case assumes that the systems only contain polynomial nonlinearities, and the second case limits the exogenous signals and the unknown parameters to be within a known bounded set. This paper presents the solvability conditions of the global robust servomechanism problem for the lower triangular systems for the most general case where neither of the above two assumptions is needed. Our approach consists of two steps. In the first step, we convert the problem into a global adaptive regulation problem for lower triangular systems subject to both dynamic and static uncertainties. In the second step, we derive the solvability conditions of the problem by appealing to the recent result on the solvability of the global adaptive regulation problem for lower triangular systems with both dynamic and static uncertainties. © 2003 Elsevier B.V. All rights reserved.

DOI 10.1016/j.sysconle.2003.10.006
Citations Scopus - 30
2002 Chen Z, Huang J, 'Solution of output regulation of singular nonlinear systems by normal output feedback', IEEE Transactions on Automatic Control, 47 803-813 (2002) [C1]
2002 Chen Z, Huang J, 'Solution of output regulation of singular nonlinear systems by normal output feedback', IEEE Transactions on Automatic Control, 47 808-813 (2002)

The output regulation problem of singular nonlinear systems via the normal output feedback control has been a challenging problem. Existing approaches for solving this problem emp... [more]

The output regulation problem of singular nonlinear systems via the normal output feedback control has been a challenging problem. Existing approaches for solving this problem employed techniques similar to those used for linear singular systems. Results from these approaches either rely on a normalizability assumption or are limited to systems with special structures. This note gives a complete solution for this problem by employing a novel approach that is also interesting for linear systems.

DOI 10.1109/TAC.2002.1000278
Citations Scopus - 12
2002 Chen Z, Huang J, 'Global robust stabilization of cascaded polynomial systems', Systems and Control Letters, 47 445-453 (2002) [C1]

Global robust stabilization of nonlinear cascaded systems is a challenging problem when the zero-dynamics is not exponentially stable. Recently, some recursive procedure has been ... [more]

Global robust stabilization of nonlinear cascaded systems is a challenging problem when the zero-dynamics is not exponentially stable. Recently, some recursive procedure has been developed for handling this problem utilizing the small gain theorem. However, the success of the procedure depends on the satisfaction of some conditions which arise at each step of the recursion. In this paper, we will show that, for the important class of cascaded polynomial systems, the solvability conditions can be made satisfied by appropriately implementing the recursive procedure. This result leads to an explicit construction of the control law. © 2002 Elsevier Science B.V. All rights reserved.

DOI 10.1016/S0167-6911(02)00233-5
Citations Scopus - 20
2001 Chen Z, Huang J, 'Robust output regulation of singular nonlinear systems', Communications in Information & Systems, 1 381-394 (2001) [C1]
Show 104 more journal articles

Conference (90 outputs)

Year Citation Altmetrics Link
2017 Wang J, Xu D, Chen Z, Su Y, Sheng A, 'Event based design for cooperative output regulation of a class of multi-agent nonlinear systems', Chinese Control Conference, CCC (2017)

© 2017 Technical Committee on Control Theory, CAA. This paper considers a cooperative output regulation design for a class of multi-agent nonlinear systems. For this problem unde... [more]

© 2017 Technical Committee on Control Theory, CAA. This paper considers a cooperative output regulation design for a class of multi-agent nonlinear systems. For this problem under undirected communication topologies, the previous studies have shown that some internal model principle based smooth distributed control law can be constructed. In this study, we show an attempt of an event-based protocol by a cooperative practical output regulation approach.

DOI 10.23919/ChiCC.2017.8028726
2017 Hu B, Zhang HT, Chen ZY, 'Nonlinear cross-coupling of a 2-DOF piezoelectric actuator with multi-channel Hammerstein model', Chinese Control Conference, CCC (2017)

© 2017 Technical Committee on Control Theory, CAA. Commercial piezoelectric actuated stages usually has been decoupling designed from the mechanical structure. This paper develop... [more]

© 2017 Technical Committee on Control Theory, CAA. Commercial piezoelectric actuated stages usually has been decoupling designed from the mechanical structure. This paper develops a piezoelectric actuated stage (P-563.3CD) experiment platform. Observed cross-coupling effect in the piezo-stage is below 1%. In order to improve the performance of piezo-stage in a further step, a multi-channel Hammerstein model is developed to describe the cross-coupling nonlinearity. Further more, the position voltage is introduced into Hammerstein model to modify the performance of the proposed approach. To the end, verification experiments are exhibited.

DOI 10.23919/ChiCC.2017.8027511
2016 Liu B, Zhu T, Zhang HT, Chen Z, 'Feedback control with feedforward sequence for nanopositioning system', Proceedings of the 35th Chinese Control Conference, Chengdu, China (2016) [E1]
DOI 10.1109/ChiCC.2016.7554056
2016 Zhu T, Liu B, Zhang HT, Chen Z, 'A design of novel damping controller combined with PID for nanopositioners', Proceedings of the 35th Chinese Control Conference, Chengdu, China (2016) [E1]
DOI 10.1109/ChiCC.2016.7554057
2016 Zhu L, Chen Z, Chen X, 'Robust Input-to-Output Stabilization of Nonlinear Systems', PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), Guilin, PEOPLES R CHINA (2016) [E1]
2016 Khan UI, Chen Z, 'Natural oscillation in compass-gait biped robots', 2016 Australian Control Conference, AuCC 2016, Newcastle, NSW (2016) [E1]
DOI 10.1109/AUCC.2016.7867922
2015 Meng H, Chen Z, Zhu L, Middleton R, 'Consensus of a class of second-order nonlinear heterogeneous multi-agent systems with uniform time delay', Proceedings of the IEEE Conference on Decision and Control (2015) [E1]

© 2015 IEEE. In this paper, a consensus problem is studied for a group of second-order nonlinear heterogeneous agents with uniform time delay in communication links and uncertain... [more]

© 2015 IEEE. In this paper, a consensus problem is studied for a group of second-order nonlinear heterogeneous agents with uniform time delay in communication links and uncertainty in agent dynamics. We design a class of novel decentralized control protocols for the consensus problem whose solvability is converted into stability analysis of an associated closed-loop system with uncertainty and time delay. Using an explicitly constructed Lyapunov functional, stability conditions and solvability conditions of the consensus problem are given in terms of a set of linear matrix inequalities (LMIs) apart from a small number of scalar parameters that appear nonlinearly. The effectiveness of the proposed control protocol is illustrated by numerical examples.

