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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Yue Lu Xingyu Chen Zhengxing Wu Yan Yan Junzhi Yu University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory for Turbulence and Complex System BIC-ESAT College of Engineering Peking University Beijing China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

Most existing path following algorithms for middle-or large-sized underwater vehicles minimize yaw difference of the control object. Breaking the canonical manner, this paper presents a vision-based path planning and following system for miniature robotic fish. As for path planning, the proposed system finds a gird path based on the AStar algorithm and selects a series of target points in the grid path. By connecting these points in order, a curve path can be planned. In terms of path following, the proposed system forgoes to give a specific yaw and only uses a global camera. It obtains coordinates of the robotic fish in real time by KCF tracking algorithm to calculate an approximate motion vector. A PID controller is employed to drive the difference angle between the motion vector and the target vector (the vector from the robotic fish to the target point) to zero. By swimming to target points one by one, the robotic fish can move to the terminus following the planned path. Finally, aquatic experiments are conducted to verify the effectiveness of the vision-based path planning and following system. The results reveal that the developed system can generate a safe and smooth path, and the robotic fish can follow the path with acceptable deviation.

关键词： Fish Robot kinematics Path planning Robot sensing systems Solenoids Magnetic resonance imaging

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The Comparison of Different Visual Features for Visual Odometry

The Comparison of Different Visual Features for Visual Odome...

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2018 IEEE CSAA Guidance, Navigation and control Conference, CGNCC 2018

作者： Jiang, Yuehan Wang, Qing Dong, Chaoyang Zhou, Min Zhong, Kewei Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing100854 China Shanghai Aerospace Control Technology Institute Shanghai201100 China

ISBN: (纸本)9781538611715

For robots to work effectively, the availability of a map with detailed information surrounding the workspace is an important requirement for indoor and outdoor tasks. This is usually achieved with using visual odometry techniques with feature-based methods. In this paper, we compare the performance of three different feature extraction methods: Scale Invariant Feature Transform (SIFT), Speed Up Robust Features (SURF) and Oriented FAST Rotated BRIEF (ORB). This paper presents experimental results on standard evaluation datasets and all experiments use measurement of the number of image correspondences as well as the ratio of good matched for the evaluation purpose. The results of experiments demonstrate that the performances of three methods in processing time, matching capability and accuracy. SIFT presents its stability in most scenarios although it is very slow. SURF is faster than SIFT and outperform SIFT on some scenarios. ORB is the most efficient feature and shows strong performance. © 2018 IEEE.

关键词： Vision

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Time-varying formation pursuit based cooperative guidance for multiple missiles to intercept a maneuvering target

Time-varying formation pursuit based cooperative guidance fo...

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第37届中国控制会议

作者： Qilun Zhao Xiwang Dong Xun Song Zhang Ren Beijing Institute of Electronic System Engineering School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

Time-varying formation pursuit based cooperative（TFPBC） guidance for multiple missiles to intercept a maneuvering target is investigated. In TFPBC guidance, multiple missiles are not only expected to intercept the target simultaneously but also need to form a desired time-varying formation configuration during the engagement. The motivation for TFPBC guidance is to create a favorable relative geometry for multiple missiles, which may enclose a maneuvering target and then improve the hit performance. Multiple missiles are classified into leader missile and follower missiles. TFPBC guidance law for the leader missile and follower missiles is constructed, respectively. An approach with four steps to determine the parameters in the TFPBC guidance law is given. The convergence of the designed TFPBC guidance law is proved. A numerical example for multiple missiles to intercept a maneuvering target is provided.

