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IEEE International Conference on Robotics and automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration automation

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Cooperative robust output regulation for second-order nonlinear multi-agent systems with an unknown exosystem

Cooperative robust output regulation for second-order nonlin...

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IEEE Annual Conference on Decision and control

作者： Yi Dong Jie Chen Jie Huang Department of Automation Chinese University of Hong Kong Shatin N.T. Hong Kong State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

The cooperative robust output regulation problem for a class of second-order nonlinear multi-agent systems with an exactly known exosystem has been studied recently. This paper further studies the same problem for a class of second-order nonlinear multi-agent systems subject to an unknown exosystem. We first show that the problem can be converted into the adaptive stabilization problem for a modified augmented system composed of the given multi-agent system and the distributed internal model. Due to the uncertain parameter in the exosystem, the augmented system is a nonlinear multi-input system with both dynamic and static uncertainties. By combining the adaptive control technique and the robust control technique, we solve our problem by a distributed adaptive robust state feedback controller.

关键词： Multi-agent systems Mathematical model Robustness Robust control automation Electronic mail Nickel

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Modular Fault Diagnosis in Fixed-Block Railway Signaling systems

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IFAC-PapersOnLine 2016年第3期49卷 459-464页

作者： Durmus, Mustafa S. Ustoglu, lker Tsarev, Roman Y. Schwarz, Michael Electrical and Electronics Engineering Department Pamukkale University Denizli Turkey Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Institute of Space and Information Technology Siberian Federal University Krasnoyarsk Russia Computer Architecture and System Programming Kassel University Kassel Germany

The diagnosis of possible faults in railway signaling systems is an important issue to provide safe travel and transportation in railways. Signaling system designers have to consider the possible faults which may occur in railway field components both on the requirements preparation phase and on the development phase of the signaling system software or namely, the interlocking system. Although the diagnosis of different unobservable faults is relatively hard, especially for large scale railway fields, this complexity can be overcome by using the Discrete Event system (DES) based modular diagnosis approach which is explained in this paper. The main advantage of using such modular approach for fault diagnosis in fixed-block signaling systems is the inspection of the diagnosability of the whole system with respect to its subsystems (railway field components). In this study, the diagnosability of the railway field equipment and the whole system is also explained with a case study. © 2016

关键词： Fault detection Discrete event simulation Failure analysis Railroad signal systems Railroads Signaling Development phase Field components Field equipment Fixed block signaling Interlocking systems Modular approach Railway signaling systems Signaling systems

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The optimization of location and control of pump stations in urban drainage system 35

The optimization of location and control of pump stations in...

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第35届中国控制会议

作者： CUI Yiqun HOU Shufang LI Dewei XI Yugeng CEN Lihui Key Laboratory of System Control and Information Processing Ministry of Education of ChinaDepartment of AutomationShanghai Jiao Tong University School of Information Science and Engineering Central South University

ISBN: (纸本)9781509009107

To reduce the overflow of the wastewater and high expense caused by redundant arrangement of the stations of pumps in the urban drainage system,a hybrid logistic optimization model is proposed to choose the locations of pump stations and the corresponding optimal control algorithm is also developed in this *** inflow in the conduit from rainfall is estimated based on rainfall-runoff model and meanwhile the performance of the pump is described by the nonlinear pump *** determining the optimal pump locations by the optimization algorithm,this paper further studies the energy saving optimal control of the *** taking both the position and the working situation of the pumps into consideration,the energy consumption of the system and the frequency of overflow can be brought down effectively.

关键词： Urban Drainage system Pump Station Locations Energy Saving Hybrid Optimization

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Global Stabilization of a Chain of Integrators by a Switching Event-Triggered Bounded control

Global Stabilization of a Chain of Integrators by a Switchin...

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American control Conference

作者： Yijing Xie Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904-4743 USA

ISBN: (纸本)9781509045839

This paper studies the problem of global stabilization of multiple integrator systems using event-triggered bounded controls. The linear system is described by a chain of integrators of arbitrary length n. A switching event-triggered bounded control law is constructed. This control law switches among a sequence of n event-triggered control laws. A switching strategy is designed for the selection of an individual event-triggered control law and an event-triggering strategy is designed for updating the control value of each of these control laws. This switching event-triggered control law is shown to achieve global asymptotic stabilization. The absence of the Zeno behavior is also established. Simulation results are given to illustrate the theoretical results.

关键词： Event-triggered control bounded control global stabilization bounded control Event trigger control law integrators Chains linearly ordered set switching

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Thoughts and analysis of some problems in the hydraulic control system design with the WBD

Thoughts and analysis of some problems in the hydraulic cont...

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2016 IEEE/CSAA International Conference on Aircraft Utility systems, AUS 2016

作者： Huijun, Jiang Cheng, Qin Yaoxing, Shang Xiaochao, Liu Department of Flight Control and Hydraulic System AVIC the First Aircraft Institute Xi'an710089 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (纸本)9781509010875

This paper presents the system works, solution of the limited hydraulic source with the velocity inner loop, and the system optimal design method of reduction ratio. Through modeling and simplifying the system, the static and dynamic characteristics are analyzed, and the selecting requirements of affecting its parameters are proposed. A method is raised to reduce the peak pressure of the hydraulic drive unit (PDU) inlet and outlet pipes and its internal motor. © 2016 IEEE.