DOI 10.1109/CDC.2015.7402557
Citations Scopus - 1Web of Science - 1
Co-authors Richard Middleton
2015 Han Z, Lin Z, Chen Z, Fu M, 'Formation maneuvering with collision avoidance and connectivity maintenance', IEEE International Symposium on Intelligent Control - Proceedings (2015) [E1]

© 2015 IEEE. This paper proposes a switching control strategy for formation maneuvering control of multi-agent systems with guaranteed collision avoidance and connectivity mainte... [more]

© 2015 IEEE. This paper proposes a switching control strategy for formation maneuvering control of multi-agent systems with guaranteed collision avoidance and connectivity maintenance properties. The control strategy consists of three parts: formation maneuvering, collision avoidance, and connectivity maintenance control. We adopt the idea of using complex Laplacian for formation maneuvering control, which gives rise to one degree of freedom in scaling the size of the achievable formations and thus enables collision avoidance and connectivity maintenance possible in the meantime. Simulation results are provided to demonstrate the effectiveness of the control strategy.

DOI 10.1109/ISIC.2015.7307284
Citations Scopus - 1Web of Science - 1
Co-authors Minyue Fu
2015 Zhang HT, Chen Z, Fan MC, 'Algorithms and experiments for multi-vehicle systems in diverse motion patterns', Chinese Control Conference, CCC (2015) [E1]

© 2015 Technical Committee on Control Theory, Chinese Association of Automation. In this paper, a decentralized control algorithm is proposed for a group of vehicles to form dive... [more]

© 2015 Technical Committee on Control Theory, Chinese Association of Automation. In this paper, a decentralized control algorithm is proposed for a group of vehicles to form diverse collective motion patterns. Without the guidance of a global beacon or a global reference framework, the desired collective behavior occurs provided that the associated network of the multi-vehicle system is jointly-connected. The effectiveness of the approach is verified through theoretical analysis, numerical simulation, and experimental results.

DOI 10.1109/ChiCC.2015.7260836
2014 Chen X, Chen Z, 'Sampled position feedback consensus of multiple double integrators with jointly-connected topologies', Intelligent Control and Automation (WCICA), 2014 11th World Congress on, Shenyang, China (2014) [E1]
DOI 10.1109/WCICA.2014.7053467
2014 Salton AT, Flores JV, Gomes Da Silva Jr JM, Zheng J, Chen Z, 'A Framework for the Nonlinear Control of Dual-Stage Systems', Proceedings of the 19th IFAC World Congress, Cape Town, South Africa (2014) [E1]
DOI 10.3182/20140824-6-ZA-1003.00880
Citations Scopus - 1Web of Science - 1
2014 Chen Z, 'Synchronization of nonlinear heterogeneous multiple agents in diverse patterns', Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA (2014) [E1]
DOI 10.1109/CDC.2014.7040090
2014 Chen X, Chen Z, 'Robust perturbed output regulation and its application to synchronization of nonlinear heterogeneous multi-agents', Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA (2014) [E1]
DOI 10.1109/CDC.2014.7040124
Citations Scopus - 3Web of Science - 1
2014 Zhong J, Lin Z, Chen Z, Xu W, 'Cooperative localization using angle-of-arrival information', IEEE International Conference on Control and Automation, ICCA, Taichung, Taiwan (2014) [E1]
DOI 10.1109/ICCA.2014.6870889
Citations Scopus - 9Web of Science - 7
2013 Fan M, Chen Z, Zhang H, 'Velocity-free compact rigid flock control with input saturations', 2013 25th Chinese Control and Decision Conference, CCDC 2013, Guiyang, China (2013) [E1]
Citations Scopus - 2Web of Science - 1
2013 Fan M-C, Chen Z, Zhang H-T, 'Position feedback pinning control for nonlinear multi-agent systems', 2013 9th Asian Control Conference (ASCC), IEEE (2013) [E1]
DOI 10.1109/ASCC.2013.6606074
Citations Scopus - 1
2013 Salton A, Chen Z, Zheng J, Fu M, 'Optimal trajectories for the Preview Control of Dual-Stage Actuators', 2013 American Control Conference (ACC), Washington, DC (2013) [E1]
Citations Scopus - 2
Co-authors Minyue Fu
2013 Chen Z, Zhang H-T, Fan M-C, 'A flocking algorithm for multi-agents in a bounded space', Proceedings of the 32nd Chinese Control Conference (CCC), 2013, Xi'an, China (2013) [E2]
Citations Scopus - 2
2013 Islam MN, Chen Z, 'Multi-link mechanical locomotors in natural gaits - Controller design and experiments', Proceedings of the American Control Conference 2013, Washington, DC (2013) [E1]
2013 Zhu L, Chen Z, 'Robust consensus of nonlinear heterogeneous multi-agent systems', Proceedings of the IEEE Conference on Decision and Control (2013) [E2]

In this paper, we consider consensus of a group of heterogeneous agents with nonlinear dynamics in the presence of system uncertainties. It requires that all agent states reach an... [more]

In this paper, we consider consensus of a group of heterogeneous agents with nonlinear dynamics in the presence of system uncertainties. It requires that all agent states reach an agreement which is governed by specified reference dynamics. However, the reference dynamics do not generate a specific reference trajectory for feedback regulation for any agent. For this purpose, the proposed controller integrates two fundamental actions concurrently. On one hand, it asymptotically regulates each individual (heterogeneous, nonlinear, and uncertain) agent dynamics to the common reference dynamics using a generalized robust stabilization technique; on the other hand, it aligns agent trajectories, asymptotically governed by the common reference dynamics, to an agreement through network cooperation. © 2013 IEEE.

