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IEEE International Conference on Robotics and Biomimetics

作者： Wenfu Xu Bin Liang Cheng Li Wenyi Qiang Yangshen Xu Ka Keung Lee Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

The nonholonomic characteristic of space robot is used to plan the path of the manipulator, by whose motion the base attitude and the manipulator joints attain the desired states. Firstly, the functions of the joint angles are parameterized by sinusoidal functions. Secondly, the objective function is defined according to the accuracy requirement and the constraints of the system state. Finally, genetic algorithm (GA) is used to search the global optimal solution of the parameters. Comparing with other methods, our approach has a number of advantages: 1) The kinematic and dynamic constraints of the manipulator are taken into consideration in the planning process; 2) The dynamic singular point doesn't affect the algorithm since only the direct kinematic equations are utilized; 3) The planned path is very smooth and more applicable in controlling the manipulator; 4) The state converges to the global optimal values. The simulation results verify the method.

关键词： Path planning Orbital robotics Genetic algorithms Manipulator dynamics Satellites Space technology Equations Space vehicles Kinematics Bismuth

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An efficient method of small targets detection in low SNR

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Journal of Physics: Conference Series 2006年第1期48卷 427-430页

作者： Wang, Y.L. Dai, J.M. Sun, X.G. Wang, Q. Department of Automation Measurement and Control Engineering Harbin Institute of Technology Harbin 150001 PO Box 308 China

In this paper, an efficient method based on nonlinear adaptive filtering is proposed to detect the small IR target of low SNR under the complex background. The morphologic filter can be constructed firstly based on the IR radiation traits of low SNR small targets in the complex background and then a morphological method is used to eliminate the influence of the unbalance background to the image segmentation. Next an algorithm of adaptive threshold segmentation is adopted in order to select the small moving target and the noise points. Finally, on the basis of image sequences, the satisfactory targets detection is accomplished after eliminating wrong point targets. The method presented in this paper can effectively suppress the noise and the air background of the original image, enhance the ability of point target detection in single frame. © 2006 IOP Publishing Ltd.

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Stability and stabilization of switched linear discrete-time systems with polytopic uncertainties

Stability and stabilization of switched linear discrete-time...

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American control Conference (ACC)

作者： Huijun Gao Lixian Zhang Peng Shi Shaoshuai Mou Changhong Wang Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China

In this paper, the problems of stability and stabilization of switched linear discrete-time systems with polytopic uncertainties are investigated. A switched parameter-dependent quadratic Lyapunov function is proposed, by which the stability conditions are derived and formulated in terms of a set of linear matrix inequalities. Based on the stability result, control synthesis is then considered and a stabilizing state-feedback controller is obtained by solving a convex optimization problem subject to linear matrix inequalities. Both mode-dependent and parameter-dependent ideas are used in stability analysis and controller design for the underlying systems. Numerical examples are given to show the less conservativeness and the potential of the obtained theoretic results

关键词： Stability Uncertainty Switched systems Lyapunov method control systems Space technology Linear matrix inequalities control system synthesis Uncertain systems Robust control

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ADAPTIVE KERNEL DISCRIMINANT ANALYSIS AND ITS APPLICATIONS ON PATTERN RECOGNITION

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International Journal of Information Acquisition 2006年第4期3卷 329-337页

作者： JUN-BAO LI JENG-SHYANG PAN Department of Automatic Test and Control Harbin Institute of Technology Harbin China Group Laboratory Address Department of Electronic Engineering National Kaohsiung University of Applied Sciences Kaohsiung Taiwan R.O.C

In pattern recognition, feature extraction techniques are widely employed to reduce the dimensionality of data and to enhance the discriminatory information. In this paper, we present an extension of KFD method based on the data-dependent kernel, called the adaptive kernel discriminant analysis (AKDA), for feature extraction and pattern classification. AKDA is more adaptive to the input data than KDA owing to the optimization of projection from input space to feature space with the data-dependent kernel, which enhances the performance of KDA. Experimental results on ORL, Yale and MNIST database show that the proposed AKDA gives the higher performance than KDA.

关键词： Kernel discriminant analysis adaptive kernel discriminant analysis kernel method feature extraction

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Spacecraft Vibration Damping Using Shaped Command Input

Spacecraft Vibration Damping Using Shaped Command Input

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World Congress on Intelligent control and Automation (WCICA)

作者： Yaqiu Liu Qinglei Hu Wenlong Song School of Information and Computer Engineering Northeast Forestry University Harbin China Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Electromechanical Engineering Northeast Forestry University Harbin China

This investigation is to apply the so-called component synthesis vibration suppression (CSVS) based feedforward control and the conventional PD feedback control to the vibration control of a flexible spacecraft. The proposed control design process is two fold: design of the attitude controller followed by the design of a flexible vibration attenuator. The attitude control law design is based on the Lyapunov stability theory to achieve a stabilizing closed-loop system. The shaped command input controller based on the CSVS method is designed for the reduction of the flexible vibration by modifying the command input, which only requires information about the natural frequency and damping of the closed-loop system. To extend the CSVS method to the system with the on-off actuators, the pulse-width pulse-frequency (PWPF) modulation is introduced to control the thruster firing and integrated with the CSVS method. The simulation results have been proven the potential of this technique to control flexible spacecraft

关键词： Space vehicles Damping Vibration control control systems Pulse modulation PD control Feedback control control design Attitude control Attenuators

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An LMI approach to fault detection and isolation filter design for Markovian jump system with mode-dependent time-delays

An LMI approach to fault detection and isolation filter desi...

