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Corrigendum to “Road detection algorithm for Autonomous Navigation systems based on dark channel prior and vanishing point in complex road scenes” [Robot. Auton. Syst. 85 (2016) 1–11]

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Robotics and Autonomous systems 2017年 88卷 202-202页

作者： Yong Li Weili Ding Xuguang Zhang Zhaojie Ju Laboratory of Pattern Recognition and Intelligent Systems Key Laboratory of Industrial Computer Control Engineering of Hebei Province Department of Automation Institute of Electrical Engineering Yanshan University Qinghuangdao Hebei 066004 China College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China School of Computing University of Portsmouth PO1 3HE UK

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Robust fault tolerant manoeuvring and rudder control of marine vehicles with state saturation

Robust fault tolerant manoeuvring and rudder control of mari...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Xiaozheng Jin Qiuhong Liu Yu Kang Jiahu Qin School of Electrical Engineering and Automation HeFei University of Technology HeFei AnHui China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Technology in Geo-Spatial Information Processing and Application System Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467380768

In this paper, the problem of rudder-roll damping control for a class of cruise keeping ships subject to both actuator fault and state saturation is investigated. A manoeuvring and rudder control model of marine vessels is firstly reviewed based on the existing literature. Actuator faults which including partial loss of rudder effectiveness and actuator-bias faults are considered in the model. Then a switching control strategy is developed to compensate for the actuator faults and to guarantee the stability of the rudder-roll damping control system. Moreover, some relationship regarding state saturation bounds, actuator fault limits and control parameters are analyzed in this paper. Finally, simulation results are given to illustrate the proposed procedures and their effectiveness.

关键词： Actuators Vehicles Damping Mathematical model Marine vehicles Vehicle dynamics

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Fault-tolerant control of discrete-time LPV systems using virtual actuators and sensors

Fault-tolerant control of discrete-time LPV systems using vi...

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作者： Tabatabaeipour, S. Mojtaba Stoustrup, Jakob Bak, Thomas Automation and Control Department of Electrical Engineering Technical University of Denmark Elektrovej Kgs. Lyngby2800 Denmark Automation and Control Department of Electronic Systems Aalborg University Fr. Bajers Vej C7 Aalborg9200 Denmark

This paper proposes a new fault-tolerant control (FTC) method for discrete-time linear parameter varying (LPV) systems using a reconfiguration block. The basic idea of the method is to achieve the FTC goal without redesigning the nominal controller by inserting a reconfiguration block between the plant and the nominal controller. The reconfiguration block is realized by an LPV virtual actuator and an LPV virtual sensor. Its goal is to transform the signals from the faulty system such that its behavior is similar to that of the nominal system from the viewpoint of the controller. Furthermore, it transforms the output of the controller for the faulty system such that the stability and performance goals are preserved. Input-to-state stabilizing LPV gains of the virtual actuator and sensor are obtained by solving LMIs. We show that separate design of these gains guarantees the input-to-state stability (ISS) of the closed-loop reconfigured system. Moreover, we obtain performances in terms of the ISS gains for the virtual actuator, the virtual sensor, and their interconnection. Minimizing these performances is formulated as convex optimization problems subject to LMI constraints. Finally, the effectiveness of the method is demonstrated via a numerical example and stator current control of an induction motor. Copyright © 2014 John Wiley & Sons, Ltd.

关键词： controllers

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Guest Editorial for Special Issue on Cyber-Physical systems

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 233-234页

作者： Youxian Sun Xinping Guan Jiming Chen Yilin Mo Zhejiang University the Chinese Academy of Engineering the Institute of Industrial Process Control and the National Engineering Research Center of Industrial Automation Zhejiang University Department of Automation Shanghai Jiao Tong University University Research Management Office Shanghai Jiao Tong University the Key Laboratory of Systems Control and Information Processing Ministry of Education of China the prestigious Innovative Research Team of the National Natural Science Foundation of China(NSFC) Department of Control Science and Engineering group of Networked Sensing and Control in the State Key laboratory of Industrial Control Technology Institute of Industrial Process Control at Zhejiang University the School of Electrical and Electronic Engineering at Nanyang Technological University

Ⅰ.Introduction CYBER-PHYSICAL system is a system of collaborating computational elements to control physical *** coordination and the tight link between computational,virtual and physical resources in cyber-physical system will have a pervasive effect on our everyday *** development of cyber-physical system will create new opportunities for the introduction of services that will enhance the quality of life

关键词： for WSAN Guest Editorial for Special Issue on Cyber-Physical systems of into on WSN is

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Design of a flexure-based XY positioning stage with balanced axial forces on decoupling modules

Design of a flexure-based XY positioning stage with balanced...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Zhen Zhang Zhiqing Liu Peng Yan Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Department of Mechanical Engineering Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China School of Mechanical Engineering Shandong University Jinan China

ISBN: (纸本)9781509029464

This paper presents a novel beam flexure-based XY positioning stage with an axial force balanced design of double parallelogram decoupling modules. By mean of connecting two decoupling modules along the same actuation axis, the axial forces are evenly applied to each side of the motion stage. Therefore the in-plane rotation can be significantly restricted. Also a redundant constraint is proposed to the guidance module to restrict its rotational motions. The monolithical fabrication of the spatial configuration of the proposed mechanism can be resorted to additive manufactured technology. Numerical simulation results validate the effectiveness of the proposed XY positioning stage.

关键词： Force Actuators Joining processes Numerical simulation Nanopositioning Kinematics Stress

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RBF Adaptive Sliding control for Five-axis Flexible Satellite 34

RBF Adaptive Sliding Control for Five-axis Flexible Satellit...

