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第36届中国控制会议

作者： Shoukun Wang Fei Guo Xiaolong Du Key Laboratory of Intelligent Control and Decision of Complex System Academy of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking pattern of robot is determined,and the attitude angles and the position of COG（center of gravity） are adjusted to enhance the stability and ability of robot to traverse the rough *** order to simplify and establish model for rough terrain,we propose an estimation method of terrain based on the position of stance phase and the body attitude,as well as calculate the target attitude angle of the trunk in this *** then the smooth transition of foot-laying positions is guaranteed by planning the adjustment ***,the simulation results illustrate that the proposed method is able to adapt robot to different types of unknown rough terrains.

关键词： wheel-quadruped robot unknown rough terrain basic static waling pattern attitude adjustment gait planning

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Active Disturbance Rejection control for Electrical Cylinder 36

Active Disturbance Rejection Control for Electrical Cylinder

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第36届中国控制会议

作者： Hui Peng JunZheng Wang Wei Shen JiangBo Zhao RenJian Hao School of Automation Beijing Institute of Technology Key laboratory of intelligent control and decision of complex system

ISBN: (纸本)9781538629185

The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging the transition process to avoid overshoot. Extended state observer is built to estimate the unmeasurable internal disturbance, parametric uncertainties and external uncertainty for a guaranteed robust performance. Nonlinear state error feedback is designed to combine the error feedbacks more reasonable. Simulation and experimental results show that active disturbance rejection controller shows very strong robustness and adaptability compared with traditional PID control algorithm.

关键词： Electrical cylinder Nonlinear disturbance Position tracking control Active disturbance rejection control

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Stability analysis of nonlinear switched systems with sampled-data inputs

Stability analysis of nonlinear switched systems with sample...

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Chinese control Conference (CCC)

作者： Zhichuang Wang Jian Sun Guoliang Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper addresses the uniform global asymptotical stability (UGAS) problem for a class of nonlinear switched systems with sampled-data inputs. By employing the multiple Lyapunov functions (MLFs) and input delay method, some new stability conditions are explicitly established for nonlinear switched systems with sampled-data {2.s. Besides, the sufficient conditions are derived in terms of an upper bound on the dwell time and the maximal sampling interval. Finally, some numerical examples illustrate the advantages of the proposed results.

关键词： Switched systems Switches Stability analysis Delays Lyapunov methods Asymptotic stability

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A Novel Robust Perfect Tracking control Method for Nonlinear Servo systems

A Novel Robust Perfect Tracking Control Method for Nonlinear...

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第37届中国控制会议

作者： Jia-Rong Li Ming-Gang Gan Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

In this paper, we extend perfect tracking control to nonlinear systems, and propose a novel robust perfect tracking control（RPTC） strategy for nonlinear servo tracking systems. The overall control system consists of four parts: a model-based friction compensator, a feedforward perfect tracking controller, an improved internal model controller as the feedback controller,and a disturbance observer for position feedback. First, the friction compensator is introduced to compensate the nonlinear dynamic friction, and the feedforward perfect tracking controller is applied to widen the frequency band. Then, the internal model controller with a differentiator is adopted to yield improved tracking accuracy. Moreover, by utilizing the disturbance observer, the robustness against external disturbances and plant uncertainties is ensured. Finally, high accuracy tracking and ideal robustness are achieved by the RPTC scheme. The stability of the closed loop system is analyzed. Simulation results demonstrate that the proposed RPTC strategy significantly improves the tracking accuracy and enhances the robustness.

关键词： Perfect Tracking control Nonlinear Servo systems Friction Compensation Disturbance Observer Internal Model control

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Stabilization of systems Under Stochastic Clock Offsets

Stabilization of Systems Under Stochastic Clock Offsets

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Haoyuan Sun Jie Chen Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781538670897;9781538670880

This paper is concerned with the stabilization of networked control systems under clock offsets between sensors and controllers where the clock offsets are assumed to be stochastic variables following a certain probability distribution. A linear time-invariant controller is designed to deal with the effects of the stochastic offsets between sensors and controllers clocks, which can guarantee the stochastic stability of the linear systems. Finally, the validity of our results is illustrated using a numerical simulation.

关键词： Clocks Stability analysis Linear matrix inequalities Sensor systems Stochastic processes Linear systems

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A New Stability Criterion of Networked Switched control systems with Unknown Time-Varying Delays

A New Stability Criterion of Networked Switched Control Syst...

