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

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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DC Motor Speed control Based on system Identification and PID Auto Tuning 36

DC Motor Speed Control Based on System Identification and PI...

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第36届中国控制会议

作者： Wei-Jie Tang Zhen-Tao Liu Qian Wang School of Industrial Automation Beijing Institute of Technology School of Automation China University of Geosciences Hubei key Laboratory of Advanced control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

Speed control mode of a DC motor without knowing the specific parameters of the motor is *** approximate mathematical model of the control system is obtained by the system identification when the output of the system is measured by loading the specific input *** PID control algorithm is adopted and the P,I,and D parameters are obtained by auto *** in the loop（HIL） experiments are carried out on MATLAB and Arduino platform,in which the experimental results demonstrate the feasibility of the proposal.

关键词： DC motor system Identification PID control HIL Experiment Automatic Code Generation

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Color moving object detection method based on automatic color clustering 33

Color moving object detection method based on automatic colo...

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第三十三届中国控制会议

作者： LI Jing WANG Junzheng Mao Jiali Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781479947249

Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can’t be described by simple gray information completely. In order to achieve automatic color moving object detection, the method based on automatic color clustering is especially proposed. Because the difference between adjacent pixels in an image is very small, the initial cluster center can be moved in the maximum distance. The proposed method can reduce the number of iterations and quicken convergence speed, meanwhile determine the number of color cluster and the location of the color object automatically. The proposed algorithm is validated in the actual system, experimental results show that the proposed method can automatically achieve color clustering for color image, while detect color objects.

关键词： Color clustering Color object Moving object detection

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Building GIS for Unmanned Ground Vehicles in the Urban Traffic Environment 33

Building GIS for Unmanned Ground Vehicles in the Urban Traff...

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第三十三届中国控制会议

作者： WANG Xinping WANG Meiling ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

ISBN: (纸本)9789881563842

As an important research field of intelligent Transport system(ITS),Unmanned Ground Vehicles(UGV)can lessen traffic accidents and relieve traffic congestion by high intelligence,thereby improving the efficiency of the entire *** and more complex urban traffic environment forces UGV to perceive a lot of environmental information,and the Geographic Information system(GIS)has strong capabilities of storage and management for geographic ***,a new method for constructing GIS database is proposed in this paper,which combines the characteristics of urban traffic and needs for perceiving the environment of UGV,to assist UGV in moving in the urban traffic environment ***,Google Earth is used to create the city ***,an urban road network model is proposed and the GIS database of urban traffic environment is constructed based on the ***,the GIS database is used to achieve the least-time route based on improved Dijkstra ***,the GIS database can provide the attributive information of roads in the real vehicle experiment,which guides UGV to perceive the environment *** have shown that the proposed GIS database performs well in assisting UGV to move autonomously in the urban traffic environment.

关键词： GIS,UGV,Urban traffic environment,Database,Road network model

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Dynamic image stabilization precision test system based on the Hessian matrix

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Science China(Information Sciences) 2012年第9期55卷 2056-2074页

作者： LI Jing ,WANG JunZheng,WANG ShouKun,MA LiLing & SHEN Wei key laboratory of complex system intelligent control and Decision,School of automation,Beijing Institute of Technology,Beijing 100081,China 1. Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

Dynamic image stabilization precision of an optical image-stable device is a key technical ***,a fast dynamic image stabilization precision test system for an optical image-stable device is developed.A large-aperture collimator with a designed cross divisional board is used to simulate the infinity *** image-stable device is installed on the motion simulator with six degrees of freedom which is used to simulate the moving state of the *** CCD camera installed behind the eyepiece lens of the image-stable device acquires images rapidly and in real *** local energy maxima center of the cross light spot can be acquired accurately through the proposed algorithm using the Hessian *** addition,to deal with the CCD non-uniformity,an adaptive non-uniformity correction algorithm based on bi-dimensional empirical mode decomposition is *** actual test results for the proposed method show that the test error of dynamic image stabilization is less than 0.7,and the time for the frame image acquisition and processing is less than 10 ms,which demonstrates the effectiveness of the test system.

关键词： image stabilization precision adaptive non-uniformity correction empirical mode decomposition local energy maxima Hessian matrix

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Hybrid dynamic model of polymer electrolyte membrane fuel cell stack using variable neural network

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Journal of Beijing Institute of Technology 2012年第3期21卷 354-361页

作者：李鹏陈杰蔡涛王光辉 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing Institute of Technology

The polymer electrolyte membrane（PEM） fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,which combines the advantages of mechanism model and black-box model,is proposed in this *** improve the performance,the static neural network and variable neural network are used to build the black-box *** static neural network can significantly improve the static performance of the hybrid model,and the variable neural network makes the hybrid dynamic model predict the real PEM fuel cell behavior with required ***,the hybrid dynamic model is validated with a 500 W PEM fuel *** static and transient experiment results show that the hybrid dynamic model can predict the behavior of the fuel cell stack accurately and therefore can be effectively utilized in practical application.

