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22nd Chinese Control and Decision Conference

作者： Wang, Jingsheng Wang, Jun Liu, Wei Ji, Ping Hefei Univ Key Lab Machine Vis & Intelligence Control Techno Hefei 230022 Peoples R China

ISBN: (纸本)9781424451821

The solvable problem of adaptive inverse optimal stabilization in probability is discussed, and control laws of global asymptotic stability in probability and adaptive inverse optimal stabilization in probability are developed for output-feedback stochastic nonlinear continuous systems with additive standard Wiener noises and constant unknown parameters by using Ito's differentiation rule and adaptive backstepping algorithms. The adaptive control law and the parameter update laws can be obtained at same time by this design scheme.

关键词： Output-feedback Wiener noises backstepping algorithm Inverse optimality Stability in probability

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Output-Feedback Robust Adaptive Control for Strict-feedback Stochastic Nonlinear Systems under Inverse Optimality Costs

Output-Feedback Robust Adaptive Control for Strict-feedback ...

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2010 Chinese Control and Decision Conference

作者： Jingsheng Wang,Jun Wang,Wei Liu,Ping Ji Key Lab.of Machine Vision and Intelligence Control Technology,Hefei University,Hefei,230022 P.R.China

The solvable problem of adaptive inverse optimal stabilization in probability is discussed,and control laws of global asymptotic stability in probability and adaptive inverse optimal stabilization in probability are developed for output-feedback stochastic nonlinear continuous systems with additive standard Wiener noises and constant unknown parameters by using Ito's differentiation rule and adaptive backstepping *** adaptive control law and the parameter update laws can be obtained at same time by this design scheme.

关键词： Output-feedback Wiener noises backstepping algorithm Inverse optimality Stability in probability

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Output-Feedback Robust Adaptive Control for Strict-feedback Stochastic Nonlinear Systems under Inverse Optimality Costs

Output-Feedback Robust Adaptive Control for Strict-feedback ...

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The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

作者： Jingsheng Wang Jun Wang Wei Liu Ping Ji Key Lab. of Machine Vision and Intelligence Control Technology Hefei University Hefei 230022 P. R. China

The solvable problem of adaptive inverse optimal stabilization in probability is discussed, and control laws of global asymptotic stability in probability and adaptive inverse optimal stabilization in probability are developed for output-feedback stochastic nonlinear continuous systems with additive standard Wiener noises and constant unknown parameters by using It(o)'s differentiation rule and adaptive backstepping algorithms. The adaptive control law and the parameter update laws can be obtained at same time by this design scheme.

关键词： Output-feedback Wiener noises backstepping algorithm Inverse optimality Stability in probability

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Research on Lane Changing and Overtaking for Intelligent Vehicle Based on Vision Navigation

Research on Lane Changing and Overtaking for Intelligent Veh...

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IEEE International Conference on Industrial Technology

作者： You Feng Wang Rongben Zhang Ronghui S China Univ Technol Dept Traff Coll Guangzhou 510640 Peoples R China Jilin Univ Coll Transportat Changchun 130025 Peoples R China

ISBN: (纸本)9781424417056

Median filtering, Sobel operator and the Otsu algorithm were introduced to preprocess the lane image of Intelligent Vehicle. And the improved Hough transformation algorithm was used to extract the road characteristics and detect the lane edge. According to the prediction result of the Kalman filtering, the area of interest (AOI) of the lane edge was established and the AOI's size can adjust dynamically to track lane edge accurately. In order to guarantee Intelligent Vehicle tracks expected trajectory of lane changing and overtaking steadily, controller design is one of key technologies. Establish vehicle kinematics model firstly, construct state space mathematics model tracking trajectory closed loop control system by adopted vehicle position deviation. Based on backstepping function control algorithm, choose Lyapunov function and design controller for lane changing and overtaking. Simulation and experiment result show that the design of controller for the Intelligent Vehicle is effective and feasible.

关键词： Digital image Track control Kalman filter Hough Transformation backstepping algorithm Intelligent vehicle

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algorithm on lane changing and tracking control technology for Intelligent Vehicle

Algorithm on lane changing and tracking control technology f...

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IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)

作者： You Feng Wang Rongben Zhang Ronghui South China Univ Technol Dept Traff Coll Guangzhou 510640 Peoples R China Jilin Univ Dept Traff Coll Changchun 130025 Peoples R China

ISBN: (纸本)9781424417612

Preprocess the lane gray image to obtain binary image and propose an improved Hough transformation algorithm to obtain the feature parameter of the road edge in the binary image. According to the prediction result of the Kalman filtering, we establish the area of interest (AOI) of the road edge and adjust the size of AOI dynamically to track the road edge accurately. To guarantee Intelligent Vehicle tracks preconcerted path steadily, controller design is one of key technologies. Establish vehicle kinematics model firstly, construct state space mathematics model of Intelligent Vehicle trucking path closed loop control system by adopted vehicle position deviation. Based on backstepping function control algorithm, choose Lyapunov function and design controller for Intelligent Vehicle lane changing, overtaking and tracking. Simulation and experiment result show that the controller designed by this method can track preconcerted path quickly, it is steady and reliable during Intelligent Vehicle lane changing and overtaking control course.

