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第三十三届中国控制会议

作者： XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479947249

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV,Optical Flow,Autonomous control

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Double-Objective Optimal control for Non-Gaussian systems: An Example Study on Analytical vs Numerical Solutions

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IFAC-PapersOnLine 2015年第8期48卷 924-929页

作者： Mifeng Ren Jianhua Zhang Hong Wang Min Huang College of Information Engineering Taiyuan University of Technology Taiyuan 030024 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing 102206 China Control System Centre School of Electrical and Electronics Engineering The University of Manchester M60 1QD UK China State Key Laboratory of Synthetical Automation for Process Industry Northeastern University Shenyang 110819 China

Minimum entropy control has been proven to be an effective method in control of non-Gaussian stochastic systems. In this case, the entropy is proposed as a generalization of the variance measure to characterize the randomness of the process. Minimum entropy corresponds to small uncertainty (or derivation), but it cannot guarantee the tracking error approaching to zero. Therefore, mean square error also should be added in the criterion. In this paper, by using a simple example, the method of generating a representative approximation of the Pareto optimal control set is investigated in both analytical and numerical ways. And simulation results show the feasibility of the proposed double-objective optimal control method.

关键词： Double-objective optimal control non-Gaussian stochastic systems Renyi's entropy e - constrained method estimation of distribution algorithm

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Scheduling of Electric Vehicle Charging Request and Power Allocation at Charging Stations with Renewable Energy 33

Scheduling of Electric Vehicle Charging Request and Power Al...

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第三十三届中国控制会议

作者： LI Jingwei YANG Bo XU Yang CHEN Cailian GUAN Xinping ZHANG Weidong Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Electrical Engineering and Automation Shanghai Jiao Tong University

ISBN: (纸本)9781479947249

Smart grid, a concept proposed in 2003, is now attracting more and more attention because of its ability to integrate intensive information and renewable energy generating infrastructures. This paper focuses on scheduling charging process between multiple electric vehicles and charging stations in smart grid with renewable energy and storage devices. From the perspective of the whole system, the goal of minimizing the time average electricity cost with time-varying electricity price can be reached in this paper. With the participation of storage devices, charging-station-private renewable generation and electric vehicles power demands, we mathematically formulate a stochastic optimal problem and address it by employing Lyapunov optimization methods. Through mathematical derivation, stability of storage devices is achieved. Meanwhile, the upper bound for time average electricity cost can be calculated. The feature of our research is the independence on stochastic distribution of demand and renewable generation. Simulation results show the convergence of storage device state of charging（SOC） and illustrate the efficiency and performance of our algorithm.

关键词： Smart grid EV guidance renewable generation energy storage device Lyapunov optimization

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Experimental Verification of a Multi-robot Distributed control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 54-60页

作者： Hejin Zhang Zhiyun Zhao Ziyang Meng Zongli Lin Department of Automation and Key Laboratory for System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University the Access Linnaeus Centre School of Electrical Engineering Royal Institute of Technology Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

关键词： Heuristic algorithms Mobile robots Robot kinematics Trajectory Dispersion Decentralized control

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Evolving Ensemble of Fuzzy Models for Multivariate Time Series Prediction

Evolving Ensemble of Fuzzy Models for Multivariate Time Seri...

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IEEE International Conference on Fuzzy systems

作者： Lourenco Bueno Pyramo Costa Israel Mendes Enderson Cruz Daniel Leite the Dept. of Graduate Program in Electrical Engineering Pontifical Catholic University of Minas Gerais Belo Horizonte Brazil the Dept. of Electronics Federal Center for Technological Education of Minas Gerais Nepomuceno Brazil the Control and Automation Research Group Dept. of Engineering Federal University of Lavras Brazil

ISBN: (纸本)9781467374293

Weather modeling and prediction has been quite a challenge over the years. Predictions based on climatic models whose dynamical behavior is nonlinear, nonstationary, and based on high order difference equations is a tough task and usually requires a demanding and non-intuitive tuning expertise. This paper suggests an ensemble of evolving fuzzy models for multivariate time series prediction. The proposed ensemble approach is able to model the weather dynamics from data streams concerning variables such as wet bulb temperature, atmospheric pressure, maximum temperature, and relative humidity of the air. The purpose is to predict rainfalls 5 days ahead while providing a linguistic description of the reasoning used to give the predictions. Empirical results show that the ensemble-based fuzzy evolving modeling approach outperforms other evolving approaches in terms of accurate predictions.