关键词： PEM fuel cell variable neural network hybrid dynamic model

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Adaptive Equivalent-input-disturbance Approach to Improving Disturbance-rejection Performance

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International Journal of automation and computing 2020年第5期17卷 701-712页

作者： Ze-Wen Wang Jin-Hua She Guang-Jun Wang School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China School of Engineering Tokyo University of TechnologyHachioji 192-0982Japan

This paper presents an adaptive equivalent-input-disturbance(AEID)approach that contains a new adjustable gain to improve disturbance-rejection performance.A linear matrix inequality is derived to design the parameters of a control *** adaptive law for the adjustable gain is presented based on the combination of the root locus method and Lyapunov stability theory to guarantee the stability of the AEID-based *** adjustable gain is limited in an allowable range and the information for adjusting is obtained from the state of the *** results show that the method is effective and robust.A comparison with the conventional EID approach demonstrates the validity and superiority of the method.

关键词： Adaptive control disturbance rejection equivalent input disturbance(EID) linear matrix inequality(LMI) Lyapunov stability root locus

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Steady Walking of Wheel-quadrupled Robot over Unknown Rough Terrain Based on Basic Static Gait 36

Steady Walking of Wheel-quadrupled Robot over Unknown Rough ...

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第36届中国控制会议

作者： Shoukun Wang Fei Guo Xiaolong Du Key Laboratory of Intelligent Control and Decision of Complex System Academy of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking pattern of robot is determined,and the attitude angles and the position of COG（center of gravity） are adjusted to enhance the stability and ability of robot to traverse the rough *** order to simplify and establish model for rough terrain,we propose an estimation method of terrain based on the position of stance phase and the body attitude,as well as calculate the target attitude angle of the trunk in this *** then the smooth transition of foot-laying positions is guaranteed by planning the adjustment ***,the simulation results illustrate that the proposed method is able to adapt robot to different types of unknown rough terrains.

关键词： wheel-quadruped robot unknown rough terrain basic static waling pattern attitude adjustment gait planning

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EID-based Robust Stabilization for a Class of Nonlinear Uncertain systems with Disturbances 38

EID-based Robust Stabilization for a Class of Nonlinear Unce...

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第三十八届中国控制会议

作者： Shengnan Tian Min Wu Luefeng Chen Jinhua She Manli Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781728123295;9789881563972

This paper concerns robust stabilization for a class of nonlinear systems with uncertainties and disturbaces. The equivalent-input-disturbance(EID) approach is utilized to estimate the influence of nonlinearities and exogenous disturbances on the output of the system. A robust stability condition is derived in terms of linear matrix inequalities. Moreover, two parameters are used to tune the robustness of the system. Simulation results show that it is more effective to stabilize the system using the developed method than using the sliding-mode control(SMC) method.

关键词： Robust stabilization equivalent-input-disturbance nonlinear uncertain system disturbance linear matrix inequality(LMI)

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Design of an Optimization and control system for Carbon Efficiency in the Green Manufacturing of Sinter Ore 36

Design of an Optimization and Control System for Carbon Effi...

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第36届中国控制会议

作者： Sheng Du Min Wu Xin Chen Weihua Cao Jinhua She School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781538629185

Sinter ore is the raw material of the iron and steel production.A sintering production process is with high energy consumption and large CO *** is important to achieve the green manufacturing of the sinter *** this paper,an optimization and control system for the carbon efficiency(OCSCE) in the green manufacturing of the sinter ore is designed from the point of view of the maximum utilization of the carbon and the best protection of environment in the sintering *** OCSCE has three parts:the optimization for the carbon efficiency,the coordinated optimization and control for the production phases and the comprehensive performance evaluation for the carbon *** optimization for the carbon efficiency is used to optimize the state *** coordinated optimization and control for the production phases is applied to optimize and control the operation *** comprehensive performance evaluation for the carbon efficiency assesses whether the carbon efficiency of the whole sintering process is consistent with green ***,an implementation scheme of the OCSCE is put forward for the industrial *** results of preliminary tests show that the OCSCE is in line with the needs of the industrial site,and it will have a significant performance after the OCSCE is put into the industrial site.

关键词： Carbon Efficiency Sintering Process Optimization Evaluation Hierarchical Structure

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