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第37届中国控制会议

作者： Xuerong Li Hongli Dong Fei Han Qinjiang Sun Jiahui Li Institute of Complex Systems and Advanced Control Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Tianjin Branch China National Offshore Oil Corporation Company Limited

In this paper, the set-membership filtering problem is investigated for a class of time-varying uncertain systems with censored measurements under Weighted Try-Once-Discard（WTOD） protocol. The system uncertainties are formulated by the norm-bounded conditions. The well-known Tobit Type I model is employed to formulate the censored measurements, which is caused by occlusion region, limit-of-detection or sensor faults. An indicator variable is introduced to obtain a unified form in order to address the censored nonlinearity. The WTOD protocol is designed to prevent data conflicts, under which only one node is allowed to transmit data at each instant. Via the mathematical induction, the existence condition of the set-membership filter is derived in terms of a set of recursive linear matrix inequalities, which can guarantee that the filtering error dynamics satisfies the given ellipsoid constraint. Then, the parameters of the filter can be obtained by using the convex optimization method, and the corresponding ellipsoid parameters are optimized. Finally, a simulation example is given to illustrate the effectiveness of the proposed methods.

关键词： Set-membership Filtering Weighted Try-Once-Discard Protocol Uncertain systems Censored Measurements

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Stability analysis of load frequency control systems with two delays in each area

Stability analysis of load frequency control systems with tw...

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Annual Conference of Industrial Electronics Society

作者： Fei Long Chuan-Ke Zhang Yong He Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In networked load frequency control (LFC) systems, time-varying delays could come from two aspects: measurements' transmission from power plant to control center and control signals from the control center to plant side, because of the use of open communication networks. Those delays can affect the dynamic performance and the stability of the system. In this paper, the two delays are considered in one-area LFC system, instead of combining these two delays into one, when the delay-dependent stability analysis is carried out by using Lyaponuvtheory and linear matrix inequality (LMI) technique. Moreover, the dynamic delay interval method is employed to derive less conservative delay-dependent stability criteria for such time-delay system compared with the existing results. Finally, the effectiveness of the proposed criteria are verified by two case studies.

关键词： Delays Stability criteria Time-varying systems Power system stability Frequency control Symmetric matrices

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Event-based Cubature Kalman Filter for Smart Grid Subject to Communication Constraint

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IFAC-PapersOnLine 2017年第1期50卷 49-54页

作者： Li S. Li Z. Li J. Wang Q. Song Z. Chen Z. Sheng Y. Liu X. Liu Y. School of Automation and Key Laboratory for Intelligent Control Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China Department of control science and engineering Harbin Institute of Technology Harbin 150001 China

Accurate real-time estimation plays an important role in smart grids. Although various filtering algorithms, such as unscented Kalman filter (UKF), have been proposed for phasor measurement unit (PMU), they occupy huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are applied. In order to relief this burden, the event-based cubature Kalman filter (EBCKF) is proposed based on event-based schemes in this paper. The event-based strategy guarantees that only the observations containing innovational information are transmitted, and cubature Kalman filter (CKF), which is based on the spherical cubature integration, provides more accurate estimation than UKF. Besides, the design-oriented communication rate is provided corresponding to the event-based strategy design. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2017

关键词： communication rate dynamic state estimation Event-based cubature Kalman filter (EBCKF) IEEE 39-bus phasor measurement unit (PMU)

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Impedance control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Hybrid Prediction Model of Carbon Efficiency for Sintering Process

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IFAC-PapersOnLine 2017年第1期50卷 10238-10243页

作者： Hu J. Wu M. Chen X. She J. Cao W. Chen L. Ding H. 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 School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Mechanical Engineering & Electronic Information China University of Geosciences Wuhan 430074 China

Sintering process is the second most energy-consuming process in ironmarking. The main source of energy consumption is the consumption of carbon. It is significant to predict the carbon efficiency to reduce the energy consumption. In the paper, first, the comprehensive coke ratio (CCR) is defined and used as an index to measure the carbon efficiency by analyzing the sintering mechanism. The principal component analysis method is used to find the principal components affecting the CCR. Next, they are divided into different subclasses by adopting the fuzzy C-means clustering algorithm. Then, the least square-support vector machine (LS-SVM) sub-models are established based on the subclasses, and the parameters of the sub-models are obtained using an adaptive particle swarm optimization algorithm. Finally, a FCM-LSSVM model is established by weighting each LS-SVM sub-model with a fuzzy membership function. The simulations using actual production data show that the prediction accuracy of the FCM-LSSVM model is higher than that of a BP neural network model and a single LS-SVM model, and it meets the requirements of actual production. © 2017

关键词： Adaptive particle swarm optimization Comprehensive coke ratio Fuzzy C-means LS-SVM model Principal component analysis Sintering process

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A trajectory tracking control strategy based on finite element method for planar three-link underactuated manipulator

A trajectory tracking control strategy based on finite eleme...

