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Sufficient and Necessary Condition of Admissibility for Fractional-order Singular system

自动化学报 2013年第12期39卷 2160-2164页

作者： YU Yao JIAO Zhuang SUN Chang-Yin School of Automation Electrical Engineering University of Science and Technology Beijing Beijing 100083 China Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Beijing 100083 China Beijing Institute of Elec- tronic System Engineering Beijing 100854 China

这份报纸与顺序为部分顺序的单个系统集中于考虑条件吗？(0， 1 ) 。整齐的定义，没有推动并且考虑被给第一，然后，为部分顺序的单个系统的考虑的一个足够、必要的条件被建立。一个数字例子被包括说明建议条件。

关键词：奇异系统分数阶充要条件可容许充分必要条件

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The stabilization of coordinated distributed model predictive control

The stabilization of coordinated distributed model predictiv...

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13th IFAC Symposium on Large Scale Complex systems: Theory and Applications, LSS 2013

作者： Zheng, Y. Li, S.Y. School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Ministry of Education Road Shanghai 200240 China Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

A stabilized Distributed MPC for large scale system is proposed and its designation is given in this paper for improving the global performance of closed-loop system. To make the performance of closed-loop system more close to that using centralized MPC, each subsystembased MPC added the cost of the entire system into its optimization cost function. In addition, a consistency constraint and dual mode strategy are designed and adopted. Provided an initially feasible solution can be found, subsequent feasibility of the algorithm is guaranteed at every update, and the asymptotic stabilization is established. © IFAC.

关键词： Predictive control systems

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On variation of infinite horizon performance of model predictive control with varying receding horizon

On variation of infinite horizon performance of model predic...

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3rd IFAC Conference on Intelligent control and automation Science, ICONS 2013

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai 200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast BT7 1NN United Kingdom

ISBN: (纸本)9783902823458

This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equations (DRE), an upper bound and a lower bound of the ratio between variation of IH performance of MPC and finite horizon (FH) optimal cost are obtained. The result shows the dynamic behavior of IH performance of closed-loop MPC systems as the optimization horizon varies. Copyright © 2013 IFAC.

关键词： Model predictive control

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分数阶奇异系统容许性的充分必要条件(英文)

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自动化学报 2013年第12期39卷 2160-2164页

作者：余瑶焦壮孙长银 School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Beijing Institute of Electronic System Engineering

This paper focuses on the admissibility condition for fractional-order singular system with order α∈(0, 1). The definitions of regularity, impulse-free and admissibility are given first, then a sufcient and necessary condition of admissibility for fractional-order singular system is established. A numerical example is included to illustrate the proposed condition.

关键词： Fractional-order singular systems regularity impulse-free admissibility

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Autonomous hovering control for a quadrotor unmanned aerial vehicle

Autonomous hovering control for a quadrotor unmanned aerial ...

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Chinese control Conference (CCC)

作者： Fu Wang Bin Xian Guoping Huang Bo Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

In this paper, an autopilot system for the quadrotor unmanned aerial vehicle (UAV) is developed by utilizing a digital signal processor (DSP) as the on-board micro-control unit (MCU). The hardware setup and the software are also developed for the autonomous flight control of the UAV. The main design procedure includes the controller board design, brushless DC motor driver design, sensor data processing software design, and flight control algorithm design. The control algorithm is developed based on the inner loop and outer loop control method. Proportional Derivative (PD) controllers are proposed for the attitude dynamics (inner loop) and position dynamics (outer loop) respectively. Autonomous hovering control is achieved via the control of roll angle, pitch angle, yaw angle and altitude of the UAV. Experiments results are included to demonstrate the hovering control performance.

关键词： Digital signal processing Pulse width modulation Electronic mail Unmanned aerial vehicles Educational institutions Digital signal processors Heuristic algorithms

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Development of a three degree-of-freedom testbed for an unmanned helicopter and attitude control design

Development of a three degree-of-freedom testbed for an unma...

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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail Process control Educational institutions control design

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Sensor data quality assessment for building simulation model calibration based on automatic differentiation

Sensor data quality assessment for building simulation model...

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2013 IEEE International Conference on automation Science and engineering, CASE 2013

作者： Li, Sisi Song, Zhen Zhou, Mengchu Lu, Yan Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07013 United States Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Automation and Control Siemens Corporation Corporate Technology Princeton NJ 08540 United States

ISBN: (纸本)9781479915156

Building simulation models play a vital role in optimal building climate control, energy audit, fault detection and diagnosis, continuous commissioning, and planning. Real system parameters are often unknown or partially unknown and need to be identified through historical data, which are currently acquired by heuristically designed experiments. Without quality sensor data, model calibration is prone to fail, even if the calibration algorithm is appropriate. In this paper, we propose a Fisher-information-matrix (FIM)-based metric to examine the sensor data measurements and how their quality is related to the model calibration quality. It aims to provide quantitative guidance in the calibration cycle of a whole building model that takes as many variables as possible into consideration for the sake of accuracy. Our concerned model is based on well-known physical laws and tries to avoid simplification, thereby leading to a highly discontinuous system with model switches due to the seasonal or daily variation and other reasons. Such a model is implemented in the form of a software package. Hence, no explicit mathematical expression can be given. A key technical challenge is that the complexity of the model prohibits the analytical derivation of FIM, while the numeric calculation is sensitive to sensor noise and model switches. We, hence, propose to adopt an automatic differentiation method, which exploits the operator overload feature of object oriented programming language, for robust numerical FIM calculation. © 2013 IEEE.

关键词： Numerical methods

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An open-source development and simulation platform for smart wheelchairs

An open-source development and simulation platform for smart...

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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Gain-scheduling Distributed MPC for Polytopic Uncertain systems subject to Actuator Saturation

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IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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