关键词： Missile guidance law cooperative guidance salvo attack time-varying formation maneuvering target

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A gradient algorithm for Hamiltonian identification of open quantum systems

arXiv

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arXiv 2019年

作者： Xue, Shibei Wu, Rebing Li, Dewei Jiang, Min Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Automation Tsinghua University Beijing100084 China Center for Quantum Information Science and Technology BNRist Beijing100084 China School of Electronics and Information Engineering Soochow University Suzhou215006 China

In this paper, we present a gradient algorithm for identifying unknown parameters in an open quantum system from the measurements of time traces of local observables. The open system dynamics is described by a general Markovian master equation based on which the Hamiltonian identification problem can be formulated as minimizing the distance between the real time traces of the observables and those predicted by the master equation. The unknown parameters can then be learned with a gradient descent algorithm from the measurement data. We verify the effectiveness of our algorithm in a circuit QED system described by a Jaynes-Cumming model whose Hamiltonian identification has been rarely considered. We also show that our gradient algorithm can learn the spectrum of a non-Markovian environment based on an augmented system model. Copyright © 2019, The Authors. All rights reserved.

关键词： Hamiltonians

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Short term electric load forecast with artificial neural networks

arXiv

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arXiv 2018年

作者： Cristian, Vasar Iosif, Szeidert Ioan, Filip Gabriela, Prostean Department of Control System Engineering Politehnica' University from Timisoara Faculty of Automation and Computer Science Timisoara300223 Romania

This paper presents issues regarding short term electric load forecasting using feedforward and Elman recurrent neural networks. The study cases were developed using measured data representing electrical energy consume from Banat area. There were considered 35 different types of structure for both feedforward and recurrent network cases. For each type of neural network structure were performed many trainings and best solution was selected. The issue of forecasting the load on short term is essential in the effective energetic consume management in an open market environment. Copyright © 2007 IFAC Copyright © 2018, The Authors. All rights reserved.

关键词： Electric load forecasting

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Joint beamformer design for wireless fronthaul and access links in C-RANs

Joint beamformer design for wireless fronthaul and access li...

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作者： Hu, Bin Hua, Cunqing Chen, Cailian Guan, Xinping Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China

This paper presents a joint design framework of fronthaul and access links in cloud radio access networks, wherein the fronthaul data delivery between the central processor (CP) and small-cell base stations (SBSs) is carried over wireless links, which is more cost effective and flexible than the conventional wired fronthaul solutions. In this framework, the coordinated beamforming scheme is adopted by the SBSs to serve the users cooperatively, which not only reduces the bandwidth requirement over the fronthaul links, but also eliminates the inter-cell interference in the access links. To further exploit the spatial diversity over the fronthaul links, the multi-user beamforming scheme is adopted by the CP to deliver the data of all users to their serving SBSs simultaneously. This non-convex and combinatorial optimization problem is reformulated to a unified beamformer design problem using the $\ell -{0}/\ell -{1}$ -norm framework, which is still difficult to obtain the optimal solutions. Therefore, we first propose an algorithm based on the difference of convex (DC) programming scheme to find the suboptimal solutions, whereby the formulated problem is transformed to the standard DC programming problem and solved iteratively using the convex-concave procedure algorithm. We then propose another algorithm based on the successive convex approximation and weighted minimum-mean-squared-error approaches, and solve the transformed problem using the block coordinate update scheme. The pros and cons of these two algorithms are discussed, and simulation results are provided to demonstrate the performance gain of our schemes over other benchmark schemes. © 2018 IEEE.

关键词： Beamforming

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Robust adaptive attitude control for carrier based aircrafts in the landing process under the carrier air wake disturbance 36

Robust adaptive attitude control for carrier based aircrafts...

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第36届中国控制会议

作者： Jianglong Yu Yongzhao Hua Peng Yang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Aviation System Research Department System Engineering Research Institute

ISBN: (纸本)9781538629185

When naval vessels moving on the sea, the carrier air wake disturbance will arise. The carrier air wake makes the landing environment of carrier aircraft fair adverse, which puts forward a high demand for the high precise attitude control of carrier based aircrafts. In this paper, high precise robust attitude control problems for carrier based aircrafts with the carrier air wake disturbance are investigated. Firstly, the small disturbance linearization method is introduced to transform the nonlinear system into a linear one, which is a necessary procedure for aircraft system analysis and controller design. Secondly, the model of the carrier air wake disturbance is established and its effects on the aerodynamic parameters are analyzed in detail. Then the effects are transformed into the augmented disturbance in the system. Thirdly, a nonlinear extended state observer is utilized to estimate the disturbance. Besides, a robust adaptive attitude controller with integral term is proposed to achieve high precision attitude tracking. The stability of the closed-loop system is prove based on Lyapunov theory. Finally, a numerical example is provided to demonstrate the effectiveness of the obtained results.

