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World Congress on Intelligent control and automation (WCICA)

作者： Hengyu Duan Hua O. Wang Yunze Cai Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Department of Mechanical Engineering Boston University Boston MA USA

In the brand new era of “big data”, finding creative strategies for information fusion in a complicated system is important. Previous researchers have introduced a model called “Local Strongly Coupled system”, in which every agent stochastically communicates only with its neighbours (i.e. “coupled” nodes). However, the meaning of a system's intrinsic a priori constraints is always neglected. And we assume that in practical instances, the whole system is supposed to take on a consistent result, or “consensus” decision. This paper, taking constraints into account, presents a new strategy to help minimize the filtering error. Furthermore, based on consensus policy, the approach is applied to local strongly coupled systems, especially systems with packet loss. Effectiveness and practicability of all the proposed algorithms are shown through simulations.

关键词： Filtering Mathematical model Equations State estimation Estimation error Target tracking

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Network design for distributed consensus estimation over heterogeneous sensor networks 19

Network design for distributed consensus estimation over het...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Yang, Wen Shi, Ling Yuan, Ye Wang, Xiaofan Shi, Hongbo Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Department of Engineering University of Cambridge United Kingdom Department of Automation Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783902823625

This paper considers distributed estimation over heterogeneous sensor networks. We propose a distributed estimation strategy based on PageRank algorithm, where the link weight depends on the edge estimation covariances. We prove that the proposed estimator obtains better estimates than one typical estimator under identical initial conditions. Motivated by the advantage of the sensors with high accuracy locating at important positions, we propose an optimal sensor deployment strategy to arrange locations for sensors in a given physical network. Numerical examples are provided to demonstrate the effectiveness of the proposed estimator, showing a better performance under the optimal sensor deployment. © IFAC.

关键词： Sensor networks

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On overcoming limitations of a class of linear systems with first-order reset elements

On overcoming limitations of a class of linear systems with ...

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World Congress on Intelligent control and automation (WCICA)

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing China Electrical Engineering and Computer Science Queens University Belfast UK

This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control model is proposed, such that the non-overshoot performance specification can be met for any minimum phase relative degree one plants, the results imply some limitations of linear systems are overcome and clearly illustrate the advantages of reset control. A numerical example is given to show the effectiveness.

关键词： Closed loop systems Stability analysis Gold Linear systems Steady-state Educational institutions

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An application of computer aided parameter tuning of a super-twisting sliding mode controller

An application of computer aided parameter tuning of a super...

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International Workshop on Variable Structure systems, VSS

作者： M. Kleindienst M. Reichhartinger M. Horn E. Usai Institute of Automation and Control Graz University of Technology Graz Austria Department of Electrical and Electronic Engineering University of Cagliari Cagliari Italy

A tuning procedure of the super-twisting algorithm is exploited in order to operate a thermal plant within predefined specifications. The configuration consisting of the chosen control algorithm and the thermal plant results in a limit cycle, i.e. the solutions of the closed-loop system are periodic functions of time. The tuning algorithm is based on the pre-specified amplitude and frequency of the variable to be controlled. The computation of the constant controller gains is based on the equation of harmonic balance. A possibly needed dynamical filter is introduced to guarantee that every desired amplitude and frequency of the limit cycle can be adjusted. The tuning procedure is extended such that the controller parameters can be calculated directly without using any graphical aids. Real world experiments demonstrate the achieved accuracy of the tuning algorithm.

关键词： Temperature measurement Tuning Mathematical model Oscillators Equations Limit-cycles

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On infinite time performance of nonlinear model predictive controllers 19

On infinite time performance of nonlinear model predictive c...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BelfastBT7 1NN United Kingdom

ISBN: (纸本)9783902823625

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases. © IFAC.

关键词： controllers

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Modeling and Nonlinear Model Predictive control of Kite system for High Altitude Wind Energy Generation

Modeling and Nonlinear Model Predictive Control of Kite Syst...

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第三十三届中国控制会议

作者： Zhenhua Zhao Jun Yang Hong Yue Shihua Li School of Automation Southeast UniversityKey laboratory of measurement and control of CSEMinistry of Education Department of Electronic and Electrical Engineering University of Strathclyde

ISBN: (纸本)9781479947249

Kitenergy is an emerging technology in airborne wind energy(AWE) that captures high altitude wind energy(HAWE)by exploiting its controlled flight of tethered wings. Compared with its ground level counterparts, AWE has the advantages to harness wind energy with a higher efficiency and a more consistent behavior. Automatic control of the kite's airfoils is crucial to the proper running of kitenergy systems. In this paper, a control oriented model of a tethered kite system is developed step by step,and a simplified state-space model is established as a first attempt. Based on this model, a nonlinear model predictive controller(NMPC) is designed to track a pre-optimized figure-eight trajectory. The merits of the NMPC are validated by simulation studies on a practical-scale kitenergy system model.

关键词： Airborne wind energy(AWE),High-altitude wind energy(HAWE),Modeling of kite system,Nonlinear model predictive control(NMPC),Trajectory tracking

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Identification and Quantification of Hazards Caused by Uncontained Engine Rotor Failure

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Procedia engineering 2014年 84卷 93-99页

作者： Li Mailiang Sun Zhiqiang Gong Erling System AnalysisInstitute Air Force Armament Research Academy Beijing 100076 China Department of Automatic Control College of Mechatronic Engineering and Automation National University of Defense Technology Changsha 410073 China

One approach based on AC20-128A is presented in order to assess the risk caused by uncontained engine rotor failure (UERF). In this approach, the risk assessment procedure includes hazard identification and hazard quantification. In the step of hazard identification, the catastrophic functional hazards, derived from the functional hazard analysis (FHA) results for the airplane, are used as the top events to construct the fault trees. The minimal cut sets (MSCs) of the fault trees are the hazards to be identified exactly. In the step of hazard quantification, the probability of one hazard triggered by some uncontained debris is evaluated. After the probabilities of all the identified hazards are quantified, the risk assessment of the airplane is completed. And the assessment result is compared with the design specifications to show compliance with the safety design. A small example is introduced to illustrate the rationality and accuracy of the aforementioned method.

关键词： airplane engine uncontained engine rotor failure airplane safety

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Consensus control of a class of nonlinear systems with communication time delay

Consensus control of a class of nonlinear systems with commu...

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2014 American control Conference, ACC 2014

作者： Sheng, Jie Shao, Chenhui Ding, Zhengtao Ji, Haibo Department of Automation University of Science and Technology of China Hefei 230027 China Department of Mechanical Engineering University of Michigan Ann Arbor 2350 Hayward St. Ann Arbor MI 48109 United States Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Manchester M13 9PL United Kingdom

ISBN: (纸本)9781479932726

This paper investigates the consensus control of a class of Lipchitz nonlinear multi-agent systems with communication time delay. Upon exploring certain features of Laplacian matrix, global consensus control conditions are identified using Lyapunov method in the time domain. The proposed control only uses relative state information of the system. Numerical simulations validate the effectiveness of the proposed controller design and show its performance with different nonlinearities and time delays. © 2014 American Automatic control Council.

关键词： Nonlinear systems

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Crawling gait planning for a quadruped robot with high payload walking on irregular terrain 19

Crawling gait planning for a quadruped robot with high paylo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Hu, Nan Li, Shaoyuan Huang, Dan Gao, Feng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783902823625

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain. © IFAC.

关键词： Robot programming

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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