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Chinese control Conference (CCC)

作者： Guoliang Chen Jian Sun Zhichuang Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

In this article, the stability of networked switched control systems (NSCSs) with unknown time-varying delays is analyzed. By Taylor series expansion and h-order approximation techniques, NSCSs with unknown time-varying delays is modeled to discrete-time switched polytopic uncertain systems, a new stability criterion is proposed for NSCSs based on a necessary and sufficient nonconservative linear matrix inequalities (LMIs) condition for discrete-time switched polytopic uncertain systems. Finally, a numerical example is presented to show the effectiveness of the proposed method.

关键词： Switches Delays Stability criteria Lyapunov methods Numerical stability Thermal stability

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Target-Focused Video Stabilization for Human Computer Interaction 29

Target-Focused Video Stabilization for Human Computer Intera...

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第2.届中国控制与决策会议

作者： Hao Zhu Qing You Wenjie Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781509046584

As an important task of video enhancement,a lot of video stabilization methods have been *** in many real-world applications,especially the systems with human-computer interactions,existing methods only remove camera motion in stabilized frames,the remaining object motion will also lead to deviations in manual *** this paper,we collect practical hand drawn bounding boxes which have been shown to contain serious *** we propose a target-focused video stabilization method consisting of a proposal-based detection component and a trackingbased motion estimation *** experiments demonstrate our method can remove camera jitter and target motion simultaneously,and also offer users a friendly and effective way to draw accurate target regions.

关键词： Video Stabilization Human-computer Interactive Object Proposal

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A survey on Lyapunov-based methods for stability of linear time-delay systems

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Frontiers of Computer Science 2017年第4期11卷 555-567页

作者： Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

Recently, stability analysis of time-delay systems has received much attention. Rich results have been obtained on this topic using various approaches and techniques. Most of those results are based on Lyapunov stability theories. The purpose of this article is to give a broad overview of stabil- ity of linear time-delay systems with emphasis on the more recent progress. Methods and techniques for the choice of an appropriate Lyapunov functional and the estimation of the derivative of the Lyapunov functional are reported in this ar- ticle, and special attention is paid to reduce the conservatism of stability conditions using as few as possible {2. vari- ables. Several future research directions on this topic are also discussed.

关键词： time-delay system,ity delay-dependent stability,Lyapunov-Krasovskii functionaldelay-independent stabil-linear matrix inequality,

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3D Semantic Mapping Based on Convolutional Neural Networks

3D Semantic Mapping Based on Convolutional Neural Networks

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Chinese control Conference

作者： Jing Li Yanyu Liu Junzheng Wang Min Yan Yanzhi Yao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing P. R. China

As an important part of environmental perception, maps guarantee the accuracy of intelligent robots in navigation, localization and path planning. The traditional 3D maps mainly focus on the spatial structure of the objects, which lacks the semantic information. A method is proposed in the paper, this method combines convolutional neural networks (CNNs) and Simultaneous Localization and Mapping (SLAM) to create global dense 3D semantic maps for indoor scenes. The deep neural network that includes convolution and deconvolution is designed to predict semantic category of every pixel. RGB-D camera is used to obtain scene information, accomplish localization and build 3D maps simultaneously. The semantic information is integrated into the 3D scene, we present an octree map method to replace traditional point clouds method, which can reduce the error from pose estimation and single frame labeling. By this method, the accuracy of semantic information is greatly improved.

关键词： Three-dimensional displays Semantics Cameras Simultaneous localization and mapping Octrees Feature extraction

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Generalization of integral inequalities and (c_1,c_1) stability of neutral differential equations with time-varying delays

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Journal of systems Engineering and Electronics 2017年第2期28卷 347-360页

作者： Shuli Guo Lina Han Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematics Institute Oxford University Department of Cardiovascular Internal Medicine Nanlou Branch of Chinese PLA General Hospital

A uniform stability analysis is developed for a type of neutral delays differential equations which depend on more general nonlinear integral inequalities. Many original investigations and results are obtained. Firstly, generations of two integral nonlinear inequalities are presented, which are very effective in dealing with the complicated integro-differential inequalities whose variable exponents are greater than zero. Compared with existed integral inequalities, those proposed here can be applied to more complicated differential equations, such as time-varying delay neutral differential equations. Secondly, the notions of (ω, Ω) uniform stable and (ω, Ω) uniform asymptotically stable, especially (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable, are presented. Sufficient conditions on about (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable of time-varying delay neutral differential equations are established by the proposed integral inequalities. Finally, a complex numerical example is presented to illustrate the main results effectively. The above work allows to provide further applications on the proposed stability analysis and control {2. design for different nonlinear {2.s. © 2.17 Beijing Institute of Aerospace Information.

关键词： control system stability Differential equations Nonlinear equations Time delay Time varying control systems

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