关键词： digital image track control Kalman filter backstepping algorithm Intelligent Vehicle

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A 3-level autonomous mobile robot navigation system designed by using reasoning/search approaches

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ROBOTICS AND AUTONOMOUS SYSTEMS 2006年第12期54卷 989-1004页

作者： Velagic, Jasmin Lacevic, Bakir Perunicic, Branislava Univ Sarajevo Fac Elect Engn Sarajevo 71000 Bosnia & Herceg

This paper describes how soft computing methodologies such as fuzzy logic, genetic algorithms and the Dempster-Shafer theory of evidence can be applied in a mobile robot navigation system. The navigation system that is considered has three navigation subsystems. The lower-level subsystem deals with the control of linear and angular volocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot is at a medium level and is nonlinear. The nonlinear control design is implemented by a backstepping algorithm whose parameters are adjusted by a genetic algorithm. We propose a new extension of the controller mentioned, in order to rapidly decrease the control torques needed to achieve the desired position and orientation of the mobile robot. The high-level subsystem uses fuzzy logic and the Dempster-Shafer evidence theory to design a fusion of sensor data, map building, and path planning tasks. The fuzzy/evidence navigation based on the building of a local map, represented as an occupancy grid, with the time update is proven to be suitable for real-time applications. The path planning algorithm is based on a modified potential field method. In this algorithm, the fuzzy rules for selecting the relevant obstacles for robot motion are introduced. Also, suitable steps are taken to pull the robot out of the local minima. Particular attention is paid to detection of the robot's trapped state and its avoidance. One of the main issues in this paper is to reduce the complexity of planning algorithms and minimize the cost of the search. The performance of the proposed system is investigated using a dynamic model of a mobile robot. Simulation results show a good quality of position tracking capabilities and obstacle avoidance behavior of the mobile robot. (C) 2006 Elsevier B.V. All rights reserved.

关键词： dynamic model of mobile robot backstepping algorithm hybrid position controller map building genetic algorithm fuzzy logic path planning pruning of relevant obstacles local minima problem

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Reduction of control torques of mobile robot using hybrid nonlinear position controller

Reduction of control torques of mobile robot using hybrid no...

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International Conference on Computer as a Tool (EUROCON 2005)

作者： Lacevic, B Velagic, J Perunicic, B Univ Sarajevo Fac Elect Engn Sarajevo Bosnia & Herceg

ISBN: (纸本)142440049X

We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extention of mentioned controller with an aim to rapidly decrease the control torques needed to achive the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for evolution of the control parameters of a multivariable PI velocity controller described with a full matrix. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. Simulation results show the good quality of both velocity and position tracking capabilities of a mobile robot.

关键词： mobile robot trajectory tracking robot dynamics backstepping algorithm control torques reduction genetic algorithm

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Output-Feedback Robust Adaptive Control for Strict-feedback Stochastic Nonlinear Systems under Inverse Optimality Costs

Output-Feedback Robust Adaptive Control for Strict-feedback ...

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第二十四届中国控制会议

作者： Wang Jun, Zhang Mei, Xi Hongsheng, Cheng Rong (Department of Automation, USTC. Hefei 230026)

＜正＞ The solvable problem of adaptive inverse optimal stabilization in probability is discussed and control laws of global asymptotic stability in probability and adaptive inverse optimal stabilization in probability are developed for out-feedback stochastic nonlinear continuous systems with additive standard Wiener noises and constant unknown parameters by using Ito’s differentiation rule and adaptive backstepping algorithms. The adaptive control law and the parameter update laws can be obtained at same time by this design scheme.

关键词： out-feedback Wiener noises Ito’s differentiation rule backstepping algorithm inverse optimahty stability in probability

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Design of nonlinear observer by a backstepping approach

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Electrical Engineering in Japan 1998年第3期121卷

作者： Ri-Yao Song Shintaro Ishijima Akira Kojima Tokyo Metropolitan Institute of Technology Japan

A backstepping-like design approach for reduced-order nonlinear observers is proposed. The basic idea of this approach is as follows. First, an appropriate function of the state variables to be estimated is constructed. The next function of the state variables to be estimated is then derived by designing the previous nonlinear function observer. Finally the procedure terminates, resulting in a partial differential equation to be solved. If the resultant differential equation is solvable, then the observer can be calculated. The connection between observers with linear error dynamics and this approach is discussed. © 1998 Scripta Technica, Inc. Electr Eng Jpn, 121(3): 53–59, 1997

关键词： nonlinear system observer backstepping algorithm

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Design of nonlinear observer by a backstepping approach

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ELECTRICAL ENGINEERING IN JAPAN 1997年第3期121卷 53-59页

作者： Song, RY Ishijima, S Kojima, A Tokyo Metropolitan Inst Technol Tokyo Japan

关键词： nonlinear system observer backstepping algorithm

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