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Chinese control Conference (CCC)

作者： Fu Wang Bin Xian Guoping Huang Bo Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

In this paper, an autopilot system for the quadrotor unmanned aerial vehicle (UAV) is developed by utilizing a digital signal processor (DSP) as the on-board micro-control unit (MCU). The hardware setup and the software are also developed for the autonomous flight control of the UAV. The main design procedure includes the controller board design, brushless DC motor driver design, sensor data processing software design, and flight control algorithm design. The control algorithm is developed based on the inner loop and outer loop control method. Proportional Derivative (PD) controllers are proposed for the attitude dynamics (inner loop) and position dynamics (outer loop) respectively. Autonomous hovering control is achieved via the control of roll angle, pitch angle, yaw angle and altitude of the UAV. Experiments results are included to demonstrate the hovering control performance.

关键词： Digital signal processing Pulse width modulation Electronic mail Unmanned aerial vehicles Educational institutions Digital signal processors Heuristic algorithms

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Development of a three degree-of-freedom testbed for an unmanned helicopter and attitude control design

Development of a three degree-of-freedom testbed for an unma...

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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail process control Educational institutions control design

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Reaction Kinetic Form for Lumped process System Models

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IFAC Proceedings Volumes 2013年第14期46卷 48-53页

作者： Katalin M. Hangos Gábor Szederkényi Antonio A. Alonso Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary (Bio)Process Engineering Group IIM-CSIC Spanish National Research Council C/Eduardo Cabello 6 36208 Vigo Spain

The class of isotherm lumped process systems with constant overall mass in each of its balance volumes is considered in this paper. It is shown that the convection and transfer mechanisms can be described by a mass action law chemical reaction network (MAL CRN) with only linear kinetics where the in- and outflow terms are represented using the zero complex. This gives rise to a convection and transfer reaction sub-graph that connects atomic complexes consisting of the components in the balance volumes of the system. The real chemical reactions in each of the balance volumes can be described by their own CRNs, where the chemical reaction sub-graphs may be disconnected from the convection and transfer reaction sub-graph when nonlinear reactions occur. In the case of chemical reactions with a finite number of steady state points, the underlying linear dynamical system enables us to construct a dynamically similar linear overall reaction graph for the whole process system. The resulting overall reaction graph can be used for structural stability analysis by applying its graph theoretical properties.

关键词： process control Chemical variables control Modelling Graph theoretic models Structural stability

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Reachable Set Analysis for Dynamic Neural Networks with Polytopic Uncertainties

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Communications in Theoretical Physics 2012年第5期57卷 904-908页

作者：左志强陈银萍王一晶 Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

In this paper,the reachable set estimation problem is studied for a class of dynamic neural networks subject to polytopic *** problem addressed here is to find a set as small as possible to bound the states starting from the origin by inputs with peak *** maximal Lyapunov functional is proposed to derive a sufficient condition for the existence of a non-ellipsoidal bound to estimate the states of neural *** is theoretically shown that this method is superior to the traditional one based on the common Lyapunov ***,two examples illustrate the advantages of our proposed result.

关键词： neural networks reachable set polytopic uncertainties maximal Lyapunov functional

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Modeling and design of Networked control Systems based output feedback control

Modeling and design of Networked Control Systems based outpu...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Lei-Ming Liu Shu-Hua Yang Chao-Nan Tong School of Automation & Electrical Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) Beijing China

ISBN: (纸本)9781479902590

The model of NCS (Networked control Systems) with output feedback controller is presented for the case when the network- induced random time-varying delays are bounded and the upper bound of which is longer than one sampling period. Thus we established a discrete-time jump system model with Markov delay. Based on this, this paper gives the optimization method to design stabilizing controllers. This paper generalizes previous results on delay-less output feedback control systems and state feedback systems with Markov time delay. Theoretical analysis and simulation on a two input two output system with Markov time delay show that the output feedback controller we proposed can make the system stable.

关键词： Analytical models Output feedback Abstracts Barium Optimization

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Model Reduction of Two-Dimensional Discrete-time Systems Based on Finite-Frequency Approach

Model Reduction of Two-Dimensional Discrete-time Systems Bas...

