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第三十九届中国控制会议

作者： Mingjin Hu Wei Hua Xudong Wu Chengdong Wu Dazhi Wang Zhentao Liu Xiaofang Yuan Wennong Zhang School of Electrical Engineering Southeast University Faculty of Robot Science and Engineering Northeastern University College of Information Science and Engineering Northeastern University Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems College of Electrical and Information Engineering Hunan University

In this paper, a two-degree-of-freedom（2-DOF） speed control scheme for permanent magnet synchronous machines is developed. Both the reference-tracking and disturbance rejection performance are taken into account and only a single parameter related to expected bandwidth determines the dynamics. To improve the performance of speed control, a novel identification method for mechanical parameters is also proposed. The effectiveness of the proposed method is verified by simulations.

关键词： Speed control two-degree-of-freedom permanent magnet synchronous machine parameter identification

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Stability and Neimark-Sacker Bifurcation of Leslie-Gower Predator-Prey System with Two Delays

Stability and Neimark-Sacker Bifurcation of Leslie-Gower Pre...

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Chinese control Conference (CCC)

作者： Wei Yin Weiqi Qin Xiaowei Jiang Xiangyong Chen Ming Chi School of Automation China University of Geosciences Wuhan P. R. China Affiliated Hospital of Shandong Medical College Linyi P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Wuhan P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Neimark-Sacker bifurcation of a delay differential equation modeling two-enterprise interaction mechanism is investigated. for the demands of computer simulation applications, the discrete-time two-enterprise interaction model is proposed by using the forward Euler scheme. By discussing the characteristic equation of linearized part, the local stability criterion of the positive fixed point is presented. Time lag is selected as the bifurcation parameter. Then it is demonstrated that variation of time lag may result in Neimark-Sacker bifurcation. Furthermore, derivations for the directions and stability of Neimark-Sacker bifurcation are also given. Finally, we simulate the main results.

关键词： Bifurcation Stability analysis Predator prey systems Delays Delay effects Biological system modeling Electronic mail

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A Modular Magneto-Inductive Sensor for Low Vector Magnetic Field Measurements

arXiv

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arXiv 2020年

作者： Liu, Huan Wang, Xiaobin Zhao, Changfeng Wang, Zehua Jian, Ge Dong, Haobin Liu, Zheng School of Automation China University of Geosciences Hubei Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China School of Engineering University of British Columbia Okanagan Campus KelownaBCV1V 1V7 Canada

The low magnetic field measurement has been utilized since ancient times in order to find economic resources, to detect magnetic anomalies, etc. In this case, the vector magnetic survey can simultaneously obtain the modulus and direction information of the magnetic field, which can contribute to obtaining more precise information and characteristics of magnetic field resources. This paper is concerned with the potential to exploit the signals of vector magnetic field measurement with a magneto-inductive (MI) sensor. To evaluate the capability of the MI sensor, a test platform is set up and its performance including the noise floor, the resolution, the sensitivity, etc., are comprehensively characterized. Further, a comparative geomagnetic observation and magnetic anomaly detection among the proposed MI sensor, a high-precision Overhauser sensor, and a commonly used and accepted commercial MI sensor are conducted. The experimental results identify the capability of the proposed MI sensor in weak magnetic detection. Copyright © 2020, The Authors. All rights reserved.

关键词： Magnetic fields

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Trajectory Planning and Tracking control for Positioning of Planar Three-link Underactuated Manipulator

Trajectory Planning and Tracking Control for Positioning of ...

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Asian control Conference

作者： Zixin Huang Xuzhi Lai Pan Zhang Min Wu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan China

ISBN: (纸本)9781728102634

This paper is concerned with the position control problem of the planar active-passive-active (APA) underactuated manipulator, whose dynamic constraint is mainly caused by the second-order nonholonomic constraint. First, the dynamic model of the system is established and the target angles of the three links are calculated by using differential evolution algorithm. Then, we present a trajectory planning and tracking control strategy to realize the control objective, which is to stabilize the end-point from any initial position to the target position. We plan two stage trajectories, the first of which is planned for the active links. When the the active links track the first stage trajectories, they can reach to their target angles. The second one is planned for the first active link based on the differential evolution algorithm. When the first active link tracks the second stage trajectory, it will back to its target angle eventually. Meantime, the passive link will be controlled to its target angle. Then, we design sliding mode variable structure controllers to make active links track the planned trajectories, which can make the all links reach to the their target angles. Finally, numerical simulation results illuminate the effectiveness of the proposed strategy.

关键词： Trajectory Manipulators Target tracking Position control Planning Heuristic algorithms Optimization

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K-Means Clustering-based Kernel Canonical Correlation Analysis for Multimodal Emotion Recognition ⁎

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IFAC-PapersOnLine 2020年第2期53卷 10250-10254页

作者： Luefeng Chen Kuanlin Wang Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6R 2G7 Canada Tokyo Institute of Technology Yokohama 226-8502 Japan

Emotion is an important part of human interaction. Emotional recognition can greatly promote human-centered interaction techniques. On this basis, multimodal feature fusion can effectively improve the emotion recognition rate. However, in the multimodal feature fusion at the feature level, most of the methods do not consider the intrinsic relationship between different modes. Only the fusion of analysis and transformation of the feature matrices of different modes does not make better use of modal differences to improve the recognition rate. This problem led us to propose feature fusion method based on K-Means clustering and kernel canonical correlation analysis (KCCA). Clustering makes the classification of features not classified by mode, but by the degree of influence on emotional labels, thus positively affecting the results of KCCA. The experimental results obtained on the Savee database show that the proposed K-Means based KCCA improves overall classification performance and produces higher recognition rate than that of the state of art methods, such as the Informed Segmentation and Labeling Approach.