DOI 10.1109/CDC.2013.6760954
Citations Scopus - 2
2013 Lin Z, Chen Z, Fu M, 'A linear control approach to distributed multi-agent formations in d-dimensional space', Proceedings of the IEEE Conference on Decision and Control (2013) [E2]

The paper presents a linear approach for formation control of multiple autonomous agents in d-dimensional space. The generalized notion of graph Laplacian, associated to a graph w... [more]

The paper presents a linear approach for formation control of multiple autonomous agents in d-dimensional space. The generalized notion of graph Laplacian, associated to a graph with possibly negative weights on the edges, is introduced aiming to solve the formation problem of controlling a network of point agents to form a given pattern (including rotation, translation, and scaling). By assuming the number of agents is larger than d + 1, we derive that a linear distributed control law exists for this purpose if and only if certain algebraic conditions hold (or equivalently, the graph is globally rigid). Next, it is shown that the generalized graph Laplacian used to stabilize the formations can be obtained by solving a convex optimization problem. Further results are also provided to reveal the conditions under which the attained formations are congruent to or just translations of the desired one. © 2013 IEEE.

DOI 10.1109/CDC.2013.6760845
Citations Scopus - 8Web of Science - 5
Co-authors Minyue Fu
2013 Zhang HT, Chen Z, Ding H, 'Adaptive LQR control to attenuate chatters in milling processes', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (2013)

Chatters are induced by rigidity-flexibility coupling between tools and workpieces, which cause cutting disturbances, over cut and quick tool wear and hence greatly limits the wor... [more]

Chatters are induced by rigidity-flexibility coupling between tools and workpieces, which cause cutting disturbances, over cut and quick tool wear and hence greatly limits the workpiece machining efficiency and quality. To attenuate the chatter dynamics, traditional passive control methods usually decrease the spin speed or cutting depth at the cost of reducing machining efficiency. In this work, we investigate deeply on the structure of the cutting force variation matrix and then design an online system identification method based on the Fourier series. In this way, a Linear Quadratic Regulator adaptive control method is developed to greatly enlarge the chatter stability region in the Lobe Diagram. Moreover, the receding horizon and output rectification mechanisms are applied to overcome the external disturbances as well. The feasibility and superiority of the method are verified by the benchmark examples, where closed-loop stable operation points are remarkably increased and a higher productivity rate is thus achieved. © 2013 Springer-Verlag Berlin Heidelberg.

DOI 10.1007/978-3-642-40849-6-53
2013 Fan MC, Zhang HT, Chen Z, 'Experiments on flocking of multi-robots in a bounded plane', IFAC Proceedings Volumes (IFAC-PapersOnline) (2013)

Some experimental research on flocking of a group of robots in a bounded plane is reported in this paper. The motivation is from many scenarios encountered in both natural systems... [more]

Some experimental research on flocking of a group of robots in a bounded plane is reported in this paper. The motivation is from many scenarios encountered in both natural systems and engineering applications that collective motions are always confined in a bounded space. Very recently, the conventional flocking formulation and algorithms have been generalized to address the issues caused by bouncing boundaries of a bounded space. In the present experiments, the theoretical design was successfully implemented in a group of real robots such that it achieved a desired rigid flock in a bounded plane. © IFAC.

DOI 10.3182/20130708-3-CN-2036.00051
2012 Zhang HT, Chen Z, Yan L, Yu W, 'Collective Torus control of multi-robot systems', Proceedings of the 20th International Symposium on Mathematical Theory of Networks and Systems, Melbourne, Australia (2012) [E1]
2012 Chen Z, Zhang H-T, Ding H, 'Mitigation of chatter instability in milling processes by active fourier series compensation', 8th IEEE International Conference on Automation Science and Engineering (CASE), Seoul, Korea (2012) [E1]
2012 Chen Z, Huang J, 'Parameter convergence analysis in adaptive disturbance rejection problem of rigid spacecraft', Proceedings of the World Congress on Intelligent Control and Automation, Beijing, China (2012) [E1]
Citations Scopus - 1
2012 Chen Z, Zhang H-T, 'Neuronal network control for robust entrainment to natural oscillations - A case study', Proceedings of the World Congress on Intelligent Control and Automation, Beijing, China (2012) [E1]
2012 Chen Z, 'Robust sampled-data control of nonlinear output feedback systems', 2012 12th International Conference on Control, Automation, Robotics & Vision (ICARCV 2012), Guangzhou, China (2012) [E1]
2012 Chen Z, Zhang H-T, 'Decentralized control of heterogeneous multi-agents in collective circular motion', Proceedings of the 31st Chinese Control Conference, Hefei, China (2012) [E1]
Citations Scopus - 1
2012 Chen Z, 'Robust stability analysis of nonlinear sampled-data control systems with time delay', Australian Control Conference Proceedings 2012, Sydney, Australia (2012) [E1]
Citations Scopus - 3
2012 Zhu L, Chen Z, 'Control of flapping-wing rectifier systems in natural oscillation', Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii (2012) [E1]
2012 Chen Z, Chen L, 'Robust neural network control of space robot system with flexible joints', Proceedings of the International Astronautical Congress, IAC (2012)

A robust neural network control scheme for the flexible-joint space robot system with uncertain parameters is discussed in this paper. With linear and angular momentum conservatio... [more]

A robust neural network control scheme for the flexible-joint space robot system with uncertain parameters is discussed in this paper. With linear and angular momentum conservation of the system, the dynamic equations of the robot system are established by the Lagrange method. Then, a kind of joint flexibility compensator is introduced and the singular perturbation approach is utilized to decompose the flexible-joint space robot system into two subsystems. After that, a torque differential feedback controller is given to stabilize the fast subsystem and a robust neural network control scheme is proposed for the slow subsystem to track the expected trajectory in joint space under the effects of uncertain parameters. The convergence of the whole system is analyzed by Lyapunov theorem and verified by the numerical simulations. The theory analysis and simulation results show the feasibility and effectiveness of the proposed control scheme. Copyright © (2012) by the International Astronautical Federation.

