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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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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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IEEE International Conference on Robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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Adaptive Fuzzy and Sliding-Mode control of a Robot Manipulator with Varying Payload

Adaptive Fuzzy and Sliding-Mode Control of a Robot Manipulat...

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IEEE Conference on Decision and control

作者： Selami Beyhan Zsofia Lendek Robert Babuska Martijn Wisse Musa Alci Ege University Electrical and Electronics Engineering Bornova Izmir 35100 Turkey Department of Automation Technical University of Cluj-Napoca Romania Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Delft Biorobotics Laboratory Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands

ISBN: (纸本)9781612848006

In this paper, we compare indirect adaptive fuzzy control and sliding-mode control in a robot manipulator application. The manipulator performs pick-and-place tasks with unknown and variable payloads. The change of payload causes large variations in the dynamics of the robot. The sliding-mode controller deals with the payload change through its inherent robustness, while the adaptive fuzzy control algorithm adjusts the controller's parameters on-line. The control methods are compared both in numerical simulations and in real-time experiments. The sliding mode controller obtains a very good steady performance. However, thanks to the continuing adaptation, the adaptive fuzzy controller eventually yields smaller steady-state error.

关键词： Robot Manipulator Variable structure systems Payload indirect adaptive fuzzy control controllers control Methods

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control of an overhead crane with the controlled Lagrangian method

Control of an overhead crane with the controlled Lagrangian ...

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作者： Poljak, Daniel Schindele, Dominik Antritter, Felix Aschemann, Harald Hillermeier, Claus Department of Automation and Control Engineering University of the Bundeswehr Munich Germany Department of Mechatronics University of Rostock Germany

ISBN: (纸本)9783902661807

A nonlinear controller structure for an overhead crane is designed and implemented on a crane plant. The energy based stabilizing controller part is derived by the method of controlled Lagrangians. In that framework, kinetic and potential shaping is performed and so-called general matching conditions are employed. control parameters well suited for the practical implementation are found by optimization using the linearization of the closed loop system. Nonlinear damping effects are counteracted in the overall controller structure by feedforward compensation and a reduced nonlinear disturbance observer. © 2010 IFAC.

关键词： Lagrange multipliers

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Simulation-based Optimal Design of α-β-γ-δ Filter

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International Journal of automation and computing 2010年第2期7卷 247-253页

作者： Chun-Mu Wu Paul P. Lin Zhen-Yu Han Shu-Rong Li Department of Mechanical and Automation Engineering Kao Yuan University Taiwan 821 Taiwan China College of Engineering Cleveland State University Cleveland Ohio 44115-2214 USA College of Information and Control Engineering China University of Petroleum Dongying 257061 China

The existing third-order tracker known as α-β-γ-δ filter has been used for target tracking and predicting for years. The filter can track the target＇s position and velocity, but not the acceleration. To extend its capability, a new fourth-order target tracker called α-β-γ-δ filter is proposed. The main objective of this study was to find the optimal set of filter parameters that leads to minimum position tracking errors. The tracking errors between using the α-β-γ-δ filter and the α-β-γ-δ filter are compared. As a result, the new filter exhibits significant improvement in position tracking accuracy over the existing third-order filter, but at the expense of computational time in search of the optimal filter. To reduce the computational time, a simulation-based optimization technique via Taguchi method is introduced.

关键词： Filter design simulation-based optimization Taguchi methods position tracking velocity tracking acceleration tracking.

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A preventive security-constrained optimal power flow with hybrid genetic-ant colony optimization

A preventive security-constrained optimal power flow with hy...

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2010 International Symposium on Computer, Communication, control and automation, 3CA 2010

作者： Huang, Cong-Hui Tsao, Yi-Ming Huang, Chung-Chi Lin, Jing-Fung Lin, Kuan-Chen Wu, Bo-Lin Department of Automation and Control Engineering Far East University Taiwan Department of Computer Application Engineering Far East University Tainan County Taiwan

ISBN: (纸本)9781424455669

This paper presents preventive security-constrained optimal power flow (PSCOPF) with hybrid genetic-ant colony optimization (HGACO) is presented The PSCOPF can be divided into three steps involving security analysis, severest event selection, and preventive algorithm. First, Novel security analysis will be conducted before fault occurred in the system by current-based power flow technique. Second, ranking method will be used to highlight the most severe event caused by the specific facility. And finally, a preventive algorithm will make use of the contingency information, and could be kept the operator system security and avoided congestion when fault occurred. The HGACO is integrated with genetic algorithm and ant colony optimization, and the objective of GA is to improve the searching quality of ants by optimizing themselves to generate a better result, because the ants produced randomly by pheromone process are not necessary better. This method can not only enhance the neighborhood search, but can also search the optimum solution quickly to advance convergence. © 2010 IEEE.

关键词： Genetic algorithms

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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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The maximum power demand forecasting with fuzzy theory

The maximum power demand forecasting with fuzzy theory

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2010 International Symposium on Computer, Communication, control and automation, 3CA 2010

作者： Lee, Ming-Rong Wang, Shun-Jih Yi-Yu, Lu Tai, Liang-I Shi, Hao-Jun Department of Electrical Engineering Far East University Tainan County Taiwan Department of Automation and control Engineering Far East University Tainan County Taiwan

ISBN: (纸本)9781424455669

The study aims at seeking the interrelationship and origin of the basic electricity, mobile electricity, power adjustment charges, additional super-charges, and line subsidy payments of the high-pressure two-stage electricity users (Far East University), according to the average of monthly temperature and tariff structure calendar year. Using fuzzy theory to analyze and simulate the peak electricity quantity of kilowatt of entire year, then using genetic algorithm to this system for making the best learning. Assist users to find the optimal contracted capacity with this way to achieve the goal of saving electricity cost. © 2010 IEEE.

关键词： Genetic algorithms

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