下肢康复外骨骼机器人关键控制理论和技术研究

U1713223
2017
F0306.自动化检测技术与装置
段志生
联合基金项目
教授
北京大学
310万元
控制算法;外骨骼机器人;康复;人机交互
2018-01-01到2021-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 Adaptive obstacle detection for mobile robots in urban environments using downward-looking 2D LiDAR 期刊论文 Pang C.;Zhong X.;Hu H.;Tian J.;Peng X.;Zeng J.
2 Fully distributed containment control for multiple Euler-Lagrange systems over directed graphs: an event-triggered approach 期刊论文 Xu T.;Hao Y.;Duan Z.
3 Variable stiffness control with strict frequency domain constraints for physical human-robot interaction 会议论文 Zou W.;Duan P.;Chen Y.;Yu N.;Shi L.
4 Optimal thrust control with magnitude and direction constraints 期刊论文 Shen H.;Duan Z.;Casalino L.
5 Designing fully distributed adaptive event-triggered controllers for networked linear systems with matched uncertainties 期刊论文 Cheng B.;Li Z.
6 Fully distributed consensus for general linear multi-agent systems with unknown external disturbances 期刊论文 Huo Y.;Lv Y.;Wu X.;Duan Z.
7 Robust consensus for multi-agent systems communiting over stochastic uncertain networks 期刊论文 Li Z.;Chen J.
8 Distributed attitude synchronization control for multiple flexible spacecraft without modal variable measurement 期刊论文 Wang Q.;Duan Z.;Lv Y.
9 Stability of a General Class of Power Control Algorithms With Single-Step Feedback in Wireless Networks 期刊论文 Qian R.;Duan Z.;Qi Y.
10 Coherence of Noisy Double-Integrator Networks Without Velocity Measurements 期刊论文 Liu M.;Li Z.
11 Performance-based fault detection and fault-tolerant control for nonlinear systems with T-S fuzzy implementation 期刊论文 Han H.;Yang Y.;Li L.;Ding S.X.
12 Bipartite consensus tracking for antagonistic topologies with leader's unknown input 期刊论文 Nan X.;Lv Y.;Duan Z.
13 On bipartite consensus of linear MASs with input saturation over directed signed graphs: Fully distributed adaptive approach 期刊论文 Nan X.;Lv Y.;Duan Z.
14 Distributed H infinity robust control of multiagent systems with uncertain parameters: performance-region-based approach 期刊论文 Wang J.;Wen G.;Duan Z.;Hu Y.;He W.
15 护膝装置 专利 梁哲;东人;李长城;石枝春
16 基于倾转旋翼飞行器模态转换阶段的控制方法 专利 朱平芳;曾建平;柯津;鲁麟宏;黄锦涛;杨航;李颖;凌彦聪
17 一种基于无人机搭载机械臂的采茶装置 专利 周鑫;刁强友;陈博取;李敬;段志生
18 Adaptive attack-free protocol for consensus tracking with pure relative output information 期刊论文 Lv Y.;Wen G.;Huang T.;Duan Z.
19 Distributed fixed-time coordination control for networked multiple Euler-Lagrange systems 期刊论文 Xu T.;Duan Z.;Sun Z.;Chen G.
20 Coordinated tracking control with asynchronous edge-based event-triggered communications 期刊论文 Cheng B.;Li Z.
21 Active interactive genetic control for lower limb rehabilitation robots with uncertainties 会议论文 Chen J.;Li Y.;Zeng J.
22 Consensus disturbance rejection with event-triggered communications 期刊论文 Cheng B.;Li Z.
23 Control Performance-Based Fault-Tolerant Control Strategy for Singular Systems 期刊论文 Liu D.;Yang Y.;Li L.;Ding S.X.
24 H-infinity mixed stabilization of nonlinear parameter-varying systems 期刊论文 Fu R.;Zeng J.;Duan Z.
25 LQ synchronization of discrete-time multiagent systems: a distributed optimization approach 期刊论文 Wang Q.;Duan Z.;Wang J.;Chen G.