关键词： Emotion Recognition K-Means Clustering Kernel Canonical Correlation Analysis Feature Fusion

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Robust disturbance rejection for a fractional-order system based on equivalent-input-disturbance approach

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Science China(Information Sciences) 2018年第7期61卷 200-211页

作者： Ruijuan LIU Jinhua SHE Min WU Fenfang ZHU Zhuoyun NIE School of Applied Mathematics Xiamen University of Technology School of Automation China University of Geosciences School of Engineering Tokyo University of Technology Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Information Science and Engineering National Huaqiao University

This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(fo) systems. An fo observer is used to reconstruct the plant states and estimate the disturbances. A disturbance estimator is incorporated in the construction of the fo control system to actively compensate for the entire disturbance. A robust stability condition for the control system and the parameters of the controller are derived using an indirect Lyapunov *** presented method effectively rejects disturbances and handles modeling uncertainties without requiring prior knowledge of the disturbance. Comparison simulations on both numerical and practical examples demonstrate the effectiveness of the proposed method.

关键词： fractional-order system disturbance rejection equivalent-input-disturbance uncertain system Lyapunov method state observer stability

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Multi-scale Protein complex Discovery based on Graph Wavelet

Multi-scale Protein Complex Discovery based on Graph Wavelet

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第三十九届中国控制会议

作者： Wang Yue Ran Xu Peng Xiao-yu Yi Ming Zhu Yuan School of Science Huazhong Agricultural University School of Mathematics and Statistics Huazhong University of Science and Technology School of Mechanical Engineering Wuhan Institute of Shipbuilding Technology School of Mathematics and Physics China University of Geosciences School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Identifying protein complexes from protein interaction networks is an important task in the post-genomic era. With the development of high-throughput sequencing technology, the acquisition of protein interaction network data is becoming more and more convenient. The current protein complex recognition algorithms cannot well balance the hierarchical and overlapping properties of protein networks. In order to overcome these limitations, this paper proposes a Graph Wavelet based Protein complex Discovery algorithm, GW-PCD. The method exploits the clustering analysis of protein interaction networks to find a modular mechanism by characterizing the distance between graph wavelet coefficients of protein pairs. Comparative experimental results show that GW-PCD enhances the performance of identifying protein complexes, which will provide valuable clues for further exploration of the unknown functions of proteins at the multiscale perspective.

关键词： Graph wavelet Protein-protein interaction network Multiresolution analysis Protein complex Community discovery

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A grasping CNN with image segmentation for mobile manipulating robot

A grasping CNN with image segmentation for mobile manipulati...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Yu, Yingying Cao, Zhiqiang Liang, Shuang Liu, Zhicheng Yu, Junzhi Chen, Xuechao Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Intelligent Robotics Institute BIT Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9781728163215

This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot. © 2019 IEEE.

关键词： Image segmentation

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A Collision-Free Person-following Approach Based on Path Planning

A Collision-Free Person-Following Approach Based on Path Pla...

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IEEE International Conference on Mechatronics and automation

作者： Lei Pang Zhiqiang Cao Junzhi Yu Weimin Zhang Xuechao Chen State Key Laboratory of Management and Control for Complex Systems Institute of Automation School of Artificial Intelligence University of Chinese Academy of Sciences BIC-ESAT College of Engineering Peking University Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Person following is a crucial capability for mobile robots in tasks of human assistance and cooperation. In this paper, a person-following approach based on path planning is proposed for mobile robots, which takes person following and obstacle avoidance into account in a unified framework. The proposed approach is comprised of a sensing module and a planning module. The sensing module with a camera and a 3D LiDAR is employed to locate the target person and perceive obstacles. for the planning module, the combination of global planner and local planner effectively outputs collision-free paths and control commands for a mobile robot to keep following the target person. Experiments were conducted to evaluate the performance of the proposed approach.

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Dissipativity Analysis for Markovian Jump Neural Networks with Time-Varying Delay via An Extended Relaxed Integral Inequality 37

Dissipativity Analysis for Markovian Jump Neural Networks wi...

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37th Chinese control Conference, CCC 2018

作者： Wen-Juan, Lin Yong, He Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences School of Automation Wuhan430074 China

ISBN: (纸本)9789881563941

This paper investigates the problem of the strictly (\mathcal{Q}, \mathcal{S}, \mathcal{R})-\gamma -dissipativity analysis for Markovian jump neural networks with a time-varying delay. By employing an appropriate Lyapunov-Krasovskii functional and using the extended relaxed integral inequality to estimate its derivative, a delay-dependent and mode-dependent condition that guarantee the considered Markovian jump neural networks strictly (\mathcal{Q}, \mathcal{S}, \mathcal{R})-\gamma -dissipative is derived. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method. © 2018 Technical Committee on control Theory, Chinese Association of automation.

关键词： Lyapunov functions

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