Citations Scopus - 1
2011 Salton AT, Chen Z, Fu M, 'Improved servomechanism control design - Dynamically damped case', 2011 9th IEEE International Conference on Control and Automation (ICCA), Santiago, Chile (2011) [E1]
DOI 10.1109/ICCA.2011.6137875
Citations Scopus - 1
Co-authors Minyue Fu
2011 Chen Z, 'Forward/backward adaptation law for nonlinearly parameterized systems', Proceedings of the 2011 American Control Conference, San Francisco, CA (2011) [E1]
Citations Web of Science - 1
2011 Chen Z, Zhang H-T, 'Consensus acceleration of multi-agent systems via model prediction', Proceedings of the 2011 American Control Conference, San Francisco, CA (2011) [E1]
Citations Scopus - 3
2011 Chen Z, Zhang H-T, 'Almost satisfaction of a joint connectivity condition for multi-agents in a bounded plane', Proceedings of the 30th Chinese Control Conference, Yantai, Shandong (2011) [E1]
2011 Zhu L, Chen Z, 'Control of underactuated multi-segmental mechanical systems in natural oscillation', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]
DOI 10.3182/20110828-6-it-1002.01264
Citations Scopus - 1
2011 Islam MN, Chen Z, 'Natural oscillation control experiments on a prototype mechanical rectifier', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]
DOI 10.3182/20110828-6-it-1002.01271
2011 Salton AT, Chen Z, Fu M, 'Improved servomechanism control design - Nonswitching case', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]
DOI 10.3182/20110828-6-it-1002.00453
Citations Scopus - 1
Co-authors Minyue Fu
2011 Chen Z, Zhang H-T, Ding H, 'Asymptotic tracking control of piezoelectric actuators with hysteresis', 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Orlando, FL (2011) [E1]
DOI 10.1109/CDC.2011.6160874
Citations Scopus - 1Web of Science - 1
2011 Zhang H-T, Chen X, Chen Z, 'Dual mode predictive control for ultrafast piezoelectric nanopositioning stages', 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China (2011) [E1]
DOI 10.1109/ICRA.2011.5979983
Citations Scopus - 1
2010 Chen Z, Chen L, 'Adaptive neural network compensating control for coordinated motion of space-based robot system with uncertain parameters and external disturbances', Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (2010)

The control problem of space-based robot system with uncertain parameters and external disturbances is considered. With Lagrangian formulation and augmentation approach, the dynam... [more]

The control problem of space-based robot system with uncertain parameters and external disturbances is considered. With Lagrangian formulation and augmentation approach, the dynamic equations of space-based robot system in workspace are derived. Based on the results, an adaptive neural network compensating control scheme for coordinated motion between the base's attitude and end-effector of space-based robot system is developed. It is based on the inertia-related method, and incorporates a neural network controller to compensate the uncertainties. The closed-loop system stability with the neural network adapted on-line is discussed in detail through the Lyapunov stability approach. Comparing with many adaptive and robust control schemes, the controller proposed does not require one to determine the regression matrix for space robot system and then avoids tedious computations. Numerical simulations are provided to show the effectiveness of the approach. Copyright © 2009 by ASME.

DOI 10.1115/DETC2009-86182
Citations Scopus - 1
2010 Chen Z, Iwasaki T, 'Analysis of weakly coupled neuronal oscillators and its applications to leech swimming', 8th World Congress on Intelligent Control and Automation, WCICA 2010, Jinan, China (2010) [E1]
2010 Zhu L, Chen Z, Iwasaki T, 'Synthesis of controllers for exact entrainment to natural oscillation', WCICA 2010: 2010 8th World Congress on Intelligent Control and Automation, Jinan, China (2010) [E2]
Citations Scopus - 3Web of Science - 2
2010 Salton AT, Chen Z, Zheng J, Fu M, 'Continuous preview control of dual-stage actuator systems for reduced transition time', 2010 49th IEEE Conference on Decision and Control, Atlanta, GA (2010) [E1]
DOI 10.1109/CDC.2010.5717794
Co-authors Minyue Fu
2010 Chen Z, Zhang H-T, 'Torus problems in jointly-connected no-beacon networks', Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA (2010) [E1]
DOI 10.1109/CDC.2010.5717731
2010 Chen Z, Zhu L, Iwasaki T, 'Autonomous locomotion of multi-link mechanical systems via natural oscillation pattern', Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA (2010) [E1]
Citations Scopus - 4Web of Science - 2
2010 Chen Z, Zhang H-T, Zhai C, 'Asymptotic synchronization and collision avoidance for multi-agent flocking', 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010, Singapore (2010) [E1]
DOI 10.1109/ICARCV.2010.5707221
Citations Scopus - 1
2010 Chen Z, Chen L, 'Robust control for coordinated motion of flexible space manipulator based on the augmentation approach', Proceedings of the ASME Design Engineering Technical Conference (2010)

In this paper, the coordinated control of a flexible space manipulator system with a front flexible link is discussed. With the assumed mode method and linear momentum conservatio... [more]

In this paper, the coordinated control of a flexible space manipulator system with a front flexible link is discussed. With the assumed mode method and linear momentum conservation of the system, the dynamics of the manpulator is derived in Lagrangian formulation. By using the augmentation approach, a robust control scheme for the coordinated motion between the spacecraft's attitude and arm's joints of the flexible space manipulator with bounded external disturbances and uncertain parameters to track the desired trajectories in joint space is proposed. It is designed based on a priori knowledge about the uncertainty-bound and possesses the advantage that it can greatly reduce the calculation time needed by the adaptive or neural network control schemes. Simulation results show that the presented controller can stabilize the system to track the desired trajectories and keep the vibration amplitude of the flexible arm to be relatively low-level. Copyright © 2010 by ASME.

