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Finite-gain problem for networked control systems with delays via event-triggered control

International Journal of Robust and Nonlinear control 2017年第5期28卷

作者： Hao Yu Fei Hao The Seventh Research Division School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

By using the integrals of the signals to construct the triggering condition, integral-based event-triggered control can relax the requirement of persistent decrease on the Lyapunov function and, then, may yield better sampling performance. This paper studies the disturbance rejection problem for the integral-based event-triggered control systems with transmission delays and observer-based output feedbacks. An integral-based triggering condition is employed to generate the events. Two asynchronous models are implemented in the different sides of the networks. The model in the observer node is used to detect the events, whereas the model in the controller node is used to calculate the control signals. This structure contributes to avoiding the Zeno behavior, and then, an estimation on the lower bound of the interevent times is provided. Moreover, the criteria on the parameter in the triggering condition and on the bounds of the transmission delays are given to guarantee the desired disturbance rejection performance. Finally, a numerical example is provided to illustrate the efficiency and feasibility of the obtained results.

关键词： disturbance rejection event-triggered control model-based networked control transmission delays

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Policy iteration for optimal control of weakly coupled nonlinear systems with completely unknown dynamics

Policy iteration for optimal control of weakly coupled nonli...

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American control Conference

作者： Chao Li Ding Wang Derong Liu Haibo He The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Automation and Electrical Engineering University of Science and Technology Beijing 100083 China Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston 02881 USA

ISBN: (纸本)9781467386838

In this paper, an online learning algorithm based on policy iteration is established to solve the optimal control problem for weakly coupled nonlinear continuous-time systems. Using the weak coupling theory, the original problem is transformed into three reduced-order optimal control problems. To obtain the optimal control laws without system dynamics, we construct an online data-based integral policy iteration algorithm which is used to solve the decoupled optimal control problems. The actor-critic technique based on neural networks and the least squares method are used to implement the model-free learning algorithm. A simulation example is given to verify the applicability of the developed algorithm.

关键词： Optimal control Heuristic algorithms Mathematical model System dynamics Nonlinear systems Partitioning algorithms Computational modeling

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UKF Based Filtering and Curve Fitting for Estimating the Joint Stiffness of Stewart Platform

UKF Based Filtering and Curve Fitting for Estimating the Joi...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Xin Li Shuling Dai Rui Zeng State Key Laboratory of Virtual Reality Technology and System/Aircraft Control Integration Technology Laboratory/School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781467383196

In order to improve the precision of most control method for the Stewart platform,this paper gives a novel method to determine the joint stiffness to avoid the negative effect of the actuated joint *** establish the transfer function of the linearized model between the theoretical and the real value of joint deforming length so as to estimate the joint *** the same time,in view of the special noise of the distance measuring sensor output,the unscented Kalman filter is used in signal *** experimental results show that this method can obtain the joint stiffness parameters effectively.

关键词： filter UKF Based Filtering and Curve Fitting for Estimating the Joint Stiffness of Stewart Platform Stewart

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Real-time Simulation of Airborne FLIR Sensor

Real-time Simulation of Airborne FLIR Sensor

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Guanfeng Yu Guofeng Zhang State Key Laboratory of Virtual Reality Technology and System/Aircraft Control Integration Technology Laboratory/School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781467383196

The work presented in this paper focuses on real-time simulation of the airborne forward looking infrared(FLIR) sensor typically configured by modern *** on infrared radiation theoretic model,the infrared transmittance model of "target-background-atmosphereimaging system" is ***,using modern computer graphics hardware,the detection signal is output in real time through the interacting of the virtual environment,which is the working process of sensors in actual infrared *** results shows that the platform can dynamically and efficiently generate realistic infrared images of helicopter varying with different simulation *** dynamic simulation of large scale infrared scene can enhance the situational awareness for pilot.

