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Design and analysis of an adaptive RBF neural network controller for two-eye robot visual system

Journal of Computational Information Systems 2014年第17期10卷 7517-7527页

作者： Li, Guoyou Li, Hengrui Zhang, Boqiang Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

Aiming at solving the problem of control performance due to the inaccuracy in the two-eye robot visual servoing system modeling, an RBF neural network based on the adaptive algorithm is proposed, which is used to identify the uncertainties of the modeling. A dynamic control law is put forward for compensating the uncertainties of the modeling, an adaptive law is put forward to ensure the boundness of the neural network's weights and a kinematic control law is put forward which takes the errors between the actual position and the target position of the manipulators as input. The stability of the two control laws is demonstrated using the Lyapunov stability theorems, and the stability of the manipulator system which is under the proposed control laws is illustrated. The results, which are obtained from the Matlab simulation, verify the high performance of the control strategy.

关键词： Kinematics

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Electric power steering simulation analyze based on fuzzy PID current tracking control

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Journal of Computational Information Systems 2011年第1期7卷 119-126页

作者： Zang, Huaiquan Chen, Shuanyong Key Lab. of Industrial Computer Control Engineering of Hebei Province Institute of Electrical and Engineering Yanshan University Qinhuangdao 066004 China

Through analyzing of the electric power steering (EPS) structure and union the vehicle dynamic characteristics, this paper establishes a mathematical model of EPS. And the EPS system simulation model based on Matlab/Simulink is built. The fuzzy PID control strategy is adopted to control the actual current of the motor tracking precisely the target current, and the motor current compensation that for inhibition of road surface disturbance is taken. Conventional assist control and damping control that apply to the system with the different road and different speed are simulated and analyzed. The simulation results show that this strategy is effective and practical: target current tracking effect is better;the vehicle of steering torque decrease apparently compare with the non-assistant power system;the driver could get seemly road feel;the wallop to steering wheel is restrained effectively when the vehicle is driving on the uneven road. © 2011 Binary Information Press.

关键词： Simulink

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Event-Triggered-Based Robust control of Heterogeneous Connected Vehicles Platoon with Communication Delay and Random Packet Loss 8

Event-Triggered-Based Robust Control of Heterogeneous Connec...

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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Liu, Chen Ru, Shuangkun Qi, Lin Fang, Jiayi Zhang, Ting Yanshan University Hebei Key Laboratory of Industrial Computer Control Engineering Hebei Province Qinhuangdao066004 China School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China School of Vehicle and Mobility Tsinghua University Beijing100081 China

ISBN: (纸本)9798331504892

With the development of vehicle autonomous driving technology and wireless network communication technology, the mix platoon of connected autonomous vehicles (CAVs) and connected human-driven vehicles (CHVs) is becoming inevitable. The abnormal V2V communication and uncertain vehicle dynamics may affect the CAV control performance. Considering time-varying communication delays and random packet loss, an event-trigger-based robust control strategy is proposed based on the stability theory of stochastic time-delay systems. The Bernoulli packet loss model is constructed to solve the random packet loss problem. The robust controller with the event-triggered mechanism designed using the Lyapunov functional stability theory of stochastic systems ensures the stability of the mix platoon with vehicle heterogeneity and the stability of CAV. The simulation comparison has verified that the proposed control strategy can better suppress the fluctuation of the preceding vehicle and more quickly reach the desired value when both time delay and packet loss are present. © 2024 IEEE.

关键词： Stochastic systems

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Reliability prediction method of hydraulic system by fuzzy theory

Reliability prediction method of hydraulic system by fuzzy t...

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6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Chen, Dongning Yao, Chengyu Feng, Zhongkui Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9783902823311

The hydraulic system's reliability is a key factor to ensure the reliable operation of equipment and it is very important to evaluate reliability of hydraulic system. The paper describes a reliability prediction method that may be used to evaluate the reliability of hydraulic systems for industrial applications. The proposed method takes advantage of fuzzy set theory. The aim of this method is to minimize the deficiencies of the traditional reliability prediction methods treating a failure rate as fixed value due to insufficiency practice data. Triangular fuzzy number and Gaussian fuzzy number are used in the application of this prediction method, where environmental factor, derating factor, and other factors are considered. Finally, an example of type crane's hydraulic system is given to verify the feasibility and practicability of the method. © 2013 IFAC.

关键词： Fuzzy set theory

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A Learning Evasive Email-Based P2P-Like Botnet

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China Communications 2018年第2期15卷 15-24页

作者： Zhi Wang Meilin Qin Mengqi Chen Chunfu Jia Yong Ma College of Computer and Control Engineering Nankai University Tianjin 300350 China Information Security Evaluation Center of Civil Aviation Civil Aviation University of China Tianjin 300300 China Key Lab. on High Trusted Information System in Hebei Province Baoding 071002 China

Nowadays, machine learning is widely used in malware detection system as a core component. The machine learning algorithm is designed under the assumption that all datasets follow the same underlying data distribution. But the real-world malware data distribution is not stable and changes with time. By exploiting the knowledge of the machine learning algorithm and malware data concept drift problem, we show a novel learning evasive botnet architecture and a stealthy and secure C&C mechanism. Based on the email communication channel, we construct a stealthy email-based P2 P-like botnet that exploit the excellent reputation of email servers and a huge amount of benign email communication in the same channel. The experiment results show horizontal correlation learning algorithm is difficult to separate malicious email traffic from normal email traffic based on the volume features and time-related features with enough confidence. We discuss the malware data concept drift and possible defense strategies.

