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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Ji, Haibo Guo, Fuhui Liu, Xiangdong School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

In this paper, an effective guidance scheme and a control scheme are proposed to realize trajectory tracking of hypersonic reentry vehicle(HRV) subject to aileron stuck in some position. The overload is adopted as virtual control instead of lift and lateral force, then guidance order can be obtained by torque coefficient function. In attitude subsystem, attack of angle and sideslip angle are controlled to track guidance order. Time-varying sliding mode control method is adopted to design guidance law and attitude controller. Besides, a RBF observer is designed to estimate the unknown external disturbance to soften the chattering caused by TVSMC. Simulations verify the proposed schemes.

关键词： Sliding mode control

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Design of Modular Humanoid Rehabilitation Robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.

关键词： Rehabilitation Robot Humanoid robot Modularity Singularity Geometric Representation

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A Vision and Neural Network Based Air-Ground Coordinated control System

A Vision and Neural Network Based Air-Ground Coordinated Con...

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2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Muyun Jiang Jiahui Shi Hongbin Ma You Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

This paper presents an air-ground coordinated system made up of an Unmanned Aerial Vehicle(UAV) and an Unmanned Ground Vehicle(UGV).The movement of UGV is totally controlled by UAV and multiple sensors are adopted in the system to ensure the stability.A novel neutral network algorithm is introduced to identify the location and orientation of *** component is introduced and tested in detail and the coordinated system performs a satisfying result.

关键词： Air-ground system Neutral Network

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Advances in Vision-Based Lane Detection：Algorithms,Integration,Assessment,and Perspectives on ACP-Based Parallel Vision

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IEEE/CAA Journal of Automatica Sinica 2018年第3期5卷 645-661页

作者： Yang Xing Chen Lv Long Chen Huaji Wang Hong Wang Dongpu Cao Efstathios Velenis Fei-Yue Wang Advanced Vehicle Engineering Centre Cranfield University Bedford MK43 0AL U.K Vehicle Intelligence Pioneers Ltd Qingdao 266000 China School of Data and Computer Science Sun Yat-Sen University Guangzhou 510275 China Mechanical and Mechatronics Engineering with the University of Waterloo 200 University Avenue West Waterloo ON N2L 3G1 Canada State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China ieee

Lane detection is a fundamental aspect of most current advanced driver assistance systems(ADASs). A large number of existing results focus on the study of vision-based lane detection methods due to the extensive knowledge background and the low-cost of camera devices. In this paper, previous visionbased lane detection studies are reviewed in terms of three aspects, which are lane detection algorithms, integration, and evaluation methods. Next, considering the inevitable limitations that exist in the camera-based lane detection system, the system integration methodologies for constructing more robust detection systems are reviewed and analyzed. The integration methods are further divided into three levels, namely, algorithm, system,and sensor. Algorithm level combines different lane detection algorithms while system level integrates other object detection systems to comprehensively detect lane positions. Sensor level uses multi-modal sensors to build a robust lane recognition system. In view of the complexity of evaluating the detection system, and the lack of common evaluation procedure and uniform metrics in past studies, the existing evaluation methods and metrics are analyzed and classified to propose a better evaluation of the lane detection system. Next, a comparison of representative studies is performed. Finally, a discussion on the limitations of current lane detection systems and the future developing trends toward an Artificial Society, Computational experiment-based parallel lane detection framework is proposed.

关键词： advanced driver assistance systems(ADASs) ACP theory benchmark lane detection parallel vision performance evaluation

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Optimization Oriented Performance Assessment for Combustion Process of Coke Oven

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IFAC-PapersOnLine 2017年第1期50卷 13778-13783页

作者： Lei, Qi Wu, Min Liu, Guoping School of Information Science and Engineering Central South University ChangshaHunan410083 China School of Automation China University of Geosciences WuhanHubei430074 China School of Engineering University of Southwales PontypriddCF37 1DL United Kingdom Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems WuhanHubei430074 China CTGT Center Harbin Institute of Technology HaerbinHeilongjiang150001 China

This paper presents an optimization oriented performance assessment method for combustion process of coke oven by integrating analytic hierarchical process (AHP) and intuitionistic fuzzy(IF) set. An AHP model is built up including safety, stability and economic considerations. To handle the complexity in the combustion process of coke oven, where the decision maker usually has some uncertainty in assigning preference values to the index considered, the IF set is used to obtain the IF preference. Entropy and cross entropy are applied to calculate the weights of the individual indices. The comprehensive evaluation method integreated the AHP and IF can effectively solve the performance assessment for the combustion process of the coke oven. Finally, the data obtained from the process model in different operating conditions are used to demonstrate the effectiveness. © 2017

