Xuzhi Lai

Xuzhi Lai
China University of Geosciences · School of Automation

Ph.D

About

160
Publications
10,424
Reads
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2,177
Citations
Additional affiliations
August 2014 - present
China University of Geosciences
Position
  • Professor

Publications

Publications (160)
Article
Compared with conventional rigid-link robots, bionic continuum robots (CRs) show great potential in unstructured environments because of their adaptivity and continuous deformation ability. However, designing a CR to achieve miniaturization, variable length and compliant driving force remains a challenge. Here, inspired by the earthworm in nature,...
Article
The measurement of the vibration state is crucial in controlling flexible manipulators, as it helps to design effective strategies for vibration suppression. However, vibration sensors often display complex nonlinear hysteresis in their input–output relationship due to the viscoelastic nature of their materials. Regrettably, current research on fle...
Article
Soft manipulators have been widely developed due to their manipulation safety, design versatility, and motion dexterity. However, accurate kinematic modeling and control of soft manipulators are still challenging due to the complex nonlinear hysteresis in their motion characteristics. This article presents the fabrication of an elephant-trunk-inspi...
Article
The pre-chamber pressure is an important control parameter that affects the coke dry quenching process. It often fluctuates violently and is detrimental for the safe operation of the coke dry quenching process. This study proposes an intelligent control method for the pre-chamber pressure based on working condition identification for the coke dry q...
Article
Rate of penetration (ROP) optimization is critical for improving efficiency in the drilling process. Yet most optimization strategies overlook the effect of drill-string vibration, a significant ROP inhibitor. Moreover, effective methods for recognizing vibration using only surface drilling data are scarce. To address these issues, an intelligent R...
Article
Complicated geological environments lead to a high risk of drilling incidents. Early warning of loss and kick for the drilling process is essential to ensure process safety. On account of the nonlinear and temporal correlation of drilling parameters, an early warning method for loss and kick based on sparse autoencoder with multivariate time series...
Article
Fault detection is essential for the safety of drilling process. Without proper detection and appropriate treatment of bit bounce, it may result in serious drilling accidents. The data distribution shift will lead to the nonstationary property. Yet the statistics of drilling parameters may have similar equilibrium relationships across different dep...
Article
Geological drilling process is an industrial process that contains a lot of variables, and the relationships and characters among them are also complex. Accordingly, implementing operating performance assessment by conventional methods has always been a problem that operators are dedicated to solving. In fact, geological drilling process is a compl...
Article
Control of planar underactuated manipulators (PUM) with unknown parameter perturbations and external disturbances is still a challenging task due to their complex and peculiar characteristics. The research on it is significant in the view of wide applications in practice. In this paper, taking an uncertain 3-degree of freedom PUM with a free first...
Article
Geological drilling processes involve many variables, and their relationships and dynamic characteristics are highly complicated. In the geological drilling processes, the changes in the operating performance may be invisible under non-optimal conditions, while the data distribution may have significant deviations. The quality of the data collectio...
Article
In pneumatic soft robotics systems, pneumatic soft actuators (PSAs) are the most important components, so it is necessary to study the precise modeling and control over PSAs for application. This paper focuses on a self-designed planar PSA, named pneumatic bellow actuator (PBA), and proposes a modified three-element model (MTEM) and a nonlinear dis...
Article
Fault detection is crucial for ensuring the safety of the drilling process. Without proper detection and treatment of bit bounce, it could aggravate the wear of drill string and lead to another serious incident. Yet the data distribution of drilling parameters will shift as drilling depth increases, which may result in poor fault detection performa...
Article
Full-text available
This paper presents a simple control method on the basis of the trajectory planning for vertical Acrobot to accomplish the control goal of moving the system from the downward initial position (DIP) and steadying the system at the upward target position (UTP). First, for the active link, we frame a trajectory that contains some adjustable parameters...
Article
For a three-link vertical underactuated manipulator (TVUM) with only one active joint, the control target is to swing up its endpoint from the straight-down equilibrium point (SDEP) and to stabilize the endpoint at the straight-up equilibrium point (SUEP) eventually. Up to now, there are few effective control strategies to achieve the above control...