关键词： malware botnet learning evasion command and control

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Reliability optimization of multi-state hydraulic system based on T-S fault tree and extended PSO algorithm

Reliability optimization of multi-state hydraulic system bas...

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6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Yao, Chengyu Wang, Bin Chen, Dongning Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783902823311

In order to overcome the difficulty of constructing the multi-state system's reliability optimization model, and the shortage of premature convergence of PSO (Particle Swarm Optimization) algorithm, a new reliability optimization method based on T-S fault tree and EPSO (Extended PSO) algorithm is proposed. According to the T-S fault tree and T-S rules of the events, the multi-state system reliability optimization model is constructed, at the same time, given constraint conditions on the system cost, weight and volume, and combined with the death penalty to construct the fitness function. Furthermore, EPSO algorithm based on the attraction and repulsion forces in the artificial physics is applied to the reliability optimization of multi-state hydraulic system. Comparing with PSO algorithm, the results of EPSO algorithm are in a better performance in obtaining global optimal solution. © 2013 IFAC.

关键词： Trees (mathematics)

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Fixed-time Stabilization control for Underactuated AUV with External Disturbance

Fixed-time Stabilization Control for Underactuated AUV with ...

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第三十八届中国控制会议

作者： Hongbin Wang Bo Su Yueling Wang Qianda Luo Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

This paper investigates the composite design of fixed-time control and fixed-time extended state observer(FTESO) for the underactuated autonomous underwater vehicle system with external disturbance. A FTESO which can estimate the disturbance and state in fixed-time unrelated to initial states of the system. Continuous fixed-time convergent control approach conjunction with FTESO are used to make sure that the system states can be convergent in a fixed time at the present of external time-varying disturbance. The horizontal plane of the AUV model is first divided into two cascade connected subsystems by use of input and state transformations, and the proposed result is further extended to the stabilization control for horizontal plane of the AUV, which considers external current disturbance. In the last, simulation results are given to demonstrate the effectiveness of the proposed method.

关键词： fixed-time extended state observer fixed-time controller convergence time AUV

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Global dynamic sliding mode control of PMSM speed servo systems base on extended state observer

Global dynamic sliding mode control of PMSM speed servo syst...

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Chinese control Conference (CCC)

作者： Yangyang Wu Yiming Fang Le Liu Yongchao Zhang Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

Base on the the high performance requirements of permanent magnet synchronous motor(PMSM) speed servo system for non-sinusoidal oscillation control system of continuous casting mold, a global dynamic sliding mode(GDSM) control method is proposed, The reaching law of the sliding mode is designed by exponential fast terminal sliding mode(EFTSM) method and the controllers could effectively diminish chattering by designing the first derivative of control output which contains discontinuous function of sliding mode control; Considers the time variation of parameters perturbation and load disturbance of PMSM, a extended state observer (ESO) is constructed to observe the dynamic observation of total system perturbation and conduct feedforward compensation; theoretical analysis shows that the closed-loop system is global bounded stability; The simulated results show that the static and dynamic performance of the PMSM speed servo control system can be significantly improved by using the proposed method.

关键词： Electronic mail Sliding mode control Servomotors Observers Zirconium Digital control Educational institutions

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An Improved Method for MRAC System of Indirectly Designed

An Improved Method for MRAC System of Indirectly Designed

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2012年控制与信息国际会议

作者： Huishan Han Yan Liu Defang Cheng Xue Gao Xingtai Polytechnic College Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

Based on Lyapunov stability theorem, a MRAC system was researched to solve that differential value of plant output is unknown. Meanwhile an improved design for MRAC system aimed on the factor of restricting convergence of system is given. The method not only solves the problem that makes the system can not work well as a result of the adjustable parameters, but also improves the convergence of plant. The simulation graphs have shown that the plant can follow the output of the reference model quit well

关键词： MRAC system · Lyapunov theory · Convergence

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A new variable tap-length LMS algorithm and application in fixed satellite communications

A new variable tap-length LMS algorithm and application in f...

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International Conference on Wireless Communications, Networking and Mobile Computing (WiCom)

作者： Hui, Chen Yanguang, Han Haibin, Li Xinping, Guan Xidian University Xian China 54th Research Institute China Electronics Technology Group Corporation Shijiazhuang China Key Lab. of Industrial Computer Control Engineering Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9781424437092

A new variable tap-length LMS algorithm is proposed in this paper. This algorithm can effectively obtain both fast convergence rate and small steady state error by non-linear weighting L errors of the current moment and past moments. The algorithm analysis is also given which the ideal tap-length is obtained by increasing the error information and eliminating the effect of correlated noise sequences. Then the new algorithm is applied to the fixed satellite communications system in which the channel is affected by weather conditions attenuation and multipath effect. Simulation results are presented to support the analysis. The new algorithm converges faster than usual algorithms under same steady state performance. The signal BER performance is greatly improved with the new adaptive filter algorithm equalizer when the signal passes simulation model of fixed satellite communications system. © 2010 IEEE.

关键词： Satellites

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