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Levenberg-Marquardt based artificial physics method for mobile robot oscillation alleviation

Science China(Physics,Mechanics & Astronomy) 2014年第9期57卷 1771-1777页

作者： ZHANG XiangYin DUAN HaiBin LUO QiNan State Key Laboratory of Virtual Reality Technology and Systems Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper proposed a modified artificial physics(AP)method to solve the autonomous navigation problem for mobile robots in complex *** basic AP method tends to cause oscillations in the presence of obstacles and in narrow passages,which can result in time *** alleviate oscillation,we modified the AP method using the Levenbery-Marquardt(LM)*** the modified AP method,we altered the original directions of AP forces to the Newton direction,and adjust the parameter by the LM algorithm.A series of comparative experimental results show that the modified AP method can achieve smoother trajectories with less time *** demonstrates the feasibility and effectiveness of our proposed approach.

关键词： artificial physics（physicomimetics） Levenbery-Marquardt（LM） algorithm autonomous navigation obstacle avoidance

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Response of quartz crystal microbalance loaded with single-drop liquid in gas phase

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Open electrical and Electronic engineering Journal 2014年第1期8卷 197-201页

作者： Yang, Li Huang, Xianhe Frequency Control Laboratory School of Automation and Engineering University of Electronic Science and Technology of China Chengdu China College of Electrical and Information Engineering Southwest University for Nationalities Chengdu China

The frequency response of quartz crystal microbalance loaded by single-drop liquid is studied in this paper. Previous studies have shown that the relationship between resonant frequency and properties of liquid by completely immersing one side of the crystal in liquid. In this work, only localized portion of crystal was wetted by liquid droplet. Repeated experiment shows the relationship between liquid property include viscosity and density to resonant frequency. Furthermore, Theoretical formula describing the frequency change of the quartz crystal microbalance with liquid property is proposed. The predicted results showed distinct coincide with experimental results. © 2014, Yang and Huang.

关键词： Quartz crystal microbalances

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Trajectory Planning and Tracking control for LED Placement Spray Wax Robot 33

Trajectory Planning and Tracking Control for LED Placement S...

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第三十三届中国控制会议

作者： WANG Zuoxun XU De LI Lin ZHANG Yingchun Research Center of Precision Sensing and control Institute of AutomationChinese Academy of Sciences School of Electrical Engineering and Automation Qilu University of Technology

ISBN: (纸本)9781479947249

For the motion system of a LED placement spray wax robot, this paper uses shortest path planning method of optimization theory to plan the robot's motion trajectory. It uses high order polynomial to plan spray wax robot's joint *** by the determining learning theory, this paper uses radial basis function(RBF) to design an adaptive neural network controller(ANNC). It tracks and controls the motion process of robot to move along the planned trajectory. This ensures the stability and rapidity of robot movement to achieve the purpose of save time and energy. Experiment is conducted using the algorithm designed in this paper, and comparison experiment with PID algorithm is also well done. The experimental results illustrate the effectiveness of the method designed in this paper.

关键词： LED placement spray wax robots,Trajectory planning,Tracking control,Radial basis function neural network

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Experimental Evaluation of Observer-based Throttle Valve control Using Super-Twisting Algorithm

Experimental Evaluation of Observer-based Throttle Valve Con...

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European control Conference

作者： Markus Reichhartinger Mohammad Ali Golkani Martin Horn Institute of Automation and Control Faculty of Electrical and Information Engineering Graz University of Technology

ISBN: (纸本)9781467371605

In this paper, an electronic throttle valve system is considered. The mathematical model describing the motion of the valve plate is subject to uncertainties and external disturbances. The throttle plate angle is intended to track given reference profiles. A control scheme consisting of an observer and a state controller, which both are based upon the super-twisting technique, is proposed. Effectiveness and superiority of the approach are illustrated in numerical simulation using a comparison with a classical control approach. The presented feedback loop is implemented in an engine control unit. Results obtained through comprehensive tests on an industrial combustion engine test bench are given.

关键词： Valves Observers Engines Angular velocity Uncertainty Feedback loop Mathematical model

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A Novel Adaptive Rejection control Approach for Multiple Narrow-band Disturbances in Nano-manipulating Systems

A Novel Adaptive Rejection Control Approach for Multiple Nar...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： Zeshan Lyu Peng Yan Zhen Zhang School of Automation Science and Electrical Engineering Beihang University Key Laboratory of High-efficiency and Clean Mechanical Manufacture Ministry of Education School of Mechanical EngineeringShandong University Department of Mechanical Engineering Tsinghua University Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control Tsinghua University

This paper presents an innovative method for rejecting multiple narrow-band disturbances in nano-manipulating servo systems. The proposed control scheme consists of a robust controller and a multiple optimal phase filter structure. The baseline robust controller is synthesized with mixed sensitivity optimization for the purpose of robust stability and servo performance.A novel adaptive digital multiple optimal phase filter structure is then developed with a parallel connection, such that online estimation and suppression of the narrow-band disturbances with unknown or time-varying frequencies can be achieved without sacrificing the stability robustness of the closed-loop systems. The proposed control scheme is evaluated via simulations and implemented on a piezoelectric-actuator driven nanopositioner, where high precision positioning is demonstrated in the presence of both unmodeled dynamics and multiple disturbances.

关键词： multiple narrow-band disturbance rejection,piezoelectric-actuator driven nanopositioning,mixed sensitivity optimization

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An automatic flight control system for the *** quadrotor in outdoor environments

An automatic flight control system for the *** quadrotor in ...