DOI 10.1115/DETC2010-28078
2009 Chen Z, Huang J, 'Robust adaptive regulation of polynomial systems with dynamic uncertainties', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China (2009) [E1]
DOI 10.1109/CDC.2009.5400294
Citations Scopus - 2Web of Science - 2
2009 Chen Z, Iwasaki T, 'Robust entrainment to natural oscillations of asymmetric systems arising from animal locomotion', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China (2009) [E1]
DOI 10.1109/cdc.2009.5400310
Citations Scopus - 15Web of Science - 11
2009 Chen Z, Liu L, Huang J, 'Global tracking and disturbance rejection of a class of lower triangular systems subject to an unknown exosystem', 7th IEEE International Conference on Control and Automation, ICCA 2009, Christchurch, NZ (2009) [E1]
DOI 10.1109/ICCA.2009.5410167
Citations Scopus - 3Web of Science - 1
2009 Salton AT, Chen Z, Fu M, 'A class of preview control for dual-stage actuator systems', 7th IEEE International Conference on Control and Automation, ICCA 2009, Christchurch, NZ (2009) [E1]
DOI 10.1109/ICCA.2009.5410217
Citations Scopus - 3Web of Science - 1
Co-authors Minyue Fu
2009 Chen Z, Chen L, 'Robust adaptive composite control of space-based robot system with uncertain parameters and external disturbances', 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (2009)

In this paper, the control problem of space robot system with uncertain parameters and external disturbances is discussed. With the momentum conservation of the system, the kinema... [more]

In this paper, the control problem of space robot system with uncertain parameters and external disturbances is discussed. With the momentum conservation of the system, the kinematics and dynamics of the system are analyzed, and it is found that the generalized Jacobi matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters. In order to overcome the problems mentioned above, the idea of augmentation approach is introduced. It is shown that the augmented generalized Jacobi matrix and the dynamic equations of the system can be linearly dependent on a group of inertial parameters with augmented inputs and outputs. Based on the results, a robust adaptive composite control scheme for space-based robot to track the desired trajectories in inertial space is developed. The stability of the overall system is analyzed through Lyapunov direct method. For the proposed approach, the global uniform asymptotic stability of the system is established. In addition, the controller presented possesses the advantage that it needs no measurement of the position, linear velocity and acceleration of the base with respect to the orbit, because of the effective exploitation of the particular property of system dynamics. To show the feasibility of control scheme, a planar space robot system is simulated. © 2009 IEEE.

DOI 10.1109/IROS.2009.5354810
Citations Scopus - 3
2008 Zhang H-T, Chen MZQ, Chen Z, 'Laguerre-Volterra observer-controller design and its applications', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]
DOI 10.3182/20080706-5-kr-1001.3456
2008 Chen Z, 'Minimal dimension internal models for lower triangular systems', Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico (2008) [E1]
DOI 10.1109/cdc.2008.4738618
2008 Chen Z, 'Changing supply function in superposition form and its applications', Proceedings of the 27th Chinese Control Conference, Yunnan, China (2008) [E2]
Citations Scopus - 1Web of Science - 1
2008 Chen Z, 'Global observability of the steady state generator in output regulation problem', Proceedings of the American Control Conference 2008, Seattle, Washington (2008) [E1]
DOI 10.1109/acc.2008.4586958
2008 Liu L, Chen Z, Huang J, 'Parameter convergence with an adaptive output regulation problem', Proceedings of the American Control Conference 2008, Seattle, Washington (2008) [E1]
DOI 10.1109/acc.2008.4587258
Citations Scopus - 4
2007 Chen Z, 'Internal model principle for measurement feedback problem', American Control Conference 2007. ACC '07. Conference Proceedings, New York (2007) [E1]
DOI 10.1109/acc.2007.4282313
Citations Scopus - 1
2007 Chen Z, Huang J, 'Asymptotic rejection of a class of persistent disturbances for spacecraft systems', Proceedings of the 2007 American Control Conference. ACC '07, New York (2007) [E1]
DOI 10.1109/acc.2007.4282454
Citations Scopus - 2
2007 Chen Z, 'Internal model principle for measurement feedback problem', 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, New York, NY (2007)
2007 Chen Z, 'Global robust regulation of lower triangular systems via measurement feedback', Sixth IEEE International Conference on Control and Automation. ICCA 2007. Proceedings, Guangzhou, China (2007) [E1]
Citations Scopus - 1
2007 Chen Z, Huang J, 'Asymptotic rejection of a class of persistent disturbances for spacecraft systems', 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, New York, NY (2007)
2007 Chen Z, Huang J, 'An adaptive regulation problem and its application to spacecraft systems', PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, New Orleans, LA (2007)
2007 Chen Z, Huang J, 'An adaptive regulation problem and its application to spacecraft systems', Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans (2007) [E1]
Citations Scopus - 3
2006 Chen Z, Huang J, 'Construction of a Lyapunov function for nonlinear cascaded systems with dynamic uncertainties', Proceedings of the 2006 IEEE International Conference on Networking, Sensing and Control, ICNSC'06 (2006) [E1]

The global robust stabilization problem of cascaded systems with dynamic uncertainties has been approached by the small gain theorem. This method, however, does not produce an exp... [more]

The global robust stabilization problem of cascaded systems with dynamic uncertainties has been approached by the small gain theorem. This method, however, does not produce an explicit Lyapunov function for the closed-loop system. In this paper, we develop a Lyapunov direct method based recursive approach to solve the global robust stabilization problem for the said systems. This method is not only more straightforward than the small gain method, but also produces an explicit Lyapunov function for the closed-loop systems. The Lyapunov function is indispensable when the adaptive control of the same class of systems is further considered. © 2006 IEEE.

2006 Chen Z, Iwasaki T, 'Analysis and synthesis of weakly coupled oscillators by multivariable harmonic balance approach', Proceedings of the IEEE Conference on Decision and Control (2006) [E1]

The central pattern generator for controlling animal locomotion is generally not a single oscillator but a group of interconnected oscillators. Although the whole group can be ana... [more]

The central pattern generator for controlling animal locomotion is generally not a single oscillator but a group of interconnected oscillators. Although the whole group can be analyzed as a bulky single oscillator, it is difficult with such approach to reveal the essential mechanism of phase coordination among oscillators. In this paper, a new approach based on the multivariable harmonic balance is used to analyze a group of identical oscillators that are weakly coupled to each other. Specifically, a lower dimensional matrix representing the coupling structure is abstracted from the overall neuronal connectivity matrix of large dimension, so that the coupling matrix captures the essential mechanism for phase coordination of the oscillators. Moreover, this framework provides an effective way to design the neuronal interconnections to achieve prescribed coordinations among the oscillators. © 2006 IEEE.