Article
For a three-link vertical underactuated manipulator with first active joint, few methods can swing its endpoint up from the vertical downward equilibrium point and stabilise it at the vertical upward equilibrium point. This paper proposes a single controller design method based on integrated trajectory to realise the above control objective effecti...
Article
Zero residual vibration (RV) in the position control of a flexible system is difficult to achieve because this system has low stiffness and underactuated feature. In this paper, we present a position control strategy to achieve zero RV in the position control of two degrees-of-freedom (DOF) flexible systems. First, a general dynamic model for two-D...
Article
In this paper, we propose a unified and simple trajectory planning-based control strategy for the n-link (n≥2⋂n∈Z) vertical underactuated manipulator (VUM) with an underactuated joint. The proposed method does not need to partition the entire motion space like the traditional methods, and can quickly realize the control objective of swinging the en...
Article
Weight-on-Bit is of vital importance to the drilling trajectory orientation in directional drilling. This paper concerns robust control of drilling trajectory with weight-on-bit uncertainty for the directional drilling process. The objective is to develop an equivalent-input-disturbance-based trajectory control scheme such that the drilling traject...
Article
Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth c...
Article
Rate of penetration (ROP) is one of the crucial drilling condition monitoring parameters due to its vital role in real-time assessing drilling operating performance. Operators often adjust operating parameters to meet higher performance requirements. Therefore, drilling operating performance assessment is critical for controlling and optimizing of...
Article
With the increase of drilling depth, complicated geological environments lead to a high risk of loss and kick. Fault diagnosis plays an essential role in minimizing the financial and environmental losses of the drilling process. On account of the temporal correlation of drilling parameters, a fault diagnosis method based on feature clustering of ti...
Article
The control objective of the vertical plane underactuated manipulator (VPUM) is generally to swing up the end point (EP) from the vertical down equilibrium point (VDEP) to the vertical up equilibrium point (VUEP), and finally, to stabilize it at the VUEP. The zone control methods are usually used to achieve this control objective, but the problem o...
Chapter
In this chapter, we present the control methods for the multi-link planar underactuated manipulator (PUM) with one passive joint. Firstly, we present a continuous control strategy based on the differential evolution algorithm for the system with passive first joint to quickly realize its position-posture control objective. The angular velocity cons...
Article
This paper is concerned with observer‐based trajectory control of directional drilling system with rotary steering devices. Since the trajectory orientation cannot be measured directly, most of the existing results implicitly assume that the trajectory orientation is equal to the measurement of orientation of the bottom hole assembly (BHA) or the d...
Article
This article deals with an uncertain two-link rigid-flexible manipulator with vibration amplitude constraint, intending to achieve its position control via motion planning and adaptive tracking approach. In motion planning, the motion trajectories for the two links of the manipulator are planned based on virtual damping and online trajectories corr...
Article
This paper concerns with trajectory azimuth control in directional drilling. The motion process of the drill bit and a series of stabilizers are described, and a state-space model of the trajectory azimuth is constructed. The scheme of the trajectory azimuth control system is designed based on the equivalent input disturbance approach. An internal...
Article
Full-text available
When a flexible link manipulator lacks a joint motor, how to use the remaining motors to achieve the control objective is a challenge, and the research in this direction is limited. This article presents a tip position control and vibration suppression approach for a planar two-link rigid-flexible (TLRF) underactuated manipulator with a passive fir...
Article
Full-text available
This paper proposes a unified control strategy based on oscillatory attenuation trajectory for a three-link vertical underactuated manipulator with a single underactuated joint.Compared with the traditional partition control strategy,the proposed control strategy realizes the control target,which is to move the end point of the manipulator from the...
Article
This article presents a tracking control approach for a flexible‐joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent‐...
Article
This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP,...
Article
This paper presents a general control strategy based on the trajectory planning and tracking control for the planar 3-DoF underactuated manipulators with one passive joint at different position. According to the target position of the system, a set of target angles of all links are quickly obtained by using differential evolution algorithm. In orde...
Article
Stick–slip vibrations are widespread and hazardous phenomena in drilling practice. The objective of this paper is to develop a simple and general control strategy to minimise such vibrations together with unknown disturbances. Taking into account the transmission delay of the torsional energy from the surface to downhole, a neutral-type drill-strin...