关键词： image Sensor Real-time Simulation of Airborne FLIR Sensor

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Three-dimensional Route Planning Considering Threat Blind Area

Three-dimensional Route Planning Considering Threat Blind Ar...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Jian Guo Xiaoyong Lei State Key Laboratory of Virtual Reality Technology and System/Aircraft Control Integration Technology Laboratory/School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781467383196

The terrain defilade effect was utilized to propose a low altitude penetration 3D route planning method in consideration of blind ***,the digital elevation map and blind space model were established to obtain the terrain blind space ***,the blind space data was invocated in real-time in the planning ***,A algorithm was promoted and the planned route was smoothing *** results show that the planned route can achieve terrain avoidance and threat avoidance by using blind space ***,the smoothing process algorithm has obtained good smoothing effects.

关键词： Three-dimensional Route Planning Considering Threat Blind Area

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A Virtual-Waypoint Based Artificial Potential Field Method for UAV Path Planning

A Virtual-Waypoint Based Artificial Potential Field Method f...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Yuecheng Liu Yongjia Zhao State Key Laboratory of Virtual Reality Technology and System/Aircraft Control Integration Technology Laboratory/ School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781467383196

Unmanned aerial vehicle(UAV) path planning is an important preliminary step in UAV mission *** potential field(APF) UAV path planning method is often employed to build an intuitive model which is updated by the additional forces pushing the trajectory away from threats of non-cooperative objects and toward the predefined ***,APF has its own weaknesses,one of which is the local minima close to concave *** tackle situation mentioned above,we propose a novel additional force model based on virtual *** model provides additional forces for candidate planning points falling into local minimum area and help them escape from local minimum *** the candidate is trapped in minimum area,firstly we calculate measure factor according to the planning area containing current candidate and the target point,and thus determine position of the virtual *** the virtual waypoint generates additional control force so that the candidate can run away from the local minimum ***,the simulation results show that the method can solve the local minimum problem in planning space.

关键词： UAV A Virtual-Waypoint Based Artificial Potential Field Method for UAV Path Planning Virtual

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Nonlinear Attitude control of Tiltrotor Aircraft Based on Active Disturbance Rejection Sliding Mode Method

Nonlinear Attitude Control of Tiltrotor Aircraft Based on Ac...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Zhen Pan Weihong Wang Siyang Song Ke Lu Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering Beihang University Science and Technology on Rotorcraft Aeromechanics Laboratory

ISBN: (纸本)9781467383196

Tiltrotor aircraft is a kind of aircraft which can fly as a fixed wing aircraft or a helicopter by tilting its two rotors' mast angle,which means it has both the advantages of helicopter and fixed wing *** control it well,a nonlinear mathematical model based on Pitt-Peters dynamic inflow theory is *** traditional control method based on linearized model needs extensive gain scheduling with the mast angle and flight state,a novel control method named active disturbance rejection sliding mode controller(ADRSMC) based on active disturbance rejection controller(ADRC) and sliding mode controller(SMC) is *** of all,a tracking differentiator(TD) is utilized to get the command of attitude and angular *** the disturbance of the novel model includes the model error and coupling between different channels,a novel sliding mode extended state observer(SMESO)base on sliding mode theory is developed to estimate the disturbance of *** that,a novel control law based on dynamic surface control theory is *** the stability of ADRSMC is *** parameters of ADRSMC are not changed during the whole process of *** results in various flight conditions show that ADRSMC is feasible and parameters are available in a wide range.

关键词： tiltrotor aircraft aircraft model attitude control ADRSMC ADRC tracking differentiator SMC SMESO

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Three Dimensional Integrated Guidance and control for Slide to Turn Missile with Input Saturation

Three Dimensional Integrated Guidance and Control for Slide ...

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第28届中国控制与决策会议

作者： Zhen Pan Weihong Wang Shaofeng Xiong Ke Lu School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University Science and Technology on Rotorcraft Aeromechanics Laboratory

ISBN: (纸本)9781467397155

To control a slide to turn(STT) missile which attacks a ground moving target in the presence of input saturation,a three dimensional(3D) integrated guidance and control(IGC) law based on dynamic surface control and linear extended state observer(LESO) techniques is ***,a novel 3D IGC model is built without assuming that the angle between line of sight(LOS) and missile velocity is small or almost ***,to analyze the effect of input saturation,a Nussbaum function,a smooth tangent function,and an auxiliary system are *** modeling error,acceleration of target and aerodynamic parameters perturbation are viewed as the overall system uncertainty which three linear extended state observers are designed to *** the signal generated by the auxiliary system and uncertainty estimated from LESO,a robust controller utilizing dynamic surface control technique is designed to track the ***,the stability of system is *** results demonstrate the effectiveness of the law.