Citations Scopus - 1
2006 Chen Z, Iwasaki T, 'Exact synthesis of biological pattern generation: A circulant paradigm', Proceedings of the American Control Conference (2006) [E1]

The central pattern generator (CPG) is the fundamental mechanism underlying rhythmic movements of animals, and may play important roles in the locomotion control of engineering sy... [more]

The central pattern generator (CPG) is the fundamental mechanism underlying rhythmic movements of animals, and may play important roles in the locomotion control of engineering systems. This paper gives a novel method for synthesizing artificial CPG circuits by utilizing the properties of circulant matrices. The unique feature of the synthesized CPGs is their ability to generate patterns exactly to achieve a prescribed set of frequency, amplitudes, and phases. © 2006 IEEE.

Citations Scopus - 2
2006 Chen Z, Iwasaki T, 'State pattern generation of rectifier systems by circulant neuronal oscillators', -, Kyoto (2006) [E1]
2005 Lan W, Chen Z, Huang J, 'Semi-global robust output regulation for a class of nonlinear systems using output feedback', Proceedings of the American Control Conference (2005) [E1]

This paper studies the semi-global robust output regulation problem for the class of nonlinear affine systems in normal form. The same problem was studied before by Khalil under t... [more]

This paper studies the semi-global robust output regulation problem for the class of nonlinear affine systems in normal form. The same problem was studied before by Khalil under the assumption that the solution of the regulator equations is polynomial. By using the nonlinear internal model approach, we have relaxed the polynomial assumption on the solution of the regulator equations. © 2005 AACC.

Citations Scopus - 3
2004 Chen Z, Huang J, 'Global adaptive robust servomechanism of lower triangular systems via nonlinear internal model', Nonlinear Control Systems 2004, Suttgart, Germany (2004) [E1]
2004 Chen Z, Huang J, 'Global output feedback stabilization for uncertain nonlinear systems with output dependent incremental rate', Proceedings of the American Control Conference (2004) [E1]

The solvability of global robust stabilization problem of nonlinear systems by output feedback has been given under various growth conditions on the vector fields of the systems. ... [more]

The solvability of global robust stabilization problem of nonlinear systems by output feedback has been given under various growth conditions on the vector fields of the systems. One of the most common cases is that the vector field is bounded by a linear growth with constant incremental rate. Recently, the problem was solved in for some systems with output dependent incremental rate, without considering the uncertainties. This paper further considers the uncertain systems and gives the robust result.

DOI 10.1109/ACC.2004.182752
Citations Scopus - 41
2004 Chen Z, Huang J, 'Robust output regulation with nonlinear exosystems', Proceedings of the American Control Conference (2004) [E1]

For over a decade, the solvability of the nonlinear robust output regulation problem relies on the assumption that the exosystem is linear and neurally stable. Thus the only exoge... [more]

For over a decade, the solvability of the nonlinear robust output regulation problem relies on the assumption that the exosystem is linear and neurally stable. Thus the only exogenous signal that can be accommodated by the existing theory is a combination of finitely many step functions and sinusoidal functions. In this paper, we will show that it is possible to find controllers that can admit exogenous signals produced by nonlinear exosystems. An example with the well known Van der Pol oscillator as the exosystem is given to illustrate our approach.

DOI 10.1109/ACC.2004.182465
2004 Chen Z, Huang J, 'Global robust servomechanism problem for uncertain lower triangular nonlinear systems by output feedback control', Proceedings of the IEEE Conference on Decision and Control (2004) [E1]

The robust servomechanism problem (alternatively, output regulation problem) of the class of nonlinear systems in lower triangular form has been extensively studied in recent year... [more]

The robust servomechanism problem (alternatively, output regulation problem) of the class of nonlinear systems in lower triangular form has been extensively studied in recent years. The semi-global solution was first given by either state feedback or output feedback. The global solution by the state feedback was given very recently. However, the global solution by the output feedback has long been an open problem. In this paper, we present a set of solvability conditions of the global robust servomechanism problem for this class of nonlinear systems by the output feedback control.

Citations Scopus - 7
2004 Chen Z, Huang J, 'A variation of the small gain theorem', 2004 8th International Conference on Control, Automation, Robotics and Vision (ICARCV) (2004) [E1]

The small gain theorem as established in [5] and [6] has been given in terms of a quite general inter-connection of two nonlinear subsystems. This paper gives a more clear-cut ve... [more]

The small gain theorem as established in [5] and [6] has been given in terms of a quite general inter-connection of two nonlinear subsystems. This paper gives a more clear-cut version and a more straightforward proof for the small gain theorem for a simpler inter-connection of two nonlinear subsystems by using a different characterization of the ISS concept. Moreover, we have also incorporated some type of model uncertainties into the system description, thus making this special version directly applicable to the global robust stabilization and output regulation problems. © 2004 IEEE.

Citations Scopus - 2
2003 Chen Z, Huang J, 'Global robust servomechanism problem of lower-triangular systems in the general case', International Conference on Control and Automation (2003) [E1]

We will show that, for the class of nonlinear lower-triangular systems, the robust servomechanism problem can be cast into a robust regulation problem for the same class of system... [more]

We will show that, for the class of nonlinear lower-triangular systems, the robust servomechanism problem can be cast into a robust regulation problem for the same class of systems augmented by dynamic uncertainties. Thus, using our recent result on adaptive regulation of lower-triangular systems with both static and dynamic uncertainties, we will solve the robust servomechanism problem of the lower-triangular systems for the general case where both the uncertain parameter and the exogenous signal can be arbitrarily large. © 2003 IEEE.

Citations Scopus - 2
2003 Chen Z, Huang J, 'A General Formulation and Solvability of the Global Robust Output Regulation Problem', Proceedings of the IEEE Conference on Decision and Control (2003) [E1]

While the output regulation problem for linear systems accommodates both bounded and unbounded exogenous signals, the existing formulation of the output regulation problem for non... [more]

While the output regulation problem for linear systems accommodates both bounded and unbounded exogenous signals, the existing formulation of the output regulation problem for nonlinear systems only allows bounded exogenous signals produced by an exosystem with a neurally stable equilibrium. In particular, when it comes to the robust output regulation problem, the only admissible exogenous signal is a finite combination of step and sinusoidal functions. In this paper, we will give a general formulation of the robust output regulation problem that admits unbounded exogenous signals, and contains the previous formulations as special cases when the system is linear or when the exogenous signals are bounded. Then we will give conditions under which the problem can be converted into a robust stabilization problem of an augmented system. Finally, we will present the solvability conditions of the general robust output regulation problem for the class of lower triangular nonlinear systems.