Article
Proper burden distribution is an important way to improve conditions of a blast furnace (BF) which indicate the stability and energy consumption. However, it is difficult for operators to recognize the stability and energy consumption at the same time and adjust them through burden distribution, due to complex iron-making mechanism. Therefore, this...
Article
Full-text available
This paper presents a position control method without residual vibration for a two-link rigid-flexible ma-nipulator based on trajectory planning. This method can achieve that the end-effector of the manipulator has no residual vibration while rapidly reaching its target position. Firstly, the dynamic model of the system is built. By analyzing this...
Article
Convolutional neural network-based broad learning with efficient incremental reconstruction model (CNNBL) is proposed to recognize emotions in human-robot interaction. It aims to extract deep and abstract features from facial emotional images, and reduce the influence of the complex structure and slow network updates on facial emotion recognition i...
Article
This paper presents a stable control strategy for a planar four-link active–passive–active–active (APAA) underactuated mechanical system. The control objective is to move its end-point from any initial position to any target position. First, the controllers are designed to move the first link to the target angle which ensures the target position is...
Article
Planar underactuated mechanical systems are unaffected by gravity and therefore widely used in aerospace robots and underwater vehicles. However, the stable control is quite difficult since any position that the system can reach is its equilibrium point where it is linearly uncontrollable. In this paper, considering a planar three-link passive-acti...
Article
Full-text available
This paper presents a continuous control strategy based on the differential evolution (DE) algorithm for a planar four-link underactuated manipulator with a passive first joint to realize its position-posture control objective. First, we obtain the coupling equation in integral form between the angle of the passive link and the states (angles and a...
Article
Single-link flexible-joint manipulator (FJM) is a kind of time-varying nonlinear system with underactuated characteristics. This paper takes the uncertain single-link FJM (USLFJM) as the object, and presents a novel robust control approach based on equivalent input disturbance (EID) method for motion control (i.e., position control and trajectory t...
Article
The research on the robust control of uncertain planar underactuated manipulators is almost nonexistent due to the lack of actuator and the uncontrollability at equilibrium points. Taking an uncertain planar three-link passive-active-active underactuated manipulator as an example, this paper develops a robust control scheme including motion plannin...
Article
A fuzzy control strategy is proposed for a planar four-link active-passive-active-active (APAA) real underactuated manipulator (RUM) to realize the control objective, which is to make the RUM track at a given trajectory with a specified posture. Employing a kinematic model of the manipulator, we obtain the constraint between the position of the end...
Article
This paper presents a position control strategy based on the differential evolution (DE) algorithm for a planar four-link underactuated manipulator (PFUM) with a passive third joint, which is to move its end-point from any initial position to any target position. Based on the structural characteristic of the PFUM, a model reduction method is concei...
Article
Full-text available
This paper presents a stable control strategy based on system energy for a Planar Single-Link Flexible Manipulator (PSLFM) to quickly realize its control objective, which is to move the flexible link to the target angle and to suppress the vibration of the flexible link. The PSLFM is a highly nonlinear and strongly coupled system, and it is also an...
Article
This paper presents an adaptive robust control strategy based on a radial basis function neural network (RBFNN) and an online iterative correction method (OICM) for a planar n-link underactuated manipulator with a passive first joint to realize its position control objective. An uncertain model of the planar n-link underactuated manipulator is buil...
Article
This paper presents a position and posture control strategy for a n-link planar underactuated manipulator with passive second joint in horizontal plane. The n-link planar underactuated mechanical manipulator is a second-order nonholonomic system, the control objective is to move the end-effector to a given position with a desired posture. The whole...
Article
This paper develops a quick and effective continuous state feedback control strategy based on intelligent optimization for a planar three-link passive-active-active (PAA) underactuated system with first-order nonholonomic characteristic. We analyze the integral characteristic of the system and find the passive link will be stabilized at different a...
Article
In this paper, we develop a quick and effective position control strategy based on the differential evolution (DE) algorithm for a planar three-link passive-active-active (PAA) underactuated system with first-order nonholonomic constraint. Due to the existence of the constraint, when the angular velocities of the two active links are proportional,...
Article
This paper presents a control strategy based on model reduction and online intelligent calculation for a planar n-link underactuated manipulator with a passive first joint (PAn-1 for short) to realize its control objective, which is to move its end-point from an initial position to a target position. First, two active links of the planar PAn-1 mani...
