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H ∞ finite time control for discrete time-varying system with interval time-varying delay

Journal of the Franklin Institute 2018年第12期355卷 5037-5057页

作者： Menghua Chen Jian Sun School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing 100081 China

This paper discusses the problem of H ∞ finite time control for a discrete time-varying system with interval time-varying delay. By constructing a new augmented time-varying Lyapunov functional involving triple summation items and using discrete Wirtinger-type inequalities, delay-dependent conditions are derived, which guarantee that the closed-loop system is not only finite time bounded (FTB) but also satisfies an H ∞ performance. Furthermore, the time-varying feedback controller can be derived by solving a series of recursive linear matrix inequalities (RLMIs). Simulation results show the effectiveness and superiority of the proposed method.

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A Modified system Model and its Application on SINS/GPS Integrated system

A Modified System Model and its Application on SINS/GPS Inte...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent {2.s

作者： Xuan Xiao Xiang Guo Yuan Liang Chao Shi Songtian Shang Hong Hu School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538604915

Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial Navigation system (SINS)/Global Positioning system (GPS), the model construction is affected by a certain error sources. The most significant one is computational errors, which are caused by improper reference frame and the absence of true values. To solve the problem, this paper presents a modified system model which reduce the impact of computational errors by selecting computational frame as reference coordinate frame and removing all true values. Simulation results have demonstrated that modified system model effectively improves the performance of Kalman filter in SINS/GPS integrated system.

关键词： Kalman filters systems modelling Integrated system strapdown inertial navigation system Error Sources Modified

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Aerial battlefield targets grouping based on DTW-DBSCAN algorithm

Aerial battlefield targets grouping based on DTW-DBSCAN algo...

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第40届中国控制会议

作者： Shao Zhuang Chen Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

Targets grouping is the basis of second-level information fusion,which can effectively assist commanders to make *** aerial targets grouping algorithm only takes the radar acquisition data at the current time as the object and cannot update the clustering results automatically.A grouping method combining dynamic time warping(DTW) and the algorithm Density-Based Spatial Clustering of Applications with Noise(DBSCAN) is *** DTW distance of each attribute historical time-series data is used to measure the similarity between ***,an improved DBSCAN algorithm is used for *** simulation results show that the method has better grouping effect and can automatically cluster regularly.

关键词： targets grouping dynamic time warping density clustering

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Semantic Motion Segmentation for Urban Dynamic Scene Understanding

Semantic Motion Segmentation for Urban Dynamic Scene Underst...

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IEEE International Conference on Automation Science and Engineering

作者： Qiu Fan Yang Yi Li Hao Fu Mengyin Wang Shunting School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509024100

A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status for each pixel of images. First, we extract and match sparse image features to estimate ego-motion between two consecutive stereo images, the result of feature points grouping is used to segment moving object in U-disparity map. Second, a Fully Convolutional Neural Network is employed for semantic segmentation. Moreover, semantic cues are utilized to remove pixels have no potential to be moved in motion mask. Finally, we use a fully connected CRF to integrate motion into semantic segmentation. To validate the effectiveness of the proposed algorithm, we present experimental results with KITTI stereo images that contain moving objects.

关键词： Motion segmentation Semantics Image segmentation Computer vision Labeling Feature extraction Dynamics

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Generative Adversarial Network for Image Deblurring Using Content Constraint Loss

Generative Adversarial Network for Image Deblurring Using Co...

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第32.中国控制与决策会议

作者： Ye Ji Yaping Dai Junjie Ma Kaixin Zhao Yanyan Cheng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

The research of image deblurring plays an important role in the digital image *** order to reduce image blurring problems,a content constraint loss（CCL） function in the generative adversarial network（GAN）is *** SSIM loss and the perceptual loss constitute the CCL function,which makes the trained generative model *** CCL function as the content constraint loss component and the adversarial loss component constitute the total *** total loss is optimized by the iterative training to further improve the stability of the network model,and the image blurring will be *** the test experiment of the open source image dataset MNIST,CIFAR10/100 and CELEBA,the CCL function is used as the content constraint loss component of the generative adversarial network,the effect of image deblurring has obvious promotion in the structural similarity measure and visual appearance.

关键词： Image deblurring Generative adversarial network Content constraint loss Adversarial loss

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Road acceleration spectrum replication on Stewart platform with Three Variable controller

Road acceleration spectrum replication on Stewart platform w...

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第三十八届中国控制会议

作者： Hu Xiaoyu Wang Shoukun State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

Comparing to the commonly used hydraulic three-axial shaking tables, multi-degree of freedom shaking systems implemented by Stewart platform have the merits of being portable, easy to install and with high load capacity, but are not well studied because of the inherent nonlinearity and strong coupling of Stewart platform. In order to replicate multi-degree of freedom road acceleration spectrum on Stewart platform, analysis of the system was carried out. Firstly, the system structure was introduced and the linearized platform kinematic equations, at the equilibrium position, were inducted. The models of actuators that drive the platform were simplified and the principles of three variable controller(TVC) were deduced briefly. Finally, MATLAB-Adams co-simulation environment was built to perform multi-degree of freedom road acceleration spectrum replication with TVC. The results show that it can reproduce high accuracy multi-degree of freedom road acceleration spectrum with TVC on Stewart platform.

