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第26届中国控制与决策会议

作者： Chuang Li Jingcheng Wang School of Mechanical and Electric Engineering Hainan University Department of Automation Shanghai Jiao Tong Universityand key laboratory of System Control and Information ProcessingMinistry of Education of China

This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters and nonlinear in the states. According to the equivalent frequency distributed model of fractional integrator, the direct Lyapunov approach is adopted to derive a nonlinear adaptive non-fragile observer. The gain for the non-fragile observer is systematically obtained in terms of linear matrix inequality(LMI). A numerical example is provided to illustrate the efficiency and validity of the proposed approach.

关键词： fractional order nonlinear systems,unknown parameter,nonlinear observer,LMI

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An Adaptive Predictive control Strategy for RMPPT under Partially Shaded Conditions

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IFAC Proceedings Volumes 2014年第3期47卷 4947-4952页

作者： Chao Ma Jing Wu Ning Li Shaoyuan Li Kang Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. However, these methods may fail when shading conditions occur and the power loss can over as much as 70% due to the multiple maxima in I – P curve in shading conditions v.s. single maximum point in uniformly solar irradiance. In this paper, a Real Maximum Power Point Tracking (RMPPT) strategy under Partially Shaded Conditions (PSCs) is introduced to deal with this kind of problems. An optimization problem, based on a predictive model which will change adaptively with environment, is developed to tracking the global maxima and corresponding adaptive control strategy is presented. No additional circuits are required to obtain the environment uncertainties. Finally, simulations show the effectiveness of proposed method.

关键词： Photovoltaic systems RMPPT Partial shading Adaptive predictive control

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Improving ℒ 2 Gain Performance of Linear systems by Reset control

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IFAC Proceedings Volumes 2014年第3期47卷 6400-6405页

作者： Guanglei Zhao Dragan Nesic Ying Tan Jingcheng Wang Department of Automation Shanghai JiaoTong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Department of Electrical and Electronic Engineering University of Melbourne Parkville 3010 VIC. Australia

In this paper, new Lyapunov-based reset rules are constructed to improve ℒ 2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and finite gain ℒ 2 stability are presented. It is shown that the ℒ 2 gain of the closed loop system with resets can be improved compared with the base system. Numerical example supports our results.

关键词： Hybrid system Lyapunov-based reset rules ℒ 2 gain reset controller

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Improving guide-based vulnerability detection with hybrid symbolic execution

Improving guide-based vulnerability detection with hybrid sy...

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International Conference on systems and Informatics (ICSAI)

作者： Yongji Ouyang Shuai Zeng Chao Yang Qingxian Wang State Key Laboratory of Mathematical Engineering and Advanced Computing Zhengzhou China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479954599

Symbolic Execution is a key and useful technology in current refinement software test, but there still exists some problems such as space explosion. In order to mitigate this problem and improve the ability for detecting vulnerabilities, this paper presents the improving guide-based vulnerability detection with hybrid symbolic execution, which aims to test suspicious objects. This method conducts path traversal with a hybrid symbolic execution model, which alternates between dynamic and static symbolic execution, and verify whether it is vulnerability through summarizing the characteristics of vulnerabilities and generating a constraint expression. Experimental result shows that this method can successfully detect errors in 56 seconds, which exceeds any other modern mainstream symbolic execution tools including CUTE, KLEE, S2E and Cloud9. Compared with CUTE, this method alleviates the problem of space explosion. Besides, this papaer successfully verifies the vulnerabilities of OpenSSL and some other commonly used software.

关键词： Testing Algorithm design and analysis Software Explosions Refining Context Hybrid power systems

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Semi-global leader-following consensus of multiple linear systems with position and rate-limited actuators: The state feedback case

Semi-global leader-following consensus of multiple linear sy...

