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International Conference on control, automation and Robotics (ICCAR)

作者： Irem Toroslu Mustafa Doğan Department Of Electrical and Electronic Engineering Başkent University Ankara Turkey Department Of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

The Simultaneous Localization and Mapping (SLAM) is the process of building a map of an environment with an unknown topography by a mobile robot. The purpose of this paper is to build a mapping of an unknown environment by the mobile robot which we designed through the help of sensor fusion algorithms we have established. The mobile robot performs its mapping process by using the combination of ultrasonic, optical encoder and IMU sensors. Determining the position of the obstacles and its own location, for the mobile robot, is the core of this study. Inertial and rotational sensors are utilized to calculate the distance and position of the mobile robot. Due to low cost, the ultrasonic sensor is used instead of a Lidar laser, and the real-like results were provided. In this study, the robot's direction and movement is performed by an algorithm developed on the Raspberry Pi processor. This algorithm controls the movement of the wheels with the information received from the optical encoder and protractor. The data received from the gyroscope and the accelerometer is very affected from many external factors such as vibrational motion and the noise, eventhough, we used moving average filter and complementary filter to reduce the effect of the noise and measurement error problems. However, they still produce faulty results when calculating distance values. Therefore, the distance computation is carried out by using optical encoder instead of the accelerometer. The algorithm of the distance computation is written in Python programming language. In this study, it is established that the comparative usage of several detectors provide more accurate results. At the same time, the system is quite efficiently developed by using open structure software (Raspberry Pi, Linux etc.) and writing authentic libraries. The robot's coordinate information are combined under simulation medium by using Pygame library and by computing the coordinates of its location and the coordinates of the

关键词： Optical filters Mobile robots Low pass filters Simultaneous localization and mapping IIR filters Gyroscopes

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Propagation of interacting diseases on multilayer networks

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Physical Review E 2018年第1期98卷 012303-012303页

作者： Shenyu Zhou Shuangdie Xu Lin Wang Zhixin Liu Guanrong Chen Xiaofan Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Beijing 100190 China Department of Electronic Engineering City University of Hong Kong Hong Kong China

The study on the dynamics of interacting diseases has attracted considerable attention in recent years. This paper proposes a model for two interacting epidemics spreading concurrently on a two-layer network, where both the epidemic thresholds and the dynamics of disease outbreaks are investigated. The analytical expression of the epidemic threshold shows strong coupling between the two interacting epidemics. Moreover, two metrics, the maximum prevalence and the highest spreading speed, are proposed to describe the outbreak process. Theoretical analysis together with extensive simulations illustrate the functions of various factors, including the network topological parameters, percentage of overlapped network links, vulnerable individuals, and the reciprocity of the two diseases. It is found that the seemingly important factor, i.e., the percentage of overlapped links, possesses no effect on the propagation, while the frequently overlooked factor, i.e., the percentage of vulnerable individuals, has significant effects. For the interaction of the two diseases, the recovery state of one disease is more influential than the other in both the mutually enhanced and the mutually impaired situations.

关键词： Network diffusion Network structure Multilayer & multiplex networks Epidemic spreading SIR model

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Hierarchic neighbors embedding

arXiv

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arXiv 2019年

作者： Liu, Shenglan Yu, Yang Liu, Yang Qiao, Hong Feng, Lin Feng, Jiashi School of Computer Science and Technology Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian Liaoning116024 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore

Manifold learning now plays a very important role in machine learning and many relevant applications. Although its superior performance in dealing with nonlinear data distribution, data sparsity is always a thorny knot. There are few researches to well handle it in manifold learning. In this paper, we propose Hierarchic Neighbors Embedding (HNE), which enhance local connection by the hierarchic combination of neighbors. After further analyzing topological connection and reconstruction performance, three different versions of HNE are given. The experimental results show that our methods work well on both synthetic data and high-dimensional real-world tasks. HNE develops the outstanding advantages in dealing with general data. Furthermore, comparing with other popular manifold learning methods, the performance on sparse samples and weak-connected manifolds is better for HNE. Copyright © 2019, The Authors. All rights reserved.