26 Performance residual based fault detection for feedback control systems 期刊论文 Liu R.;Li L.;Yang Y.
27 Event-based distributed robust synchronization control for multiple Euler-Lagrange systems without relative velocity measurements 期刊论文 Xu T.;Duan Z.;Sun Z.
28 Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models 期刊论文 Li Y.;Ke J.;Zeng J.
29 Distributed maximum correntropy unscented Kalman filtering with state equality constraints 期刊论文 Lv X.;Duan P.;Duan Z.;Song J.
30 Data-driven process monitoring using structured joint sparse canonical correlation analysis 期刊论文 Xiu X.;Yang Y.;Kong L.;Liu W.
31 Distributed edge-based event-triggered formation control 期刊论文 Cheng B.;Wu Z.;Li Z.
32 Linear quadratic optimal consensus of discrete-time multi-agent systems with optimal steady state: A distributed model predictive control approach 期刊论文 Wang Q.;Duan Z.;Lv Y.;Wang Q.;Chen G.
33 一种端到端的分布式流量分配方法 专利 王靖瑶;郑华青
34 一种基于降维观测器的无人集群仿射编队控制方法 专利 李忠奎;常泽泽;王俊杰
35 Cooperative output regulation of heterogeneous multi-agent systems with adaptive edge-event-triggered strategies 期刊论文 Cheng B.;Li Z.;Wang X.
36 Distributed continuous-time optimization with scalable adaptive event-based mechanisms 期刊论文 Wu Z.;Li Z.;Ding Z.;Li Z.
37 Robust bipartite consensus and tracking control of high-order multiagent systems with matching uncertainties and antagonistic interactions 期刊论文 Liu M.;Wang X.;Li Z.
38 Distributed event-triggered tracking control with a dynamic leader for multiple Euler-Lagrange systems under directed networks 期刊论文 Xu T.;Duan Z.;Sun Z.;Zhang Z.
39 Fully distributed adaptive PI controllers for heterogeneous linear networks 期刊论文 Lv Y.;Li Z.;Duan Z.
40 Necessary and sufficient condition for non-concave network utility maximisation 期刊论文 Wang J.;Guo J.;Wang Q.;Duan Z.;Chen G.
41 Distributed fixed-time triggering-based containment control for networked nonlinear agents under directed graphs 期刊论文 Xu T.;Lv G.;Duan Z.;Sun Z.;Yu J.
42 Control performance-based fault detection and fault-tolerant control schemes for a class of nonlinear systems 期刊论文 Han H.;Yang Y.;Li L.;Ding S.X.
43 A fault detection scheme for ship propulsion systems using randomized algorithm techniques 期刊论文 Zhou J.;Yang Y.;Zhao Z.;Ding S.X.
44 Some necessary and sufficient conditions for synchronization of second-order interconnected networks 期刊论文 Feng Y.;Duan Z.;Lv Y.;Ren W.
45 A performance-region-based approach to the H-infinity stochastic consensus problem 期刊论文 Wang J.;Duan Z.;Zeng J.
46 Distributed adaptive consensus protocols for linear multi-agent systems over directed graphs with relative output information 期刊论文 Lv Y.;Li Z.;Duan Z.
47 Adaptive fault-tolerant PI tracking control for ship propulsion system 期刊论文 Zhao Z.;Yang Y.;Zhou J.;Li L.;Yang Q.
48 Fully distributed event-triggered protocols for linear multiagent networks 期刊论文 Cheng B.;Li Z.
49 一种避免死锁的分布式无人集群协同运动路径规划方法 专利 李忠奎;陈昱达;段志生
50 Key performance indicators based fault detection and isolation using data-driven approaches 期刊论文 Liu R.;Yang Y.;Li L.;Ding S.X.
51 Consensus disturbance rejection control of directed multi-agent networks with extended state observer 期刊论文 Guo S.;Li Z.;Niu Y.;Wu L.