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Annual Conference of Industrial Electronics Society

作者： Yawu Wang Xuzhi Lai Haoqiang Chen Pan Zhang Min Wu School of Automation China University of Geosciences Wuhan Hubei China Intelligent Automation for Complex Systems Hubei Key Laboratory of Advanced Control Wuhan Hubei China

This paper presents a trajectory tracking control strategy based on the finite element method for a planar three-link underactuated manipulator with a passive third joint. From the mechanical structure, the manipulator can be thought of as composed of two parts. The first part is the first link of the manipulator, which is a single link manipulator system. The second part consists of the remaining two links, which can be seen as a plananr Pendubot. First, a finite element model of the planar Pendubot is built by using COMSOL, and the coupling relationship between its active link and its passive link is analyzed. Then, two servo controllers (A and B) with the same structure are designed for two active links of the manipulator, respectively. The servo controller A is directly applied to control the angular velocity of the first link of the manipulator rotating with a constant speed, which makes the end-point of the manipulator move along the trajectory direction. Next, a fuzzy system is designed based on the coupling relationship of the planar Pendubot to calculate the target angular velocity of the second link of the manipulator according to the tracking error and its change rate. The servo controller B is applied to control the angular velocity of the second link of the manipulator, which makes the tracking error converge to zero. Finally, Simulation results demonstrate the effectiveness and the robustness of the proposed control strategy.

关键词： Manipulators Servomotors Zirconium Couplings Angular velocity Trajectory tracking Fuzzy systems

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A review of engineering education in China: History, present and future

A review of engineering education in China: History, present...

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2017 ASEE International Forum

作者： Dong, Xisong Liu, Xiwei State Key Laboratory of Management and Control for Complex Systems Institution of Automation Chinese Academy of Sciences China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Canada

In this globalization and information era, the level of engineering technology represents a country's core competitiveness. With the rapid development of China's industrialization, the high requirement for engineering talents become increasingly urgent. Then, engineering education is facing a great challenge. The history, current situation and problems of engineering education in China are systematically summed up and analyzed in this paper. The challenges and opportunities have also been deeply studied, which constitute the theoretical basis of the sustainable development of engineering education in China. © 2017 American Society for Engineering Education.

关键词： Engineering education

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FCM-based multiple random forest for speech emotion recognition 5

FCM-based multiple random forest for speech emotion recognit...

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

作者： Zhou, Mengtian Chen, Luefeng Xu, Jianping Cheng, Xianghui Wu, Min Cao, Weihua She, Jinhua Hirota, Kaoru School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Engineering Tokyo University of Technology Tokyo192-0982 Japan Tokyo Institute of Technology Yokohama226-8502 Japan

Speech emotion recognition (SER) is of great importance in the human-robot interaction, and SER have been developed rapidly in recent years. How to identify high correlation features is a main question. In this paper, multiple random forest (MRF) is proposed, which can effectively predict up to several thousand explanatory variables, and improve the recognition result. At the mean time, personalized features and non-personalized features are fused for SER that can be divided into different subclasses by adopting the fuzzy C-means (FCM) clustering algorithm, then FCM-based MRF is proposed. Finally, our model is established, and the confusion matrix is output. Moreover, we conduct a separate classification of some certain emotion, which are difficult to recognition to some extent. And results show that the proposed method of FCM-based MRF achieves good performance for SER, which the recognition accuracy is 84.17%.

关键词： Clustering algorithms

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Proposal of Initiative Service Model for Service Robot

Proposal of Initiative Service Model for Service Robot

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第十二届中国智能机器人大会

作者： Man Hao Weihua Cao Min Wu Zhentao Liu Luefeng Chen Ri Zhang School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Service robots are becoming a part of our *** realize friendly human-robot interaction,an initiative service model for service robot is proposed,which is composed of three layers,i.e.,information acquisition layer,in which communication information and environmental information are collected by sensors;decision layer,in which personal intention and emotional states are obtained by multi-modal emotion recognition and intention understanding,and users' demands are obtained by demand analysis model;initiative service execution layer,in which the task execution and emotion adaption of robot are carried *** service can sense motive of people,by which a humanized and real-time service could be *** service experiments are performed,including passive service and initiative service of *** results show that the drinking time of passive service lags behind the initiative service 30 minutes on average,and the initiative service renders drinking service 2 times more than passive service on average,besides,the water quantity provided by initiative service is more reasonable,which demonstrates the feasibility of the *** prospect,initiative service model could be applied to many occasions in our daily life,e.g.,family service,caring for the elderly,and medical rehabilitation.

关键词： service robots service pattern fuzzy production rules emotion recognition intention understanding

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Tobit Kalman filtering: Conditional expectation approach

Tobit Kalman filtering: Conditional expectation approach

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2017 Chinese automation Congress, CAC 2017

作者： Han, Fei Dong, Hongli Hou, Nan Bu, Xianye Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Daqing China Institute of Complex Systems and Advanced Control Northeast Petroleum University Daqing China

ISBN: (纸本)9781538635247

This paper is concerned with the Tobit Kalman filtering for a class of discrete-time linear systems. A set of Bernoulli random variables is introduced to describe the randomly occurring censored measurements, which are dependent on the measurement outputs. Such dependence among random variables leads to the largest challenge encountered in this paper. The conditional expectation as a basic tool is utilized to address this challenge. Within the framework of the traditional Kalman filtering, the obtained filter includes not only the information from the system parameters but also the censored measurements. Finally, an illustrative simulation is presented to demonstrate the effectiveness and applicability of the proposed algorithm. © 2017 IEEE.

关键词： Random variables

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