关键词： Topology

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DINS: A Distributed Scheme for Sensor Fusion over Fading Channels

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IFAC-PapersOnLine 2017年第1期50卷 14284-14289页

作者： Zhu, Shanying Xu, Jinming Chen, Cailian Guan, Xinping Xue, Binqiang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore College of Automation and Electrical Engineering Qingdao University Qingdao266071 China

In this paper, we consider the problem of distributed sensor fusion in relay-assisted sensor networks with time-varying asymmetric communications over fading channels. A Distributed INnovation based Scheme (DINS) is proposed by fusing both the local measurements and the information received from neighboring nodes. We present a hybrid TDMA scheme for efficient implementation of DINS and the design of parameters of DINS to bring the effects of fading under a satisfactory level. With an appropriate design, it is shown that our algorithm is able to produce estimates with desired asymptotic properties of unbiasedness and consistency. Simulation results are provided to demonstrate the performance of DINS. © 2017

关键词： Time division multiple access Fading channels Sensor networks Appropriate designs Asymptotic properties consistency Distributed innovation Distributed schemes Distributed sensor Efficient implementation unbiasedness

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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Construction of Three-dimensional Simulation Platform for Linear Inverted Pendulum Base on Model

Construction of Three-dimensional Simulation Platform for Li...

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2018 International Conference on Modeling, Simulation and Optimization(MSO 2018)

作者： Tao ZHANG Xi-you CHEN Guang-hui LIU Hua-liang ZHANG Peng ZENG Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Key Laboratory of Industrial Control Network and System Shenyang Institute of AutomationChinese Academy of Sciences

The simulation platform and physical equipment in traditional control system of inverted pendulum are often independent of each other. Researchers are more likely to use Simulink for inverted pendulum simulation. The physical model is simplified, and the curves of the simulation result are correct as well. In this paper, a more practical nonlinear model of inverted pendulum is established. The model and control algorithm code are generated automatically based on embedded equipment, and experimental curves can be displayed in real time in a three-dimensional scene.

关键词： Linear inverted pendulum Code automatically generated Open Scene Graph(OSG)

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Discrete-Time Backstepping control for Underactuated Mechanical system with a Novel Coordinate Transformation

Discrete-Time Backstepping Control for Underactuated Mechani...

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International Conference on control, engineering & Information Technology (CEIT)

作者： Fatih Adıgüzel Yaprak Yalçın Department of Electrical and Electronic Engineering Istanbul University-Cerrahpa¸sa Istanbul Turkey Department of Control & Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676424

In this study, a discrete-time backstepping control is proposed for n-dof nonlinear mechanical systems via discrete-time partial feedback linearization and a novel discrete-time coordinate transformation. Firstly, the discrete-time model of the considered class of system is obtained using Forward Euler approximation. Then, a partial feedback controller is established in the discrete-time setting. Afterwards, a novel coordinate transformation that enables the discrete-time backstepping controller construction is proposed for the considered partially linearized systems. After applying the coordinate transformation, the discrete-time backstepping controller design is performed. The Lyapunov stability of the closed-loop system is shown. The proposed method is tested on the cart-pendulum system by simulations.

关键词： Backstepping Mathematical model Mechanical systems Feedback linearization control design control engineering

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Sizing of a sustainable condensation system for the production of sweet water through the use of photovoltaic panels in La Mesa de los Santos, Santander, Colombia

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IOP Conference Series: Materials Science and engineering 2021年第1期1154卷