Citations Scopus - 4
2003 Chen Z, Huang J, 'Nonlinear Internal Model and the Robust Output Regulation Problem', Proceedings of the American Control Conference (2003) [E1]

A fundamental limitation to the solvability of the nonlinear robust output regulation problem is a polynomial assumption imposed on the solution of the regulator equations despite... [more]

A fundamental limitation to the solvability of the nonlinear robust output regulation problem is a polynomial assumption imposed on the solution of the regulator equations despite over a decade long research on this problem. This assumption is due to the failure of finding an internal model to account for more complex nonlinearities than polynomials. In this paper, we will remove this limitation by constructing a nonlinear internal model.

Citations Scopus - 15
2003 Chen Z, Huang J, 'On Global Robust Adaptive Stabilization for Cascaded Nonlinear Systems', Proceedings of the American Control Conference (2003) [E1]

The regulation problem for cascade connected systems subject to both dynamic and static uncertainties was solved without knowing the bound of the static uncertainty. A technical f... [more]

The regulation problem for cascade connected systems subject to both dynamic and static uncertainties was solved without knowing the bound of the static uncertainty. A technical framework utilizing the dissipativity mechanism was used for the solution of the global regulation problem. The result was shown to be useful for solving other similar problems such as global stabilization problem and servomechanism problem.

Citations Scopus - 1
2003 Chen Z, Huang J, 'Global robust output regulation for output feedback systems', Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 (2003) [E1]

© 2003 IEEE. A fundamental limitation to the solvability of the nonlinear robust output regulation problem is the polynomial assumption imposed on the solution of the regulator e... [more]

© 2003 IEEE. A fundamental limitation to the solvability of the nonlinear robust output regulation problem is the polynomial assumption imposed on the solution of the regulator equations. This assumption is due to the failure of finding an internal model to account for more complex nonlinearities than polynomials. Very recently, it was discovered that a nonlinear internal model could be constructed under some assumption much milder than the polynomial assumption. In this paper, we will show that this kind of internal 'model can be used, to solve the global robust output regulation problem for a, class of nonlinear systems in output feedback form.

DOI 10.1109/RISSP.2003.1285543
Citations Scopus - 1
2003 Chen Z, Huang J, 'Global output regulation for lower triangular nonlinear systems', Proceedings of the 15th Ifac World Congress on the International Federation of Automatic Control: Aeronautics and Marine Systems Control, Barcelona, Spain (2003) [E2]
2003 Chen Z, Huang J, 'Asymptotic tracking and disturbance rejection in uncertain nonlinear cascaded systems', Proceedings of the 22nd Chinese Control Conference, Yichang (2003) [E1]
2002 Chen Z, Huang J, 'Global tracking of uncertain nonlinear cascaded systems with adaptive internal model', Proceedings of the IEEE Conference on Decision and Control (2002) [E1]

We study the global output tracking problem for a class of nonlinear cascaded systems coupled with a neutrally stable linear exosystem with uncertain parameters. By extending the ... [more]

We study the global output tracking problem for a class of nonlinear cascaded systems coupled with a neutrally stable linear exosystem with uncertain parameters. By extending the stabilization results of cascaded nonlinear systems, and overcoming three major technical obstacles, we have come up with a recursive design procedure that leads to the solution of the problem.

Citations Scopus - 12
2002 Huang J, Chen Z, 'A general framework for output regulation problem', Proceedings of the American Control Conference (2002) [E1]

This paper aims to establish a general framework that will convert the robust output regulation problem for nonlinear systems into a robust stabilization problem. This new framewo... [more]

This paper aims to establish a general framework that will convert the robust output regulation problem for nonlinear systems into a robust stabilization problem. This new framework will offer greater flexibility to incorporate recent new stabilization techniques, thus setting a stage for systematically tackling robust output regulation with global stability.

Citations Scopus - 18
2002 Chen Z, Huang J, 'Global output regulation of nonlinear triangular systems with uncertain exosystem', Singapore (2002) [E1]
2002 Chen Z, Huang J, 'Global robust stabilization of cascaded polynomial systems', Xiamen China (2002) [E1]
2002 Chen Z, Huang J, 'Robust output regulation of singular nonlinear systems', IFAC Proceedings Volumes (IFAC-PapersOnline) (2002) [E1]

Copyright © 2002 IFAC. Singular systems are dynamical systems subject to algebraic constraints, and arise in many engineering disciplines. The output regulation problem for singu... [more]

Copyright © 2002 IFAC. Singular systems are dynamical systems subject to algebraic constraints, and arise in many engineering disciplines. The output regulation problem for singular nonlinear systems has been studied recently for the ideal case where the mathematical model is exactly known. This paper will further consider the robust output regulation problem for a class of singular nonlinear systems which contain uncertain parameters. It will establish the conditions for the solvability of the problem, thus extending the existing results from the normal nonlinear systems to the singular nonlinear systems.

2002 Chen Z, Huang J, 'Global output regulation for lower triangular nonlinear systems', IFAC Proceedings Volumes (IFAC-PapersOnline) (2002)

Copyright © 2002 IFAC. Recently a general framework for studying robust output regulation problem for nonlinear systems is established. This framework is able to convert the robu... [more]

Copyright © 2002 IFAC. Recently a general framework for studying robust output regulation problem for nonlinear systems is established. This framework is able to convert the robust output regulation problem for nonlinear systems into a robust stabilization problem, thus offering greater flexibility to incorporate recent new stabilization techniques for tackling the global output regulation problem. This paper successfully applies this new framework to solve the global output problem for a class of lower triangular uncertain nonlinear systems.

Citations Scopus - 10
2001 Chen Z, Huang J, 'A complete solution of output regulation of singular nonlinear systems by normal output feedback', Dalian, China (2001) [E1]
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Grants and Funding

Summary

Number of grants 10
Total funding $971,799

Click on a grant title below to expand the full details for that specific grant.