Article
Full-text available
An underactuated mechanical system with \(n~(n\ge 3)\) degree of freedoms (DOFs) is a complicated nonlinear system. This paper develops a new strategy to solve the nonlinear stabilizing control problem for this kind of mechanical systems. First, we introduce a coupled relationship between control torques. It changes the n-DOF underactuated system i...
Article
This paper presents a quick two-stage position control strategy based on a hybrid intelligent optimization algorithm for a planar n-link underactuated manipulator with a passive first joint. In stage 1, the system is directly reduced to a planar virtual Acrobot by controlling n-2 active links to their target angles. A hybrid intelligent optimizatio...
Article
This paper presents an automatic method to synthesize mechanisms, namely inversions, from planar non-fractionated simple joint kinematic chains. First, the links of a given kinematic chain are classified into several link groups. The mechanisms whose ground links are in distinct link groups are determined to be non-isomorphic. Then, an improved iso...
Article
This paper presents a four-stage localization method for epileptic seizure onset zones (SOZs). This method combines the advantages of both the Shannon-entropy-based complex Morlet wavelet transform (SE-CMWT) and adaptive-genetic-algorithm-based matching pursuit (AGA-MP) methods to achieve satisfactory localization performance. The Hilbert transform...
Article
A stable control strategy is proposed via energy attenuation to realise the position control for a second-order nonholonomic planar four-link active-passive-active-active (APAA) underactuated mechanical system. Since a first-order nonholonomic planar passive-active-active (PAA) system can be stabilised at the target position, we control the first l...
Article
A planar three-link passive–active–active (PAA) underactuated mechanical system is a kind of nonlinear system with a passive first joint. The position–posture control objective for the planar PAA system is to move the end effector from an initial position to a target position with a specified posture. This paper presents a switch control strategy t...
Article
This paper presents a position-posture control strategy based on genetic algorithm (GA) for a planar four-link PAAA (Passive-Active-Active-Active) underactuated manipulator. The control objective of the system is to move the end effector from any initial position to any target position with a specified posture. First, the integrability of the PAAA...
Article
Sintering is a process that involves complex physical and chemical reactions. An intelligent coordinating control strategy is proposed for the strong coupling between the burn-through point (BTP) and the mixture bunker level (MBL). First, an intelligent integrated controller is established for the BTP by fusing the neural network, expert rules, and...
Article
Full-text available
This paper presents a simple and quick control strategy for a class of first-order nonholonomic manipulator: planar n-link manipulator with a passive first joint (no gravity). The control target is driving its endpoint from any initial position to any target position. First, we reduce the planar n-link manipulator to a planar three-link one by main...
Article
A stable-control strategy for a planar threelink passive-active-active underactuated mechanical system not subject to gravity constraints has been devised. The control objective is to move the end effector from any initial position to any target position. First, a dynamic model of the system is built, and its properties are analyzed. Next, based on...
Article
An underactuated planar acrobot (UPA) is a two-link manipulator with a passive first joint. The control objective for a UPA in a horizontal plane is to move it from an initial position and stabilize it at a target position. Since a UPA is not small-time locally controllable, motion control is a big challenge. This paper presents a new control strat...
Article
A piecewise position and attitude control strategy based on model reduction for the planar five-link underactuated system with a passive second joint is proposed. First, a mathematical model of the system is built, and it is reduced to the first order non-holonomic system by controlling the first link. Then, three two-link subsystems with holonomic...
Article
A piecewise control strategy is proposed for the planar four-link underactuated system with a passive second joint. Firstly, a mathematical model of the system is built, and it is degenerated by controlling the first link maintaining at the initial state. Then, the angle constraint relationships are obtained by employing the integral characteristic...
Article
Full-text available
This paper addresses the trajectory tracking control problem of an autonomous surface vehicle (ASV) subject to unknown ocean currents, where smooth and continuous velocity commands are desirable for safe and effective operation. A novel bioinspired approach is proposed by integrating three neural dynamics models into the conventional Lyapunov synth...
Article
This paper concerns the stabilization of an underactuated two-link gymnast robot called acrobot. A trajectory tracking control strategy is presented. First, we carry out a homeomorphous coordinate transformation on the acrobot system that transforms it into a new simplified nonlinear system. And then, a desired motion trajectory is designed for the...