Person:

Zhang, Fumin

Permanent Link

https://hdl.handle.net/1853/71883

Associated Organization(s)

Organizational Unit

School of Electrical and Computer Engineering

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Publication Search Results

Now showing 1 - 10 of 32

Robust Geometric Formation Control of Multiple Autonomous

(Georgia Institute of Technology, 2013-06) Yang, Huizhen ; Wang, Chuanfeng ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Georgia Institute of Technology. School of Mechanical Engineering ; Northwestern Polytechnical University (Xi’an, Shaanxi Sheng, China). School of Marine Engineering

This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-freedom dynamic model for each AUV to describe its motions in the three-dimensional space. We design an orientation controller based on feedback linearization, so that the orientation of each AUV converges to its desired value. We derive formation dynamics of AUVs and decouple the dynamics into a formation shape and a formation center, using the Jacobi transform. We treat couplings in the formation dynamics as perturbations and design a robust formation-keeping controller to tolerate both the perturbations and the time delays. We demonstrate the effectiveness of our controller in simulations.
Control of coordinated patterns for ocean sampling

(Georgia Institute of Technology, 2007) Zhang, Fumin ; Fratantoni, David M. ; Paley, Derek A. ; Lund, John M. ; Leonard, Naomi Ehrich ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Princeton University. Dept. of Mechanical and Aerospace Engineering ; Woods Hole Oceanographic Institution. Dept. of Physical Oceanography

A class of underwater vehicles are modelled as Newtonian particles for navigation and control. We show a general method that controls cooperative Newtonian particles to generate patterns on closed smooth curves. These patterns are chosen for good sampling performance using mobile sensor networks. We measure the spacing between neighbouring particles by the relative curve phase along the curve. The distance between a particle and the desired curve is measured using an orbit function. The orbit value and the relative curve phase are then used as feedback to control motion of each particle. From an arbitrary initial configuration, the particles converge asymptotically to form an invariant pattern on the desired curves. We describe application of this method to control underwater gliders in a field experiment in Buzzards Bay, MA in March 2006.
A Bio-inspired Plume Tracking Algorithm for Mobile Sensing Swarms in Turbulent Flow

(Georgia Institute of Technology, 2013-05) Chang, Dongsik ; Wu, Wencen ; Webster, Donald R. ; Weissburg, Marc J. ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Georgia Institute of Technology. School of Civil and Environmental Engineering ; Georgia Institute of Technology. School of Biology

We develop a plume tracking algorithm for a swarm of mobile sensing agents in turbulent flow. Inspired by blue crabs, we propose a stochastic model for plume spikes based on the Poisson counting process, which captures the turbulent characteristic of plumes. We then propose an approach to estimate the parameters of the spike model, and transform the turbulent plume field detected by sensing agents into a smoother scalar field that shares the same source with the plume field. This transformation allows us to design path planning algorithms for mobile sensing agents in the smoother field instead of in the turbulent plume field. Inspired by the source seeking behaviors of fish schools, we design a velocity controller for each mobile agent by decomposing the velocities into two perpendicular parts: the forward velocity incorporates feedback from the estimated spike parameters, and the side velocity keeps the swarm together. The combined velocity is then used to plan the path for each agent in the swarm. Theoretical justifications are provided for convergence of the agent group to the plume source. The algorithms are also demonstrated through simulations.
Input-to-State Stability for Curve Tracking Control: A Constructive Approach

(Georgia Institute of Technology, 2011) Malisoff, Michael ; Mazenc, Frédéric ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Louisiana State University (Baton Rouge, La.). Dept. of Mathematics ; INRIA DISCO, CNRS

We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggested the robust performance of the control laws under perturbations. In this note, we use input-tostate stability to prove predictable tolerance and safety bounds that guarantee robust performance. Our work uses an invariant polygon argument and a new strict Lyapunov function design. We demonstrate our findings in simulations.
Coordinated control of an underwater glider fleet in an adaptive ocean sampling field experiment in Monterey Bay

(Georgia Institute of Technology, 2010) Leonard, Naomi E. ; Paley, David A. ; Davis, Russ E. ; Fratantoni, David M. ; Lekien, Francois ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Princeton University. Dept. of Mechanical and Aerospace Engineering ; University of Maryland (College Park, Md.). Dept. of Aerospace Engineering ; Woods Hole Oceanographic Institution. Dept. of Physical Oceanography ; Universite Libre de Bruxelles. Ecole Polytechnique

