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IEEE Conference on Robotics, automation and Mechatronics

作者： Wenhao Luo Jun Peng Weirong Liu Jing Wang Wentao Yu Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Controland Intelligent Automation Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly, both the constraints and performance functions are incorporated by similar forms in terms of trajectory parameters, which thereby can be considered in a uniform way. A parameter space of adjustable trajectory parameters is constructed to solve the unified optimization problem with constraints and results in more flexible and better optimal performance. The proposed approach is complete and enhances methods of deterministic real-time planning by overcoming typical drawbacks as intermediate configuration, curvature discontinuities, vertical singularities and incomplete optimization. Simulation results verify the validity and superiority of the proposed method.

关键词： Trajectory Robot kinematics Collision avoidance Mobile robots Acceleration Optimization

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Sensor Fault Detection and Isolation in the Quadrotor Vehicle Using Nonlinear Identity Observer Approach

Sensor Fault Detection and Isolation in the Quadrotor Vehicl...

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Conference on control and Fault-Tolerant systems

作者： Younes Al Younes Hassan Noura Abdelhamid Rabhi Ahmed El Hajjaji Nedaa Al Hussien Mechanical Engineering Faculty at Higher Colleges of Technology Chairman of Electrical Engineering Department at United Arab Emirates University Information & System Lab - Control & Vehicle Group- at University of Picardie Electrical Engineering Program at United Arab Emirates University

ISBN: (纸本)9781479928569

The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.

关键词： Quadrotor Vehicle Nonlinear Observer Observer Scheme Structured Residuals

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang 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 Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning system Electronic mail Algorithm design and analysis MATLAB

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

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Acta Automatica Sinica 2013年第12期39卷 2160-2164页

作者： Yao YU Zhuang JIAO Chang-Yin SUN 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 Electronic System Engineering Beijing 100854 China

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 sufficient 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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An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

An improved parameterized approach for real time optimal mot...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Wenhao Luo Jun Peng Jing Wang Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method.

关键词： Trajectory Planning Vehicle dynamics Dynamics Collision avoidance Kinematics Optimization

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Global Leader-Following Consensus of a Group of Multiple Integrator Agents Using Bounded controls

Global Leader-Following Consensus of a Group of Multiple Int...

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第三十二届中国控制会议

作者： Zhiyun Zhao Zongli Lin Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479900305

This paper studies the global leader-following consensus problem for a multi-agent system using bounded controls. Both the agents and the leader are described by a chain of integrators of arbitrary length. A saturated linear feedback control law is constructed for each system in the group. These feedback laws use a multi-hop relay protocol, in which each agent obtains the information of other agents through multi-hop paths in the communication network, and the feedback gains are constructed from the adjacency matrix of the communication network. It is shown that global leader-following consensus is achieved under the feedback control laws we have constructed when the communication topology among follower agents is a strongly connected and detailed balanced directed graph and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.

关键词： Multi-agent systems, leader-following consensus, bounded control, actuator saturation

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SIMULATION RESEARCH OF ACTIVE VIBRATION control FOR ELASTIC MISSILE WITH SWING NOZZLE THRUST VECTOR control

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International Journal of Modeling, Simulation, and Scientific Computing 2013年第4期4卷 14-30页

作者： XIAODONG LIU YUNJIE WU YONG DENG SEN WANG JIAYUN SONG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191P.R.China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191P.R.China Beijing Institute of System Engineering Beijing 100101P.R.China

Aiming at the deficiencies of notch filters on the aspect of vibration suppression for elastic missile with swing nozzle thrust vector control(SNTVC),an active vibration controller(AVC)is *** is composed of an optimal state feedback controller(OSFC)and an optimal minimal order state observer(OMOSO),which can be respectively designed based on the separation *** design rules of these two elements are successively *** simulation results present that AVC can realize strong vibration suppression and good convergence property after ***,it has simple design and then it is easily implemented in *** addition,the AVC scheme can also resolve the poor system stability to a great extent,which is resulted from the bad static stability of missile body.

关键词： Swing nozzle thrust vector control anti-aircraft missile servo-elasticity state feedback state observer active vibration control

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The Stabilization of Coordinated Distributed Model Predictive control *

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IFAC Proceedings Volumes 2013年第13期46卷 182-187页

作者： Y. Zheng S.Y. Li School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Key Laboratory of Control of Power Transmission and Conversion Ministry of Education Road Shanghai 200240 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China (Tel: 34204011 )

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 subsystem-based 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.

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Open Problems in Reset control

Open Problems in Reset Control

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IEEE Annual Conference on Decision and control

作者： Guanglei Zhao Dragan Nesic Ying Tan Jingcheng Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Department of Electrical and Electronic Engineering University of Melbourne Parkville 3010 Vic. Australia

ISBN: (纸本)9781467357159

It is well-known that there are fundamental performance limitations in the design of linear feedback control systems for single-input-single-output (SISO) linear-time-invariant (LTI) plants. These performance limitations sometimes include overshoot and rise time. This paper shows that for some examples of SISO LTI systems, it is possible to find suitable reset controllers that can overcome such performance limitations, though there are still some robust and implementable issues that need to be solved. This naturally leads to the formulation of several open research problems that we specify.

关键词： Linear feedback control systems Research Problems reset control LTI overshooting PULSE RISE TIME reset controller Feedback control systems

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Prediction of hard rock TBM penetration rate using least square support vector machine

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IFAC Proceedings Volumes 2013年第13期46卷 347-352页

作者： Yang Ge Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University Shanghai and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China (Tel: 86-21-34205374 ) School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

The prediction of tunnel boring machine (TBM) penetration rate is helpful to plan construction time and to control cost. This paper studies on modeling the penetration rate and the rock mass parameters via least square support vector machine (LS-SVM). These rock properties include uniaxial compressive strength (UCS), Brazilian tensile strength (BTS), peak slope index (PSI), distance between planes of weakness (DPW) and the alpha angle. The correlation between the rock parameters and the measured rate of penetration (ROP) is first investigated via LS-SVM. Then the necessity of normalizing the rock parameters is discussed. Finally, comparisons between the LS-SVM and other methods are presented to demonstrate the applicability of LS-SVM for predicting ROP.

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