关键词： Evolving Ensemble Fuzzy Models Multivariate Time Series Prediction

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Using the theories of finite automata and formal languages to determine observability of switched Boolean control networks

Using the theories of finite automata and formal languages t...

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IEEE Annual Conference on Decision and control

作者： Kuize Zhang Lijun Zhang Lihua Xie Zhe Jiang College of Automation Harbin Engineering University Harbin 150001 PR China School of Marine Technology Northwestern Polytechnical University Xi'an 710072 PR China School of Electrical and Electronic Engineering Nanyang Technological University Singapore 639798 Singapore Key Laboratory of System and Control Chinese Academy of Sciences Beijing 100190 PR China

ISBN: (纸本)9781479978878

In this paper, how to determine the observability of switched Boolean control networks (SBCNs) is investigated. First, a new concept of weighted pair graph for an SBCN is defined. Second, the weighted pair graph is used to transform an SBCN into a deterministic finite automaton (DFA). Lastly, the observability of the SBCN is tested by testing the completeness of the DFA. Based on these results, algorithms for determining the observability and the initial state are designed.

关键词： Observability Automata Switches Formal languages Transforms controllability

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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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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Robust remote tracking control with partly quantized information and packed-dropout 33

Robust remote tracking control with partly quantized informa...

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第三十三届中国控制会议

作者： GE Yang WANG Jingcheng LI Kang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Electronics Electrical Engineering and Computer ScienceQueen’s University Belfast

ISBN: (纸本)9781479947249

This paper mainly discusses the remote tracking problem with partly quantized information and packet-dropout. Since the network exists between the remote plant and the local plant, any information transmitted between each other will experience the quantization errors and may be lost. In this situation, the controller of the local system needs to consider both the exact local information and the inaccurate remote information. A state feedback controller is adopted and the theorems to design such controller are given in terms of bilinear matrix inequalities(BMIs). Moreover, an algorithm is proposed and these BMIs are converted into a convex optimization problem. Finally, the efficiency of the proposed method is demonstrated by a simulation example.

关键词： Networked control systems,robust control,quantized,remote tracking,packet-dropout

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A Novel Online Model for Furnace Exit Gas Temperature of Coal-fired Boiler 33

A Novel Online Model for Furnace Exit Gas Temperature of Coa...

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第三十三届中国控制会议

作者： Liu Zhengfeng Wang Jingcheng Shi Yuanhao Zhang Langwen Li Kang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast

ISBN: (纸本)9781479947249

Furnace exit gas temperature(FEGT) is the key parameter in the furnace ash fouling monitoring system. Since the standard least squares support vector machine(LSSVM) is not suitable for online identification and control of FEGT,a novel CM-LSSVM-PLS method is proposed to predict FEGT in this paper. In the process of CM-LSSVM-PLS method, c-means cluster(CM) algorithm is used to partition the training data into several different subsets by considering the characteristics of operational data. Submodels are subsequently developed in the individual subsets based on LSSVM method. Partial least squares algorithm(PLS) is employed as the combination strategy. The online updating algorithm is then applied to the CM-LSSVM-PLS model. The proposed online model is verified through operation data of a 300 MW generating unit. The simulation results show that the proposed online updating model is effective for online FEGT forecasting.

关键词： Coal-fired boiler Furnace exit gas temperature C-means cluster Least squares support vector machine Partial least squares Online updating

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