作者： B E Tarazona-Romero A-J Rodriguez Nieves C L Sandoval-Rodriguez J G Ascanio-Villabona M-A Duran-Sarmiento A-D Rincon-Quintero Automation and Control Energy Systems Research Group (GISEAC) Faculty of Natural Sciences and Engineering Electromechanical engineering Unidades Tecnologicas de Santander (UTS) Student Street No 9-82 680005 Bucaramanga Colombia Energy in Building research group (ENEDI) Doctoral Program in Energy Efficiency and Sustainability in Engineering and Architecture Department of Machines and Thermal Engines University of the Basque Country (UPV / EHU) Engineer Torres Quevedo Square 1 48013 Bilbao BI Spain Doctoral Program in Electronic and Communications Department of Communications Engineering University of the Basque Country UPV/EHU 48013 Bilbao Spain

The objective of the project is to carry out the dimensioning of a photovoltaic system that allows its integration with a condensation system for the production of fresh water in isolated areas (Rural), in such a way that a sustainable condensation application capable of producing water is generated. sweet to supply small groups of inhabitants in areas where the basic supply of liquid is deficient. The study area is the department of Santander, Colombia, specifically in the Municipality of los Santos and the area known as Mesa de los Santos, in which difficult geographical conditions are presented such as: altitude of 1650 meters above sea level and deficiency in aquifers. The methodological development proposes the analysis of the meteorological conditions of the area, the identification, selection and dimensioning of the condensing system and the photovoltaic system through the amp-hour method and the software system advisor model (SAM). Additionally, a CAD model is developed to obtain the complete schematization of the model and carry out a simulation process to analyze the behavior of the integration of the aforementioned systems. Finally, a techno-economic analysis of the proposed system is carried out.

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Tracking control for an autonomous airship based on neural dynamics model with the basktepping technique and a robust sliding mode control

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International Journal of Circuits, systems and Signal Processing 2018年 12卷 505-513页

作者： Tami, Y. Melbous, A. Guessoum, A. Department of Electrical Engineering Faculty of Technology University of Medea Algeria Laboratory of Electric System and Remote Control Electronic Department University Saad Dahleb Blida Algeria

This paper presents a control approach hybrid for trajectory tracking of an autonomous airship. An integrated backstepping and sliding mode tracking control algorithm is developed for four dimensional tracking controls of an autonomous airship vehicles (AAV). First, a kinematic controller based on Neural Dynamics model with the Basktepping technique is integrated together with the dynamic controller uses a sliding mode control. In the traditional Backstepping method, speed jump occurs if the tracking error changes suddenly. The application of the biologically inspired model is designed to smooth the virtual velocity controller output, avoid speed jumps of autonomous airship vehicles in the large initial errors. Computer simulation results illustrate the effectiveness and efficiency of the control strategy proposed controller. © 2018, North Atlantic University Union. All rights reserved.

关键词： Sliding mode control

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Robust adaptive attitude control for carrier based aircrafts in the landing process under the carrier air wake disturbance 36

Robust adaptive attitude control for carrier based aircrafts...

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第36届中国控制会议

作者： Jianglong Yu Yongzhao Hua Peng Yang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Aviation System Research Department System Engineering Research Institute

ISBN: (纸本)9781538629185

When naval vessels moving on the sea, the carrier air wake disturbance will arise. The carrier air wake makes the landing environment of carrier aircraft fair adverse, which puts forward a high demand for the high precise attitude control of carrier based aircrafts. In this paper, high precise robust attitude control problems for carrier based aircrafts with the carrier air wake disturbance are investigated. Firstly, the small disturbance linearization method is introduced to transform the nonlinear system into a linear one, which is a necessary procedure for aircraft system analysis and controller design. Secondly, the model of the carrier air wake disturbance is established and its effects on the aerodynamic parameters are analyzed in detail. Then the effects are transformed into the augmented disturbance in the system. Thirdly, a nonlinear extended state observer is utilized to estimate the disturbance. Besides, a robust adaptive attitude controller with integral term is proposed to achieve high precision attitude tracking. The stability of the closed-loop system is prove based on Lyapunov theory. Finally, a numerical example is provided to demonstrate the effectiveness of the obtained results.

关键词： Carrier based aircraft Carrier air wake Disturbance Robust adaptive control Nonlinear extended state observer

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