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Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

作者： Lucas Vago Santana Alexandre Santos Brandão Mário Sarcinelli-Filho L. V. Santana is with the Department of Industrial Automation Federal Institute of Espírito Santo A. S. Brandão is with the Department of Electrical Engineering Federal University of Viçosa Viçosa - MG Graduate Program on Electrical Engineering Federal University of Espírito Santo

This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor measurements, for modelling the aircraft and for designing a high level flight controller. To validate the proposed system, some flights were performed, executing the specific tasks of positioning and trajectory tracking. The experimental results, discussed in the text and presented in videos, demonstrate the effectiveness of such a system.

关键词： Vehicles Computers Global Positioning System Mathematical model State estimation Robot sensing systems control systems

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Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order ESO

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ISA transactions 2015年 57卷 10-22页

作者： Shao Xingling Wang Honglun School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China. Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China. Electronic address: hl_wang_2002@***.

This paper proposes a novel composite integrated guidance and control (IGC) law for missile intercepting against unknown maneuvering target with multiple uncertainties and control constraint. First, by using back-stepping technique, the proposed IGC law design is separated into guidance loop and control loop. The unknown target maneuvers and variations of aerodynamics parameters in guidance and control loop are viewed as uncertainties, which are estimated and compensated by designed model-assisted reduced-order extended state observer (ESO). Second, based on the principle of active disturbance rejection control (ADRC), enhanced feedback linearization (FL) based control law is implemented for the IGC model using the estimates generated by reduced-order ESO. In addition, performance analysis and comparisons between ESO and reduced-order ESO are examined. Nonlinear tracking differentiator is employed to construct the derivative of virtual control command in the control loop. Third, the closed-loop stability for the considered system is established. Finally, the effectiveness of the proposed IGC law in enhanced interception performance such as smooth interception course, improved robustness against multiple uncertainties as well as reduced control consumption during initial phase are demonstrated through simulations.

关键词： Enhanced interception performance Integrated guidance and control (IGC) Maneuvering target Model-assisted active disturbance rejection control (ADRC) Multiple uncertainties Nonlinear tracking differentiator Reduced-order extended state observer (ESO)

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Mars Entry Trajectory Tracking Via Constrained Multi-Model Predictive control 33

Mars Entry Trajectory Tracking Via Constrained Multi-Model P...

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第三十三届中国控制会议

作者： WU Chao LI Shihua YANG Jun GUO Lei School of Automation Southeast University & Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education School of Automation Science and Electrical Engineering Beihang University & Institute of Instrument Science and Opto-Electronics Engineering

ISBN: (纸本)9781479947249

Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problems. Facing these challenges, the Mars entry trajectory tracking scheme via constrained multi-model predictive control(CMPC) is employed. The CMPC is made up of some constrained predictive control(CPC) in different time domain during the Mars entry mission. Each constrained predictive controller consists of a linearized prediction model(obtained by linearizing at different operating point), feedback correction for active model mismatch rejection caused by the complex uncertainties, and constrained rolling optimization for a smooth control input under a saturation constraint. Monte Carlo simulations demonstrate the effectiveness and excellence of the proposed method under the saturation constraint of input and uncertainties of initial state and aerodynamic parameters such as atmospheric density, ballistic coefficient and lift-to-drag ratio.

关键词： Mars Entry,Trajectory Tracking,Constrained Multi-Model Predictive control,Monte Carlo Simulation

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Photovoltaic power plant submitted to voltage sags: Model and performance evaluation

Photovoltaic power plant submitted to voltage sags: Model an...

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Brazilian Power Electronics Conference, COBEP

作者： Igor A. Pires Alysson Machado Nicole Foureaux Sidelmo M. Silva Braz J. Cardoso Filho José Brito UFMG Belo Horizonte MG Brazil Control and Automation Engineering Undergraduate Course UFMG Belo Horizonte MG Brazil Electrical Engineering Graduate Program UFMG Belo Horizonte MG Brazil Universidade Federal de Minas Gerais Belo Horizonte MG BR Companhia de Eletricidade do Estado da Bahia Salvador BA Brazil

This paper brings the PV model of a real PV farm installation with a total power of 917 kW. All the elements of the PV farm (panels and inverter) are described. Simulation on PSCAD and experimental results at the installation are reported. The PV model is submitted to voltage sags originated in the grid as well as their impact on the photovoltaic power plant.

关键词： Inverters Voltage fluctuations Power quality Photovoltaic systems Radiation effects PSCAD

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Algorithm for fast determination of LiFePO4 battery nominal current

Algorithm for fast determination of LiFePO4 battery nominal ...

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2014 37th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2014

作者： Sirotić, Igor Šunde, Viktor Ban, Željko Faculty of Electrical Engineering and Computing Department of Electric Machines Drives and Automation Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computing Engineering Zagreb Croatia

ISBN: (纸本)9789532330816

The development of production and increasing usage of light electric vehicles such as electric bicycles and electric scooters entails development of batteries, battery chargers and fast charging algorithms. Batteries with different nominal electrical characteristics and production technologies are currently in use. Among them, lithium-iron batteries are increasingly being used. The differences in basic characteristics of batteries and standardization issues require fast identification of various battery types and adapting of charging algorithms according to nominal current, voltage, capacity and state of charge. This paper describes a method for determining the nominal current for unknown LiFePO4 battery connected to the stationary filling station for charging electric bicycles. A prerequisite for determination of the rated current is identification of current-voltage curve at the moment of connection and identification of the number of cells. The algorithm for determining these parameters is given in the first part of the paper. The second part deals with determination of the nominal current for LiFePO4 battery based on current-voltage response to the selected battery charging algorithm. © 2014 MIPRO.

关键词： Lithium compounds

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