52 New controllability conditions for networked, identical LTI systems 期刊论文 Hao Y.;Duan Z.;Chen G.;Wu F.
53 The guaranteed cost controller for nonlinear systems with time-varying parameters and input saturation 期刊论文 Zhu P.;Wang J.;Zeng J.
54 On the domain of attraction and local stabilization of nonlinear parameter-varying systems 期刊论文 Lu L.;Fu R.;Zeng J.;Duan Z.
55 Fault-tolerant control for T-S fuzzy systems with sensor faults: Application to a ship propulsion system 期刊论文 Qiao L.;Yang Y.
56 Distributed adaptive tracking control for Lur'e systems with event-triggered strategy 期刊论文 Wu Z.;Cheng B.;Li Z.
57 减速控制系统及减速机 专利 梁哲;石枝春;李长城;杨春宝
58 护膝装置及其检测机构 专利 梁哲;李长城;杨春宝;李英才
59 一种四轮转向自动驾驶汽车横向鲁棒容错控制系统及方法 专利 郭景华;王靖瑶;郑华青
60 Resilient state estimation for complex dynamic networks with system model perturbation 期刊论文 Duan P.;Lv G.;Duan Z.;Lv Y.
61 Fast finite-time tracking control for multi-agent systems with mismatched disturbances under directed communication graphs 期刊论文 Ke J.;Wang J.;Zeng J.;Lan W.
62 Stochastic consensus control integrated with performance improvement: a consensus region-based approach 期刊论文 Wang J.;Wen G.;Duan Z.;Lu J.
63 Controllability of Kronecker product networks 期刊论文 Hao Y.;Wang Q.;Duan Z.;Chen G.
64 Observer-based fault detection for uncertain nonlinear systems 期刊论文 Han H.;Yang Y.;Li L.;Ding S.X.
65 Event-based distributed tracking control for second-order multiagent systems with switching networks 期刊论文 Duan P.;Liu K.;Huang N.;Duan Z.
66 Distributed optimal consensus control algorithm for continuous-time multi-agent systems 期刊论文 Wang Q.;Duan Z.;Wang J.
67 Event-triggered consensus of homogeneous and heterogeneous multiagent systems with jointly connected switching topologies 期刊论文 Cheng B.;Wang X.;Li Z.
68 基于无人机的两移一转的三自由度派件机器人 专利 周鑫;陈博取;姜峰;李敬;段志生
69 一种折叠按扣、带折叠按扣的绑带及护膝装置 专利 辛小康;杨峥;梁哲;东人
70 一种抗通信延迟的智能电动车编队自适应鲁棒控制方法 专利 王靖瑶;郭景华;郑华青
71 一种连续限位调节装置和护膝装置 专利 李民智;辛小康;黄智涵;梁哲
72 一种动力模组 专利 梁哲;石枝春;李长城;段璞
73 Distributed Kalman filtering for uncertain dynamic systems with state constraints 期刊论文 Lv X.;Duan P.;Duan Z.
74 Robust control of uncertain robotic systems: An adaptive friction compensation approach 期刊论文 Wang Q.;Zhuang H.;Duan Z.;Wang Q.
75 Designing zero-gradient-sum protocols for finite-time distributed optimization problem 期刊论文 Wu Z.;Li Z.;Yu J.
76 Distributed model predictive control for linear-quadratic performance and consensus state optimization of multiagent systems 期刊论文 Wang Q.;Duan Z.;Lv Y.;Wang Q.;Chen G.
77 A distributed optimization scheme for state estimation of nonlinear networks with norm-bounded uncertainties 期刊论文 Duan P.;Wang Q.;Duan Z.;Chen G.
78 Fully distributed observer-based protocols for bipartite consensus of directed nonlinear multi-agent systems: Aproportional-integral-gain perspective 期刊论文 Nan X.;Lv Y.;Duan Z.
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