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American control Conference (ACC)

作者： Hongru Wang Changhong Wang Huijun Gao Ligang Wu Space Control and Inertial Technology Research Centre Harbin Institute of Technology Harbin Heilongjiang China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

This paper investigates robust fault detection and isolation problem for a class of discrete-time Markovian jump systems with mode-dependent time-delays and norm-bounded uncertainties. Attention is focused on constructing the residual generator based on the filter whose parameters depend on the system modes and formulating fault detection and isolation filter design as H infin filtering problem. The objective is to make the difference between the residual and the fault as small as possible in the context of enhancing robustness of the residual on unknown inputs, control inputs and modeling errors. Sufficient condition for the existence of the above filters is established by means of LMIs. A numerical example is given to illustrate the feasibility of the proposed method

关键词： Fault detection Filters Space technology Robustness Filtering Uncertainty Robust control Context modeling Error correction Sufficient conditions

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Nonlinear Distance Measure Based Discriminant Pursuit Algorithm for Defects Classification in Ultrasonic NDT

Nonlinear Distance Measure Based Discriminant Pursuit Algori...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xiuli Du Yi Shen Zhiduo Xu Department of Control Science and Engineering Harbin Institute of Technology Harbin Heilongjiang China ChangZhou JianHu Intelligentize Meter Company Limited Changzhou Jiangsu China

Discriminant pursuit selects time-frequency atoms as discriminant features that differentiate signals of different classes. Nonlinear distance measure was proposed to replace the common Euclid distance measure in Fisher's class separability criterion, which was used as discriminant criterion in discriminant pursuit. The presented method emphasizes minimizing the inner distance of the same class mainly. The coefficient vectors obtained by discriminant pursuit represent the time-frequency discriminant features of each class and were feed to the multiplayer perceptron neural network. The results show that the classification based on the proposed method perform best in identifying ultrasonic testing signal with accuracy rate 96-100% and very low mean squared error

关键词： Ultrasonic variables measurement Pursuit algorithms Time frequency analysis Atomic measurements Matching pursuit algorithms Dictionaries Acoustic measurements Neural networks Performance evaluation Nondestructive testing

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Kernel Method for Building Fuzzy Classifiers

Kernel Method for Building Fuzzy Classifiers

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World Congress on Intelligent control and Automation (WCICA)

作者： Guangfu Ma Liangkuan Zhu Genting Yan Degang Chen Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Mathematics & Physics North China Electric Power University Beijing China

This paper investigates the connection between modified fuzzy basis function (MFBF)-based classifiers and support vector classifiers, establishes a link between fuzzy rules and kernels, and proposes a new approach to build MFBF-based classifiers. Under some minor constrains, the equivalence of the two seemingly quite distinct classifiers is proved. Moreover, the kernel method has the inherent advantage that the MFBF-based classifiers do not have to determine the number of rules in advance. The designed classifier can be represented as a decision function consisting of series expansion of MFBFs, and this also makes itself to be interpretable. The performance of the proposed approach is illustrated by IRIS data sets and comparisons with other methods are also provided

关键词： Kernel Fuzzy systems Fuzzy logic Support vector machines Support vector machine classification Iris Buildings Machine learning Power engineering and energy Mathematics

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Stabilization of sampled-data T-S fuzzy systems

Stabilization of sampled-data T-S fuzzy systems

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Systems and control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

作者： Huijun Gao Tongwen Chen Space Control and Inertial Technology Research Center Harbin Institute of Technology China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada

ISBN: (纸本)0780393953

This paper investigates the problem of stabilization for a Takagi-Sugeno (T-S) fuzzy system with nonuniform uncertain sampling. The sampling is not required to be periodic, and the only assumption is that the distance between any two consecutive sampling instants is less than a given bound. By using the input delay approach, the T-S fuzzy system with variable uncertain sampling is transformed into a continuous-time T-S fuzzy system with a delay in the state. A new condition guaranteeing asymptotic stability of the closed-loop sampled-data system is derived by a Lyapunov approach plus the free weighting matrix technique. Based on this stability condition, two procedures for designing state-feedback control laws are given: one casts the controller design into a convex optimization by introducing some over design, and the other utilizes the cone complementarity linearization (CCL) idea to cast the controller design into a sequential minimization problem subject to linear matrix inequality (LMI) constraints, which can be readily solved using standard numerical software.

关键词： Lyapunov matrix equations asymptotic stability closed loop systems controllers convex programming fuzzy systems linear matrix inequalities minimisation state feedback Lyapunov approach Takagi-Sugeno fuzzy system asymptotic stability closed-loop sampled-d

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Optimal Filtering for Stochastic Descriptor Systems with Delayed Measurements

Optimal Filtering for Stochastic Descriptor Systems with Del...

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World Congress on Intelligent control and Automation (WCICA)

作者： Haoqian Wang Huanshui Zhang Guangren Duan Qionghai Dai Xiaodong Liu Department of Automation Tsinghua University Beijing China Shenzhen Graduate School Harbin Institute of Technology Shenzhen Guangdong China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin Heilongjiang China Graduate school at Shenzhen Tsinghua University Shenzhen Guangdong China

This note deals with discrete-time stochastic descriptor systems with both instantaneous and delayed measurements. The condition of the estimability for such system is given. By introducing the reorganized measurement sequence, the optimal Kalman filter and corresponding filtering error covariance matrix are derived. The optimal filter is calculated without resorting to state augmentation which lessons the computation demand greatly. A numerical example is presented to illustrate the given algorithm

关键词： Filtering Stochastic systems Delay systems Delay estimation State estimation Noise measurement Current measurement Delay effects Technological innovation Time measurement

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