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第三十四届中国控制会议

作者： MA Zheng WU Yunjie DONG Xiaomeng State Key Laboratory of Virtual Reality Technology and Systems Beihang University School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Qian Xuesen Laboratory of Space Technology CAST

ISBN: (纸本)9781467374439

With consideration of the flexible attachment effect, a robust sliding mode control method is proposed to realize RBF optimization of 3-DOF satellite with 2-DOF load. RBF neural network's approximation characteristic enables us to estimate the nonlinear function of satellite dynamics equation, furthermore, to adjust the sliding mode control law. Meanwhile, adaptive law is adopted to optimize the weights of neural network, so that satellite attitude and load attitude reach the expectation. Simulation results reveal that, this method far surpass traditional control method in rapidity, robustness and accuracy. Moreover, it's timeliness values much during practical application.

关键词： flexible attachment,five-axis satellite model,adaptive RBF neural network,sliding mode variable structure

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Active Fault Diagnosis in Sampled-data systems

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IFAC-PapersOnLine 2015年第21期48卷 883-888页

作者： Niemann, Henrik Poulsen, Niels Kjolstad Department of Electrical Engineering Automation and Control Technical University of Denmark Building 326 DK-2800 Kgs. Lyngby Denmark Dept. of Applied Mathematics and Computer Science Section for Dynamical Systems Technical University of Denmark DK-2800 Kgs. Lyngby Denmark

The focus in this paper is on active fault diagnosis (AFD) in closed-loop sampleddata systems. Applying the same AFD architecture as for continuous-time systems does not directly result in the same set of closed-loop matrix transfer functions. For continuous-time systems, the LFT (linear fractional transformation) structure in the connection between the parametric faults and the matrix transfer function (also known as the fault signature matrix) applied for AFD is not directly preserved for sampled-data system. As a consequence of this, the AFD methods cannot directly be applied for sampled-data systems. Two methods are considered in this paper to handle the fault signature matrix for sampled-data systems such that standard AFD methods can be applied. The first method is based on a discretization of the system such that the LFT structure is preserved resulting in the same LFT structure in the fault signature matrix as obtained for continuous-time systems. The other method is an approximation method, where the same structure is obtained for small parametric faults. © 2015

关键词： Continuous time systems

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Globally stabilizing state feedback control design for Lotka-Volterra systems based on underlying linear dynamics

Globally stabilizing state feedback control design for Lotka...

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作者： Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Egyetem street 10. Veszprém H-8200 Hungary Process Control Research Group Control and Automation Research Institute HAS Kende street 13-17 BudapestH-1111 Hungary

Using translated X-factorable phase space transformations and nonlinear variable transformations a dynamically similar linear ODE model is associated to the Lotka-Volterra system models with a positive equilibrium point. This enables to use a linear full state feedback controller to stabilize the system in controllable cases, that leaves the open loop equilibrium point unchanged. The linear state feedback controller design problem in the general case has also been formulated to ensure the compartmental property of the closed loop system from which the existence of a diagonal Lyapunov function follows. Further extension has been obtained by using the time re-parametrization transformation defined for quasi-polynomial models. © 2015

关键词： Closed loop systems

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Identifiability and Parameter Estimation of Linear Continuous-time systems under Irregular and Random Sampling

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IFAC-PapersOnLine 2015年第28期48卷 332-337页

作者： Mu, Biqiang Guo, Jin Wang, Le Yi Yin, George Xu, Lijian Zheng, Wei Xing Key Laboratory of Systems and Control Chinese Academy of Sciences Beijing100190 China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Department of Electrical and Computer Engineering Wayne State University DetroitMI48202 United States Department of Mathematics Wayne State University DetroitMI48202 United States Department of Electrical and Computer Engineering Technology Farmingdale State College State University of New York FarmingdaleNY11735 United States School of Computing Engineering and Mathematics University of Western Sydney PenrithNSW2751 Australia

This paper considers the problem of identifiability and parameter estimation of single-input-single-output, linear, time-invariant, stable, continuous-time systems under irregular and random sampling schemes. Conditions for system identifiability are established under inputs of exponential polynomial types and a tight bound on sampling density. Identification algorithms of Gauss-Newton iterative types are developed to generate convergent estimate sequences. When the sampled output is corrupted by observation noises, input design, sampling times, and convergent algorithms are intertwined. Persistent excitation (PE) conditions for strongly convergent algorithms are derived. Unlike the traditional identification, the PE conditions under irregular and random sampling involve both sampling times and input values. Under the given PE conditions, iterative and recursive algorithms are developed to estimate the original continuous-time system parameters. The corresponding convergence results are obtained. Several simulation examples are displayed to verify the theoretical results. © 2015

关键词： Continuous time systems Iterative methods Lyapunov methods Nonlinear control systems Parameter estimation Sampling convergence and asymptotical normality Estimation algorithm Identifiability Irregular sampling Linear continuous time system Non linear least squares

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Global finite-time stabilization of second-order systems subject to mismatched disturbances with application to consensus

Global finite-time stabilization of second-order systems sub...

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第三十四届中国控制会议

作者： Xiangyu Wang Shihua Li Haibo Du School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Electrical Engineering and Automation Hefei University of Technology

ISBN: (纸本)9781467374439

In this paper, the finite-time stabilization problem for second-order systems subject to mismatched disturbances is studied. By integrating the homogeneous control technique and the finite-time disturbance observer together, a kind of feedforwardfeedback composite controllers are proposed. These controllers globally finite-time stabilize the disturbed systems. Moveover,the composite control method is also used to solve the finite-time consensus problem of leaderless second-order systems with mismatched disturbances. Simulations demonstrate the effectiveness of the proposed control algorithms.

关键词： Mismatched disturbances,finite-time control,homogeneous theory,finite-time disturbance observer,consensus

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