关键词： Design

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A hierarchical urban network control with integration of demand balance and traffic signal coordination

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IFAC-PapersOnLine 2016年第3期49卷 31-36页

作者： Zhou, Zhao Lin, Shu Xi, Yugeng Li, Dewei Zhang, Jun Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control Information Processing Ministry of Education of China Shanghai200240 China School of Computer and Control Engineering University of Chinese Academy of Science Beijing100049 China Joint Institute of UM-SJTU Shanghai Jiao Tong University Shanghai200240 China

This paper concerns the integration of demand balance control and traffic flow coordination control in a hierarchical framework for complex urban traffic networks. At the first level, a complex traffic network is first partitioned into several subnetworks. The traffic dynamics in each subnetwork is modeled by utilizing the concept of Macroscopic Fundamental Diagram (MFD), which relates the network-wide space-mean flow and the number of vehicles at the aggregated level. This model aims at designing a demand balance model predictive controller (MPC), which can improve the internal flow inside the subnetwork by regulating the input flows from outside. At the second level, based on a more detailed traffic flow model, the signal timings of all intersections for each subnetwork are determined by a flow coordination MPC controller, which aims at distributing the number of vehicles in each subnetwork as homogeneously as possible. The effectiveness of the proposed approach is investigated via simulation under different scenarios on a hypothetical urban traffic network, and the performance is compared with other control strategies. © 2016

关键词： Street traffic control

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Data-driven Unfalsification based Robust Fault Tolerant control 35

Data-driven Unfalsification based Robust Fault Tolerant Cont...

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第35届中国控制会议

作者： Ma Weize Li Xiaocheng Wang Jingcheng Wang Bohui Lin Hai National Engineering and Research Center for Commercial Aircraft Manufacturing Commercial Aircraft Corporation of China Ltd Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781509009107

The paper combined the unfalsified control(UC) which is a data-driven method and Youla parameterization for fault-tolerant control(FTC).The controller reconstruction of the FTC method uses the Youla parameterization for handling with faulty *** is a passive and model-free FTC method without know about plant models or faults *** candidate controller structure is pre-designed by the prior information,and then the FTC is done through tuning Youla parameter without changing the controller *** UC-FTC is done by the following three steps:design of candidate controllers,performance monitor,switching and *** method also provides an finite controller set to seek for the best performance by unfalsified ***,the UC-FTC method is applied to a MIMO system.

关键词： unfalsified control Youla parameterization fault-tolerant control

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Observer-based fault detection for affine nonlinear systems with disturbances and uncertainties 35

Observer-based fault detection for affine nonlinear systems ...

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第35届中国控制会议

作者： HAN Huayun YANG Ying LI Linlin Chen Yu State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University School of Automation and Electrical Engineering University of Science and Technology Beijing the Institute for Automatic Control and Complex Systems (AKS) University of Duisburg-Essen Beijing Institute of Astronautics System Engineering

ISBN: (纸本)9781509009107

This paper is concerned with the integrated design schemes of L observer-based fault detection（FD） systems for affine nonlinear processes with disturbances and uncertainties,*** this end,a so called L observer-based FD scheme is studied ***,the integrated design approaches for nonlinear systems with disturbances and uncertainties are addressed,*** the end,examples are given to illustrate the effectiveness of the proposed approaches.

关键词： Robust Fault Detection Observer Design Affine Nonlinear systems

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Repeated Strike Process During Disconnector Operation in Ultra-High Voltage Gas-Insulated Switchgear

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Plasma Science and Technology 2016年第3期18卷 247-253页

作者：关永刚蔡元纪陈维江刘卫东李志兵岳功昌张俊民 State Key Lab of Control and Simulation of Power System and Generation Equipments Department of Electrical EngineeringTsinghua UniversityBeijing 100084China State Grid Corporation of China Beijing 100031China China Electric Power Research Institute Beijing 100192China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Very fast transient over-voltage （VFTO）, induced by disconnector operations in gas- insulated switchgears, has become the limiting dielectric stress at ultra-high voltage levels. Much work has been done to investigate single-strike waveforms of VFTO. However, little study has been carried out investigating the repeated strike process, which would influence VFTO significantly. In this paper, we carried out 450 effective experiments in an ultra-high voltage test circuit, and conducted calculations through the Monte Carlo simulation method, to investigate the repeated strike process. Firstly, the mechanism of the repeated strike process is proposed, based on the ex- perimentai results. Afterwards, statistical breakdown characteristics of disconnectors are obtained and analyzed. Finally, simulations of the repeated strike process are conducted, which indicate that the dielectric strength recovery speed and polarity effect factor have a joint effect on VFTO. This study enhances the understanding of the nature of VFTO, and may help to optimize the disconnector designed to minimize VFTO.

关键词： disconnector （DS） repeated strike process discharge statistical breakdowncharacteristics ultra-high voltage （UHV） very fast transient over-voltage （VFTO）

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