关键词： Coke ovens Coke Combustion Decision making Fuzzy sets Hierarchical systems Analytic hierarchical process Combustion pro cess Comprehensive evaluation Different operating conditions Economic considerations Entropy methods Intuitionistic fuzzy Performance assessment

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Efficient Deployment of Patrols to Catch Arsonists

Efficient Deployment of Patrols to Catch Arsonists

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Chinese automation Congress (CAC)

作者： Jinpeng Han Fei-Yue Wang Yisheng Lv Fenghua Zhu Yilun Lin Xingyuan Dai Li Li School of Software Engineering Xian Jiaotong University Xian China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing Qingdao Academy of Intelligent Industries Qingdao Shandong The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Science Beijing China Department of Automation Tsinghua University Beijing China

Forest fires are serious disasters that endanger the safety and property of residents. To deal with the arson-caused forest fires, we use security game theory to generate optimal patrol strategy under limited patrolling resources. The existing security game algorithms focus on a single behavior model to prevent attacks, while our work is to incorporate the secondary damage caused by the attack behavior into the optimization object. For forest fires, the security game algorithm only expects to catch arsonists in the forest, which is unreasonable in our opinion. Our algorithm incorporates the spread of fires into patrolling path planning so that defenders avoid being swallowed by fire via capturing the spread of it.

关键词： Games Forestry Security Game theory Mathematical model automation control systems

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Stability analysis of switched nonlinear delay systems with sampled-data inputs

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International Journal of Robust and Nonlinear control 2019年第14期29卷

作者： Zhichuang Wang Jian Sun Guoliang Chen Jie Chen School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

This study addresses the uniformly globally asymptotically stability (UGAS) problem of switched nonlinear delay systems (SNDSs) with sampled-data inputs (SDIs). By using multiple Lyapunov functionals (MLFs) method, mode-dependent average dwell times, and the total activating time length of MLFs, some stability criteria are explicitly obtained for SNDSs with SDIs. Meanwhile, the UGAS property for SNDSs with some or all unstable modes is investigated. For unstable modes and stable modes, we adopt different switching signals. Besides, we establish some sufficient stability conditions in the form of an upper bound on the sum of dwell times and sampling intervals. Simulation examples are adopted to illustrate and verify the effectiveness of our proposed methods.

关键词： multiple Lyapunov functionals sampled-data inputs stability switched nonlinear delay systems

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An Improved Result on H∞ State Estimation for Static Neural Networks with Time-Varying Delay

An Improved Result on H∞ State Estimation for Static Neural...

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第36届中国控制会议

作者： JIN Li HE Yong ZHANG Chuan-Ke WU Min School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents an improved result on H state estimation for static neural networks with a time-varying ***,a novel Lyapunov-Krasovskii functional(LKF) with several augmented terms is ***,a relaxed integral inequality is employed to make a tight estimation for single integral terms with time-varying delay in the derivative of the *** a result,a delay-dependent criterion in terms of linear matrix inequalities is ***,two numerical examples are given to demonstrate the benefits and effectiveness of the obtained criterion.

关键词： Static neural networks Time-varying delay H∞ state estimation Lyapunov-Krasovskii functional Relaxed integral inequality Linear matrix inequality

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H∞ state estimation for discrete time-delayed stochastic genetic regulatory networks with known sojourn probabilities 23

H∞ state estimation for discrete time-delayed stochastic ge...

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23rd IEEE International Conference on automation and Computing, ICAC 2017

作者： Wan, Xiongbo Wang, Zidong Ren, Chuanyu School of Automation China University of Geosciences Wuhan Hubei430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei430074 China Department of Computer Science Brunel University London Uxbridge MiddlesexUB8 3PH United Kingdom

ISBN: (纸本)9780701702618

This paper investigates the problem of H∞ state estimation for discrete-time stochastic genetic regulatory networks (GRNs) with switching parameters, time-varying delays, and exogenous disturbances. A new discrete-time stochastic GRN model with switching parameters is proposed by assuming that the sojourn probability of each subsystem of the GRN under consideration is known. By using the stochastic analysis approach, sufficient conditions are derived under which the augmented estimation error system is stochastically stable and satisfies a prescribed H∞ disturbance attenuation level γ. The gain matrices of the desired state estimator can be obtained by solving a matrix inequality. A numerical example is given to illustrate the effectiveness of the designed state estimator. © 2017 Chinese automation and Computing Society in the UK - CACSUK.

关键词： State estimation

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UKF based Fault Detection and State Estimation for Nonlinear systems with Correlated Noise 36

UKF based Fault Detection and State Estimation for Nonlinear...

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第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

State estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

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