关键词： Carrier based aircraft Carrier air wake Disturbance Robust adaptive control Nonlinear extended state observer

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Transient stability of the grid integrated with wind turbines during fault condition 7

Transient stability of the grid integrated with wind turbine...

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7th Brazilian Electrical systems Symposium, SBSE 2018

作者： Marcillo, Kevin Eduardo Lucas Barra, Hugo Menezes Barra, Walter Rocha, Erick Melo Nunes, Marcus Vinicius Alves Federal University of Pará Department of Electrical Engineering Automation Laboratory Belém PA66075110 Brazil Federal University of Pará Department of Electrical Engineering Power System Control Laboratory Belém PA66075110 Brazil Federal University of Pará Department of Electrical Engineering High Voltage Laboratory Belém PA66075110 Brazil

ISBN: (纸本)9781538633632

In this paper, a computational study is carried out in order to assess the impacts of the wind power generation on dynamic behavior in the power system concerned by a modelling simulation. The concepts of different types of wind turbine generators (WTGs) and the principles of the grid-connected structures of wind power generation systems are first briefly introduced. The Electrical Network used for the investigations comes from the IEEE. A change was made to include the Wind Power system with Wind Power Generators in Bar 2, as described later. As a comparison, the paper reports the results of several tests by using different WTG technologies, evaluating the corresponding performance under the occurrence of the same kind of fault. © 2018 IEEE.

关键词： Wind Turbine Generators

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Robust MPC for constrained uncertain systems with data-driven improvement

Robust MPC for constrained uncertain systems with data-drive...

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第37届中国控制会议

作者： Lingyi Yang Dewei Li Jianbo Lu Yugeng Xi Bin Li Department of Automation Shanghai Jiaotong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education Department of Automation Sichuan UniversitySchool of Electrical Engineering and Information

The adaptive model predictive control is regarded as an effective control method for unknown constrained ***, the adaptive model predictive control needs model identification. The process of identification demands a certain amount of data and places some requirements on data which makes it difficult to be implemented. To handle it, this paper proposes a novel data-driven approach without model identification. The data of previous time is utilized to describe state space and input space of the uncertain system instead of identifying the true model. Based on the data-driven method, the Quasi-MinMax control strategy is used to design the robust data-driven MPC controller which directly calculates the input from the past data. Combined with the data-driven method, a free control variable is introduced to compensate for the insufficiency of past data. It is shown that adopting the data-driven controller can reduce conservatism by lessening model uncertainty and improve control performance. Meanwhile, the proposed design is proven to be recursively feasible and stabilizing. A numerical example demonstrates the effectiveness and advantages of the proposed control method.

关键词： Adaptive learning control Data-driven approach Model predictive control

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Establishment and Optimization of Gas Flow Prediction Model for Annealing Furnace Based on GA-SVM

Establishment and Optimization of Gas Flow Prediction Model ...

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第37届中国控制会议

作者： Qilin Qu Yan Yuan Jin Yali Yongyue Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System School of Information Science and Engineering Central South University

The annealing furnace is an important equipment for annealing in the production process of cold rolled strip steel. The temperature accuracy of the steel coil is directly affected the production quality of the steel plate. In the annealing furnace temperature control system, strip temperature control is mainly decided by various furnace annealing furnace gas flow in the area, so setting up a precise model between gas flow and temperature has become an important problem of the control system of annealing furnace. In this paper, SVM is applied to the prediction model of the gas flow in the annealing furnace since it’s suitable for nonlinear and high dimensional problems as a machine learning method. In view of that the choice of C, G and the model parameters of the SVM directly affect the prediction precision of the model, this paper uses GA to optimize these two parameters. Finally, we use the data of field production as training and testing samples to establish and verify the model. The experimental results showed that the established model well achieved the requirements of the accuracy of the target.

关键词： Annealing furnace Gas flow Model Support Vector Machine Genetic Algorithm

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