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World Congress on Intelligent control and automation (WCICA)

作者： Zhiyun Zhao Zongli Lin Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

This paper studies the semi-global leader-following consensus problem for a group of linear systems in the presence of both actuator position and rate saturation. Each follower agent in the group is described by a general linear system subject to simultaneous actuator position and rate saturation. We construct a low gain based linear state feedback control law for each follower agent and show that semi-global leader-following consensus can be achieved by using these control laws when the communication topology among follower agents is a connected undirected graph and the leader is a neighbor of at least one follower. Simulation results illustrate the theoretical results.

关键词： Actuators State feedback Topology Linear systems Multi-agent systems Closed loop systems Vectors

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A Combined Approach for Master-slave Robotic Surgery system control Based on Jacobian and PD Algorithm

A Combined Approach for Master-slave Robotic Surgery System ...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Zhonglin Zhang Jing Xiong Yangzhou Gan Dongwen Zhang Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electronic Engineering and Automation Guilin University of Electronic Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.

关键词： robotic puncture surgery teleoperation Jacobian matrix PD control algorithm vibration elimination

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An EMG Enhanced Impedance and Force control Framework for Telerobot Operation in Space

An EMG Enhanced Impedance and Force Control Framework for Te...

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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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Modeling and detection of rotating stall in axial flow compressors, II: Experimental study for a low-speed compressor in Beihang University

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2014年第10期31卷 1414-1422页

作者： Wang, Cong Si, Wen-Jie Wen, Bin-He Zhang, Ming-Ming Wang, Yong Hou, An-Ping College of Automation Science and Technology South China University of Technology GuangzhouGuangdong510640 China Institute of AVIC Aviation Motor Control System WuxiJiangsu214063 China Department of Mechanics and Engineering Science Peking University Beijing100871 China School of Energy and Power Engineering BeiHang University Beijing100191 China

Early detection of rotating stall and surge in axial flow compressors is of great importance for improving the working efficiency and stability of the compressor. Based on deterministic learning (DL) theory and dynamical pattern recognition, this paper presents experimental research for approximately accurate modeling and rapid detection of stall precursors, and then employs a low-speed axial flow compressor test rig of Beihang University for online experimental verification. Firstly, by installing high response dynamic pressure transducers arranged circumferentially around the casing of the axial compressor, the dynamic pressure data are collected. Based on deterministic learning theory, the system dynamics underlying prestall and stall inception patterns are identified. Secondly, based on modeling results, rapid detection of small oscillation faults is used to perform the detection of stall precursors. Sufficient online experiments are conducted to investigate the efficiency of the approach. Results show that, in different working speeds, this approach successfully detects inception signal of aerodynamic instability of the compressor 0:3 s~1 s in advance to the start of rotating stalls. ©, 2014, South China University of Technology. All right reserved.

关键词： Pattern recognition

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Swarm aggregations of heterogeneous multi-agent systems

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International Journal of control 2014年第12期87卷 2594页

作者： Liang, Haili Su, Housheng Wang, Xiaofan Chen, Michael Z.Q. [a] Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China[b] School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China[c] Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more resembling the practical situations, where the agents have different dynamics. We show that the heterogeneous agents will gather with a certain error under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. [PUBLICATION ABSTRACT]

关键词： swarm multi-agent systems heterogeneous systems stability

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On the Estimation of the Domain of Attraction for Saturated systems via Partitioning of the Input Space

On the Estimation of the Domain of Attraction for Saturated ...

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第三十三届中国控制会议

作者： Yuanlong Li Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479947249

This paper revisits the problem of estimating the domain of attraction for systems with saturation *** divide the input space into several regions. In one of these regions, none of the inputs saturate. In each of the remaining regions, there is a unique input that saturates everywhere with the time-derivative of its saturated signal being zero. These special properties of the inputs in different regions of the input space are combined with an existing piecewise quadratic Lyapunov functions that contains the information of input saturation to arrive at a set of less conservative stability conditions, from which a larger level set of the piecewise quadratic Lyapunov function can be obtained as an estimate of the domain of *** results indicate that the proposed approach has the ability to obtain a significantly larger estimate of the domain of attraction than the existing methods.

关键词： Actuator saturation,constrained control,domain of attraction,input saturation,piecewise quadratic Lyapunov functions,stability analysis

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