20161 grants / $7,000

Global Connections Fund Priming Grant$7,000

Funding body: ATSE (Australian Academy of Technological Sciences and Engineering)

Funding body ATSE (Australian Academy of Technological Sciences and Engineering)
Project Team Associate Professor Zhiyong Chen
Scheme Priming Grant
Role Lead
Funding Start 2016
Funding Finish 2016
GNo G1600977
Type Of Funding Other Public Sector - Commonwealth
Category 2OPC
UON Y

20151 grants / $367,391

Topological Analysis & Control Design for Heterogeneous Multi-agent Systems$367,391

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Minyue Fu, Associate Professor Zhiyong Chen, Prof Tamas Vicsek, Professor Lihua Xie
Scheme Discovery Projects
Role Investigator
Funding Start 2015
Funding Finish 2017
GNo G1400373
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

20141 grants / $10,000

Topological Analysis and Control Design for Heterogeneous Multi-agent Systems$10,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Minyue Fu, Associate Professor Zhiyong Chen
Scheme Near Miss Grant
Role Investigator
Funding Start 2014
Funding Finish 2014
GNo G1301380
Type Of Funding Internal
Category INTE
UON Y

20131 grants / $335,708

Dynamics & Feedback in Networked Biological Systems$335,708

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton, Associate Professor Zhiyong Chen, Professor Patrizio Colaneri
Scheme Discovery Projects
Role Investigator
Funding Start 2013
Funding Finish 2015
GNo G1200202
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

20121 grants / $15,000

2011 Emerging Research Leaders Program$15,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Zhiyong Chen
Scheme Emerging Research Leaders Program
Role Lead
Funding Start 2012
Funding Finish 2012
GNo G1200982
Type Of Funding Internal
Category INTE
UON Y

20101 grants / $2,000

Faculty of Engineering and Built Environment - Award for Research Excellence$2,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Zhiyong Chen
Scheme Award for Research Excellence
Role Lead
Funding Start 2010
Funding Finish 2010
GNo G1001016
Type Of Funding Internal
Category INTE
UON Y

20082 grants / $221,700

Biological pattern generator for control and optimization of locomotion systems$220,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Associate Professor Zhiyong Chen
Scheme Discovery Projects
Role Lead
Funding Start 2008
Funding Finish 2010
GNo G0187491
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

The 27th Chinese Control Conference, Kunming China, 16/7/2008 - 18/7/2008$1,700

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Zhiyong Chen
Scheme Travel Grant
Role Lead
Funding Start 2008
Funding Finish 2008
GNo G0188663
Type Of Funding Internal
Category INTE
UON Y

20072 grants / $13,000

New controller design techniques for sensor disturbance rejection$11,300

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Zhiyong Chen
Scheme Early Career Researcher Grant
Role Lead
Funding Start 2007
Funding Finish 2007
GNo G0187304
Type Of Funding Internal
Category INTE
UON Y

IEEE International Conference on Control and Automation, 30/5/07-1/6/07$1,700

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Zhiyong Chen
Scheme Travel Grant
Role Lead
Funding Start 2007
Funding Finish 2007
GNo G0187344
Type Of Funding Internal
Category INTE
UON Y
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Research Supervision

Number of supervisions

Completed6
Current8

Total current UON EFTSL

PhD4.3

Current Supervision

Commenced Level of Study Research Title Program Supervisor Type
2017 PhD Improving the Travel Range in Nano-Positioning by a Novel Displacement Amplification Mechanism and Feedback Control. PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2017 PhD Distribution State Estimation in Smart Grids PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Co-Supervisor
2017 PhD Locomotion Control of Humanoid Robots in Natural Gaits PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2016 PhD Synchronization of Nonlinear Heterogeneous Multi-Agent Systems PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2016 PhD Towards a new dynamic Structure from Motion Visual SLAM PhD (Computer Science), Faculty of Engineering and Built Environment, The University of Newcastle Co-Supervisor
2015 PhD Uncertainty analysis of complex knowledge assessment PhD (Mechanical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Co-Supervisor
2015 PhD Adaptive Consensus of Nonlinear Heterogeneous Multi-Agent Systems PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Co-Supervisor
2015 PhD Natural Oscillations in Biped Robots PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor

Past Supervision

Year Level of Study Research Title Program Supervisor Type
2017 PhD Robust Consensus of Multi-Agent Systems with Network Constraints PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2015 PhD Sampled-data Synchronization Control of Multi-Agent Systems PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2013 PhD Multi-Link Mechanical Locomotors in Natural Gaits - Controller Design and Experiments PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2013 PhD Oscillation, Orientation and Locomotion of Mechanical Rectifier Systems PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Principal Supervisor
2012 PhD Improved Humanoid Robot Movement through Impact Perception and Walk Optimisation PhD (Computer Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Co-Supervisor
2011 PhD Preview Control of Dual-Stage Actuators PhD (Electrical Engineering), Faculty of Engineering and Built Environment, The University of Newcastle Co-Supervisor
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Research Collaborations

The map is a representation of a researchers co-authorship with collaborators across the globe. The map displays the number of publications against a country, where there is at least one co-author based in that country. Data is sourced from the University of Newcastle research publication management system (NURO) and may not fully represent the authors complete body of work.

Country Count of Publications
Australia 137
China 130
Hong Kong 38
United States 17
Brazil 6
More...
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News

Australian Research Council (ARC)

ARC Discovery Project funding success

November 19, 2014

Professor Minyue Fu and Associate Professor Zhiyong Chen have been awarded more than $355,000 in ARC Discovery Project funding commencing in 2015 for their research project Topological Analysis & Control Design for Heterogeneous Multi-agent Systems.

Associate Professor Zhiyong Chen

Position

Associate Professor
Systems and Control
School of Electrical Engineering and Computing
Faculty of Engineering and Built Environment

Focus area

Electrical and Computer Engineering

Contact Details

Email zhiyong.chen@newcastle.edu.au
Phone (02) 492 16352

Office

Room EAG24
Building Engineering A Building
Location Callaghan
University Drive
Callaghan, NSW 2308
Australia
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