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IEEE Conference on Decision and control

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.

关键词： Column formation control multi-robot systems leader-follower input constraints elliptic approximation

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Robust L_(2) - L_(infinity) Consensus control of the Second-order Multi-agent systems with Time-delay

Robust L_(2) - L_(infinity) Consensus Control of the Second-...

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IEEE Conference on Decision and control

作者： Yan Cui Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L_(2) - L_(infinity) control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the convergence to consensus of the network under fixed or switching topology. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.

关键词： Topology Europe

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Collision Avoidance Maneuver Design Based on Equidistance Interpolation

Collision Avoidance Maneuver Design Based on Equidistance In...

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IEEE Conference on Decision and control

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust Vision measurement Switch control law The specified trajectory Equidistance interpolation

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Gaussian mixture PHD filter for multiple maneuvering extended targets tracking

Gaussian mixture PHD filter for multiple maneuvering extende...

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IEEE Conference on Decision and control

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.

关键词： Maneuvering Filters shape parameter extended target Gauss Subset numerical example

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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Risk-Sensitive Cubature Filtering for Jump Markov Nonlinear systems and Its Application to Land Vehicle Positioning ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 20-25页

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.

关键词： Markov models Kalman filters estimation theory target tracking

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Adaptive Failure Compensation of Hysteric Actuators in controlling Uncertain Nonlinear systems

Adaptive Failure Compensation of Hysteric Actuators in Contr...

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2011 American control Conference (ACC)

作者： Jianping Cai Changyun Wen Hongye Su Xiaodong Li Zhitao Liu Jianping Cai Hongye Su and Zhitao Liu are State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems University of Zhejiang Hangzhou China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Beijing Research Institute of Automation For Machinery Industry Beijing China

Hysteresis nonlinearity exists in many physical actuators and actuator failures seem inevitable in practice. However, there is still no result available to compensate for failures of hysteric actuators in the design of controllers based on adaptive approaches. In this paper, we address such a problem by considering controlling a class of unknown nonlinear systems with multiple hysteric actuators. Two schemes are presented to design control signals for these actuators. Both schemes can accommodate uncertain patterns, values and time of actuator failures, in addition to system parametric uncertainties. It is shown that the designed controllers can compensate for failure and hysteresis effects of the actuators in the sense that system stability and tracking performance are maintained no matter whether this is any actuator failure or not.

关键词： Actuators Stability analysis Adaptive control Nonlinear systems Lyapunov methods Hysteresis Backstepping

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on control, automation and systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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AASVMES: An intelligent expert system for realization of Adaptive Autonomy using Support Vector Machine

AASVMES: An intelligent expert system for realization of Ada...

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International Conference on control, Instrumentation, and automation

作者： N. Hassanpour M. A. Zamani A. Fereidunian H. Lesani Systems and Machines Research Laboratory (SMRL) Control and Intelligent Processing Center of Excellence (CIPCE) School of ECE University of Tehran Tehran Iran Electrical and Computer Engineering Department K. N. Toosi University of Technology Tehran Iran

We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), referred to as Adaptive Autonomy Support Vector Machine Expert System (AASVMES). The proposed system prescribes proper Levels of automation (LOAs) for various environmental conditions, here modeled as Performance Shaping Factors (PSFs), based on the extracted rules from the experts' judgments. SVM is used as an expert system inference engine. The practical list of PSFs and the judgments of GTEDC's (the Greater Tehran Electric Distribution Company) experts are used as expert system database. The results of implemented AASVMES in response to GTEDC's network are evaluated against the GTEDC experts' judgment. Evaluations show that AASVMES has the ability to predict the proper LOA for GTEDC's Utility Management automation (UMA) system, which changes in relevance to the changes in PSFs; thus providing an adaptive LOA scheme for UMA.

关键词： Support vector machines Training Expert systems Complexity theory automation Adaptive systems Humans

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A Roller-Loading Bioreactor System for Researching Cartilage Mechanobiology

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Procedia Environmental Sciences 2011年 8卷 197-201页

作者： Junxia Gao Chunqiu Zhang Haiying Liu Lilan Gao Minglin Sun Xin Dong School of Mechanical Engineering Tianjin University of Technology.Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry SystemsTianjin300384 China Department of Orthopaedics Affiliated Hospital of Chinese People's Armed Police Force Tianjin 300162 China Department of mechanics College of Mechanical Science and Engineering Jilin University Changchun 130025 China

With the aging of human society and the rapid development of transportation industry, the disease rates of bone and joint are also in constant increase, making the biological healing and regeneration of articular cartilage as a core issue of joint surgery in basic and clinical. In general, the regeneration capacity of articular cartilage injury difficult to selfrepair is considered to be limited. At present, many new technologies and methods have been used for clinical treatment, but it only can relieve the pain of the patients. Human knee joint has two main movement patterns: rolling and sliding. Rolling, as a typical representative of the articular cartilage, is very similar to the mechanical environment in vivo. Accordingly, we first proposed and developed this rolling depression loading device with perfusion system for the mechanobiology researching on in vitro articular cartilage, which includes rolling control system, compression adjusting system and circulating perfusion system. The innovation of the biological reactor is the combination of the rolling loading system and circulation of grouting system. The roll controlling system is achieved by roller rolling back and forth through stepper motor driving screw rod. The compressive system could produce uniform, controlled compressions by relatively sliding of two wedge blocks. The circulating perfusion system is mainly finished by controlling the peristaltic pump. It can provide an environment which is closer to the normal physiological condition of articular cartilage. Rolling depression loading is useful to clarify the pathogenesis of osteoarthritis and apply biomechanical factors to prevent and treat osteoarthritis and repair cartilage. This device is small enough to work in the general culture box, and we will test it with biological experiment in future.

关键词： Rolling depression loading Mechanobiology Vitro cartilage

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