A full-scale adaptive ocean sampling network was deployed throughout the month-long 2006 Adaptive Sampling and Prediction (ASAP) field experiment in Monterey Bay, California. One of the central goals of the field experiment was to test and demonstrate newly developed techniques for coordinated motion control of autonomous vehicles carrying environmental sensors to efficiently sample the ocean. We describe the field results for the heterogeneous fleet of autonomous underwater gliders that collected data continuously throughout the month-long experiment. Six of these gliders were coordinated autonomously for 24 days straight using feedback laws that scale with the number of vehicles. These feedback laws were systematically computed using recently developed methodology to produce desired collective motion patterns, tuned to the spatial and temporal scales in the sampled fields for the purpose of reducing statistical uncertainty in field estimates. The implementation was designed to allow for adaptation of coordinated sampling patterns using human-in-the-loop decision making, guided by optimization and prediction tools. The results demonstrate an innovative tool for ocean sampling and provide a proof of concept for an important field robotics endeavor that integrates coordinated motion control with adaptive sampling.
Geometric Formation Control for Autonomous Underwater Vehicles

(Georgia Institute of Technology, 2010-05) Yang, Huizhen ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Northwestern Polytechnical University (Xi’an, Shaanxi Sheng, China). School of Marine Engineering

This paper presents a novel approach based on Jacobi shape theory and geometric reduction for formation control of autonomous underwater vehicles (AUVs). We consider a three degree-of-freedom (DOF) dynamic model for the horizontal motion of each AUV that has control inputs over surge force and yaw moment. By using the Jacobi transform, the horizontal dynamics of AUVs are expressed as dynamics for formation shape, formation motion and vehicle orientation. The system decouples when additional symmetries in vehicle design are presented. Hence formation shape controllers, formation motion controllers, and vehicle orientation controllers can be designed separately. This approach reduces the complexity of formation controllers. We use the model for ODIN as an example to demonstrate the controller design process. Simulation results show the effectiveness of the controllers.
Task Scheduling for Control Oriented Requirements for Cyber-Physical Systems

(Georgia Institute of Technology, 2008-12) Zhang, Fumin ; Szwaykowska, Klementyna ; Wolf, Wayne ; Mooney, Vincent John, III ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines

The wide applications of cyber-physical systems (CPS) call for effective design strategies that optimize the performance of both computing units and physical plants. We study the task scheduling problem for a class of CPS whose behaviors are regulated by feedback control laws. We codesign the control law and the task scheduling algorithm for predictable performance and power consumption for both the computing and the physical systems. We use a typical example, multiple inverted pendulums controlled by one processor, to illustrate our method.
Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints

(Georgia Institute of Technology, 2013-06) Malisoff, Michael ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Louisiana State University (Baton Rouge, La.). Dept. of Mathematics

We analyze the robustness of a class of controllers that enable three-dimensional curve tracking of free moving particles. By building a strict Lyapunov function and robustly forwardly invariant sets, we show input-to-state stability under predictable tolerance and safety bounds that guarantee robust- ness under control uncertainty, input delays, and a class of polygonal state constraints. Such understanding may provide certified performance when the control laws are applied to real life systems. We demonstrate our findings in simulations
Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams

(Georgia Institute of Technology, 2009) Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B. ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines

We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological map based on Voronoi diagrams. As the information network weaved by each vehicle grows, intersections eventually happen so that the topological maps are shared. This allows for distributed vehicles to share information with other vehicles that have also deployed communication devices. Our exploration algorithms are provably complete under mild technical assumptions. A performance analysis of the algorithms shows that in a bounded workspace, the time spent to complete the exploration decreases as the number of vehicles increases. We further provide an analytical formula for this relationship. Time efficiency of the algorithms is demonstrated in MATLAB simulation.
Intruder Capturing Game on a Topological Map Assisted by Information Networks

(Georgia Institute of Technology, 2011-12) Kim, Jonghoek ; Maxon, Sean ; Egerstedt, Magnus B. ; Zhang, Fumin ; Georgia Institute of Technology. School of Electrical and Computer Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines

Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper bounds for the minimum number of searchers required to capture all intruders on a Voronoi graph. Intruder capturing algorithms are proposed and demonstrated through an online computer game.