关键词： IGC STT Missile Ground Moving Target Input Saturation Dynamic Surface control LESO

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Observer-based event-triggered control: A discrete-time approach

Observer-based event-triggered control: A discrete-time appr...

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American control Conference

作者： L. B. Groff L. G. Moreira J. M. Gomes da Silva D. Sbarbaro Department of Automation and Energy (DELAE) and Pos-Graduation Program in Electrical Engineering (PPGEE) UFRGS av. Osvaldo Aranha 103 90035-190 Porto Alegre-RS Brazil Department of Electrical Engineering Universidad de Concepcion Chile

ISBN: (纸本)9781467386838

This paper addresses the problem of designing an event-triggered strategy for discrete-time systems with an observer-based controller. The considered system has the actuator and the sensor in different nodes separated by a network. The strategy consists in minimizing the use of the network by only transmitting data from the observer to the controller and from the controller to the actuator when a trigger is generated by an event-trigger function. Based on the Lyapunov theory, conditions for the stability of the closed-loop system in terms of linear matrix inequalities (LMIs) are derived. Convex optimization problems are provided to tune the proposed trigger functions aiming at reducing the usage of the network. Simulation examples illustrate the proposed method and compare the efficiency of the proposed optimization problems.

关键词： Closed loop systems Actuators Observers Stability analysis Symmetric matrices Discrete-time systems State feedback Closed loop systems actuators Symmetric matrix State feedback Observers Stability analysis discrete time systems Event trigger controllers Induction loop systems

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Improvement of Resting-state EEG Analysis Process with Spectrum Weight-Voting based on LES

arXiv

引用

arXiv 2017年

作者： Ye, Yumeng Liu, Haichun Zhang, TianHong Pan, Changchun Yang, Genke Wang, JiJun Qiu, Robert C. Key Laboratory of System Control and Information Processing Shanghai Jiaotong University Ministry of Education of China Shanghai200240 China Department of Automation and Shanghai Key Laboratory of Navigation and Location Based Services Shanghai Key Laboratory of Psychotic Disorders Shanghai Mental Health Center Shanghai Jiaotong University School of Medicine Shanghai200030 China Brain Science and Technology Research Center Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiaotong University Shanghai200240 China Department of Electrical Engineering Shanghai Jiaotong University Shanghai200240 China Department of Electrical and Computer Engineering Tennessee Technological University CookevilleTN38505 United States

Electroencephalography is a non-invasive technique for recording brain bioelectric activity, which has potential applications in various fields such as human-computer interaction and neuroscience. Among them, analysis of the risk of schizophrenia using EEG data is a relatively new research topic. However, there are many difficulties in analyzing EEG data, including its complex composition, low amplitude as well as low signal-to-noise ratio. Some of the existing methods of analysis are based on feature extraction and machine learning to differentiate the phase of schizophrenia (First-episode schizophrenia, Healthy controls or Clinical high-risk) that samples belong to. However, medical research requires the use of machine learning not only to give more accurate classification results, but also to give the results that can be applied to pathological studies. The main purpose of this study is to obtain the weight values as the representation of influence of each frequency band on the classification of schizophrenia phases on the basis of a more effective classification method using the LES feature extraction, and then the weight values are processed and applied to improve the accuracy of machine learning classification. We propose a method called weight-voting to obtain the weights of sub-bands features by using results of classification for voting to fit the actual categories of EEG data, and using weights for reclassification. Through this method, we can first obtain the influence of each band in distinguishing three schizophrenia phases, and analyze the effect of band features on the risk of schizophrenia contributing to the study of psychopathology. In addition, the weights applied to the original classifier can achieve the upgrade of the classification effect, which contributes to the BCI-assisted system of diagnosis and treatment. Our results show that there is a high correlation between the change of weight of low gamma band and the difference between HC, CHR an

关键词： Electroencephalography

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