关键词： Shaking table Stewart platform three variable controller

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Object tracking based on multi-bandwidth mean shift with convergence acceleration

Object tracking based on multi-bandwidth mean shift with con...

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International Conference on Image Analysis and Signal Processing, IASP

作者： Zhou Bin Wang Jun-Zheng Shen Wei Key Laboratory of Complex System Intelligent Control and Decision School of Automatic Control Beijing Institute of Technology Beijing China

A multi-bandwidth based tracking algorithm was proposed to search for the global kernel mode when the probability density has multiple peak modes. Firstly, a monotonically decreasing sequence of bandwidths was fixed according to the target scale. At each bandwidth, using mean shift to find out the maximum probability, and starting the next iteration at the previous convergence location. Finally, the best optimal mode could be obtained at the last bandwidth. To accelerate the convergence, over-relaxed strategy was introduced to enlarge the step size. Under the convergence rule, the learning rate was adaptively adjusted by Bhattacharyya coefficients of consecutive iteration convergence. The experimental results show that the proposed multi-bandwidth mean shift tracker is robust in high-speed object tracking, and perform well in occlusions. The adaptive over-relaxed strategy is effective to lower the convergence iterations by enlarging the step size.

关键词： Convergence Acceleration Resists Wet etching Integrated circuit technology Electron beams Electron optics Semiconductor process modeling Optical beams Optical device fabrication

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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American control Conference (ACC)

作者： Yi Yang Hao Li Hao Zhu Ningyi Lyu Wenjie Song School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing Beijing CN School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Three-dimensional displays Urban areas Laser radar Autonomous vehicles

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HCLC integration design and high-precision control of a joint for space manipulator 20

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2.th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2.14

作者： Jiang, Zhihong Li, Hui Dong, Que Zhang, Xiaodong Tang, Zixing Rao, Wei Mo, Yang Ji, Chenjun Huang, Qiang IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9783319070575

A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-{2. precision, which can realize integrated design for space manipulator joint with high-cohesion and low-coupling (HCLC) performance. Moreover, the mechanical and electrical interfaces of designed joint are especially suitable for space manipulator. First, To achieve higher system performance, the joint is designed as a whole for perfect match among components including permanent magnet synchronous motor (PMSM), motor {2.ler and driver, sensors, space environment {2.ler, reducer, routing and other mechanisms, which could eliminate redundant shell packages and mounting surfaces existed in traditional manipulator joint. Second, a new method is presented to design the rotors of two resolvers as joint sensors at the same axis shared with motor rotor, this kind of design has the advantages of redundant and high-precision sensing for the positions of motor rotor and joint, and joint position signal is differential sensing and has high robustness. Then, a kind of high-precision {2.ler is presented for space manipulator based on a new PMSM model with model difference, and this {2.ler is robust to joint nonlinear factors, such as friction and other disturbance torque. Finally, the experimental results showed the designed joint had fine performances with high power density, high {2.ling precision and high operation stability and so on, and it is suitable for the application of space manipulator. © Springer International Publishing Switzerland 2.14.

关键词： controllers

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Electronic compass calibration based on Adaptive Differential Evolution Algorithm-Fourier Neural Network

Electronic compass calibration based on Adaptive Differentia...

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Chinese control Conference (CCC)

作者： Kun Gong Fang Deng Jie Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Ministry of Education Key Laboratory of Complex System Intelligent Control and Decision Beijing Beijing CN Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Beijing CN

Based on the comparison of several common methods of electronic compass error compensation, this paper presents a new error compensation method based on Adaptive Differential Evolution-Fourier Neural Networks (ADE-FNN) to improve the measurement accuracy of electronic compass. This method uses Fourier neural network to model electronic compass error, and adopts Adaptive Differential Evolution to optimize the weights of neural network, and get more exact error model to compensate measured values. The compensation object is the common electronic compass composed by two-dimensional magnetic resistance sensor. Compared with the compensation effect of Least-square method, BP neural network and Fourier neural networks, It proves that the mode of this method can realize the high precision in the sample space mapping and high non-linear approximation ability, and this method has faster convergence rate, can avoid falling into local minima, reduces the training error, and improves error compensation accuracy. This method decreases the error range from -3.4° ~ 2..2. before compensation to -0.2.° ~ 0.72., and the average of the absolute error is 0.30°. Repeatability tests also proved the compensation plan have a good consistency.

关键词： Compass Error compensation Adaptive systems Electronic mail Neural networks Training Measurement uncertainty

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