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第三十二届中国控制会议

作者： Da-Wei Ding Xiaoli Li School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process(Ministry of Education) University of Science and Technology Beijing

ISBN: (纸本)9781479900305

This paper deals with the model reduction problem of two-dimensional(2-D) discrete-time systems described by the Roesser *** from existing fuU-frequency methods,we propose a finite-frequency model reduction method for 2-D Roesser *** the generalized Kalman-Yakubovich-Popov(GKYP) lemma for 2-D systems,sufficient conditions are developed for model reduction of 2-D Roessor systems over low-frequency,and middle-frequency,*** proposed finite-frequency model reduction method can get a better approximation accuracy than the existing full-frequency ones over the finite-frequency *** effectiveness of the proposed method is illustrated by a numerical example.

关键词： Model reduction two-dimensional Roesser systems finite-frequency ranges

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Integral input-to-state stability of switched nonlinear systems

Integral input-to-state stability of switched nonlinear syst...

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第三十二届中国控制会议

作者： Yue-E Wang Caiyun Wu Xi-Ming Sun Georgi M. Dimirovski Jun Zhao The State Key Laboratory of Synthetical Automation for Process Industries (Northeastern University) The School of Control Science and Engineering Dalian University of Technology The school of Engineering Dogus University The school of FIET SS Cyril and Methodius University

ISBN: (纸本)9781479900305

This paper addresses the issues of the input-to-state stability (ISS) and integral input-to-state stability (iISS) for a class of switched nonlinear systems. Based on a piecewise Lyapunov function method, some sufficient conditions are explicitly given to guarantee the ISS and iISS of the switched nonlinear system under a certain class of switching signals, respectively. Moreover, the Lyapunov function considered in this paper decays in a more general form, which is presented as the negative definite function of the state instead of just some negative multiple of the Lyapunov function. This gives a more general sufficient conditions of input-to-state stability for switched nonlinear systems.

关键词： Switched nonlinear system, Input-to-state stability, Integral input-to-state stability

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning System Electronic mail Algorithm design and analysis MATLAB

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Calculation and Analysis of Temperature Distribution in Hot Rolling Strip

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Telkomnika - Indonesian Journal of Electrical engineering 2013年第7期11卷 3945-3956页

作者： Peng, Kaixiang Key Laboratory for Advanced Control of Iron and Steel Process School of Automation and Electrical Engineering University of Science and Technology of Beijing No. 30 Xueyuan Road Haidian District Beijing 100083 China

Modern steel grades require constant and reproducible production conditions both in the hot strip mill and in the cooling section to achieve constant material properties along the entire strip length and from strip to strip. Calculation of the temperature in final rolling process always utilizes factors such as the work piece's inner organizational structure, plastic deformation, and it's variations of properties and so on, also as well as the physical parameters such as gauge, shape, etc. In this paper, a finite element model is constructed for the temperature field in a rolling *** temperature field of strip steel is modeled with a 3-D finite element analysis (FEA) structure, simultaneously considering the distribution of thework roll temperature. Then the distribution of field is simulated numerically. From the model, the temperature contours can be obtained by analysis of the temperature distribution of contact area. At the same time, the distribution of temperature in any position at any time can be acquired. These efforts provide the reliable parameters for the later finishing temperature and shape control. © 2013 Universitas Ahmad Dahlan.

关键词： Hot rolling

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Fine-grained image classification using color exemplar classifiers

Fine-grained image classification using color exemplar class...

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14th Pacific-Rim Conference on Multimedia, PCM 2013

作者： Zhang, Chunjie Xiong, Wei Liu, Jing Zhang, Yifan Liang, Chao Huang, Qingming School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences P.O. Box 2728 Beijing China National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783319037301

The use of local features has demonstrated its effectiveness for many visual applications. However, local features are often extracted with gray images. This ignores the useful information within different color channels which eventually hinders the final performance, especially for fine-grained image classification. Besides, the semantic information of local features is too weak to be applied for high-level visual applications. To cope with these problems, in this paper, we propose a novel fine-grained image classification method by using color exemplar classifiers. For each image, we first decompose it into multiple color channels to take advantage of the color information. For each color channel, we represent each image with a response histogram which is generated by exemplar classifiers. Experiments on several public image datasets demonstrate the effectiveness of the proposed color exemplar classifier based image classification method. © Springer International Publishing Switzerland 2013.

关键词： Image classification

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