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Chinese control Conference

作者： Mingyuan Xie Jinhua She Zhentao Liu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan

This paper investigates the stabilizability of positive time-delay system. The nonnegative constraint makes the design of a control law different from a general system. Firstly, a method to calculate the L_1 gain of a positive time-delay system is presented. Then, the design of a state feedback controller and a high-gain observer is presented by taking full advantage of the characteristics of the positiveness of the system. Finally, the observer and feedback controller are combined to stabilize the system and improve dynamic performance. A numerical example illustrates the provided method is effective.

关键词： Observers State feedback Delays Closed loop systems Adaptive control Delay effects

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Load Frequency control in Power systems via A Sampled-Data controller

Load Frequency Control in Power Systems via A Sampled-Data C...

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第37届中国控制会议

作者： XingChen ShangGuan Yong He Lin Jiang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems University of Liverpool

In modern power systems, load frequency control(LFC) scheme usually operates in the discrete mode, while the most existing LFC schemes are designed in the continuous mode, such that those LFC schemes do not work usually in their best manner in practice. In this paper, a method of state-feedback controller design of load frequency control(LFC) for one–area system is discussed in continuous-discrete mode via sampled–data control scheme. At first, the model of LFC is constructed in continuous-discrete mode by using the input delay method. Then, a new method is present to design a state–feedback ***, a case study is given to show the effectiveness and the benefits of the proposed method.

关键词： Power system Load frequency control Sampled-data control State–feedback controller

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control of Wireless Network Communication for Industrial Robot Servo systems

Control of Wireless Network Communication for Industrial Rob...

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Chinese control Conference (CCC)

作者： Meiliu Li Guangjun Wang Jinhua She Zhentao Liu Danyun Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan

To meet the needs of high speed and good environmental adaptability for data transmission in industrial robot servo systems, this paper presents a wireless transmission technology on a data acquisition control terminal. The system is based on STM32F103RET6 processor and reads cache data from the SRAM of FPGA in DMA method, and communicates with a WIFI chip, Marvell 88w8686, through the SDIO interface. A host computer segments and filters the data received by the WIFI chip and sends control commands back to STM32. The functions of the hardware and software of the system contains data compression and storage, wireless data transmission, data display, and control-command transmission. An experimental platform has been built. It carries out real-time transmission of 8-16 digits based on the TCP/IP protocol with expected performance.

关键词： Wireless fidelity Wireless communication Servomotors Data communication Service robots Field programmable gate arrays

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Gesture Intention Understanding Based on Depth and RGB Data

Gesture Intention Understanding Based on Depth and RGB Data

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Chinese control Conference

作者： Yu Feng Luefeng Chen Wanjuan Su Kaoru Hirota Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo Institute of Technology Yokohama Japan

Aiming at the problem that the process of gesture recognition based on color image is greatly affected by environmental factors such as lighting, a gesture intent understanding method based on the fusion of Red-Green-Blue (RGB) data and depth data is proposed. Firstly, the gesture feature extraction based on the Speeded Up Robust Feature (SURF) method after foreground segmentation are used to get gesture information. Then, we apply Backpropagation (BP) neural network to classify and recognize gestures. The final recognition results are obtained through data fusion from recognition results based on both RGB images and depth images. We evaluated the effectiveness of the proposed method through ChaLearn Gesture Database.

关键词： Feature extraction Image segmentation Gesture recognition Robustness Image recognition Neural networks Robot sensing systems

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On Overvoltage Intrusion Detection System for Substations

On Overvoltage Intrusion Detection System for Substations

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Chinese control Conference (CCC)

作者： Tao Zhao Yongbo Li Jing Rao Zhongzhao Xie Zijia HU Rubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R.China

In the modern power system, overvoltage phenomenon occurs frequently. Overvoltage generation will cause electrical equipment breakdown, explosion, and other accidents. These accidents not only cause unnecessary economic losses but also seriously affect the operation of power system. The popularization and application of on-line monitoring technology for UHV AC and DC transmission lines provide a guarantee for the safe operation of the power grid. Monitoring the overvoltage intrusion of UHV substations and accurately recording the parameters of overvoltage intrusion is of great significance to the study of overvoltage and the protection of over-voltage in substations. Based on the analysis of the principle of a monitoring system, this paper puts forward the mathematical model of a monitoring system. According to the basic functions of a monitoring system, it puts forward the overall design plan combining the upper computer and the lower computer, and the key problems to be solved in the monitoring system. Including the board design and the high speed data acquisition board based on FPGA design of control system based on STM32, and the automatic variable rate compression technology, GPS timing and Timekeeping Technology, overvoltage invasion wave trigger judgment, high speed data acquisition and cache technology and based on TCP protocol according to the number of batch transmission.

关键词： Voltage control Monitoring Power systems Data acquisition Intrusion detection Global Positioning System Hardware

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Market-based task assignment for multi-point dynamic aggregation tasks 48

Market-based task assignment for multi-point dynamic aggrega...

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48th International Conference on Computers and Industrial Engineering, CIE 2018

作者： Du, Xin Zhang, Jia Xin, Bin Ding, Yulong Peng, Zhihong Dou, Lihua School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

Multi-agent task assignment problem exists in collaborative target tracking, collaborative rescue, regional search, etc. Most researchers regarding multi-agent task assignment only consider static tasks. However, in complex scenarios, the states of tasks (e.g., Monitoring of hazardous environments) are time-varying. This type of the task can be modeled as a multi-point dynamic aggregation (MPDA) process. This paper proposes a distributed task assignment method for the MPDA task. This method firstly adopts an auction algorithm to obtain a pre-allocation planning that can ensure every task can be completed. Then, the agents who complete the pre-allocation planning will evaluate the uncompleted tasks and assist other agents to complete these tasks, so that tasks can be completed as soon as possible. Compared with the optimal solution, simulations show that the task allocation method can obtain satisfied allocation solutions with a lower computational cost. The gap from the optimal solution is only 8% on average. Especially, for problems including more than 100 tasks, the proposed method can obtain planning solutions within one second, and the makespan of the MPDA task is more than 50% better than the best one of the 1000 random sample solutions. © 2018, Curran Associates Inc. All rights reserved.

关键词： Optimal systems

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Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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Synchronization Tracking of Heterogeneous Robotic systems with Parametric Uncertainties and Communication Delays 5

Synchronization Tracking of Heterogeneous Robotic Systems wi...

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5th International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2018

作者： Yao, Xiang-Yu Ge, Ming-Feng Ding, Hua-Feng Wang, Leimin Liu, Jie Han, Tao Liu, Zhi-Wei School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Huazhong University of Science and Technology Wuhan430074 China School of Hydropower and Information Engineering Huazhong University of Science and Technology Wuhan430074 China College of Mechatronics and Control Engineering Hubei Normal University Huangshi435002 China School of Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781538670880

This paper studies synchronization tracking problems of heterogeneous robotic systems in the presence of kinematic uncertainties, dynamic uncertainties and communication delays. To solve the above problems, this paper develops cooperative adaptive controllers based on directed topologies containing spanning trees, which relaxes the constraints on communications than the previous works with undirected or strongly connected topologies. By invoking Lyapunov stability and Input-output stability techniques, sufficient criteria for asymptotical stability of the systems are obtained. Moreover, the obtained results are expanded to formation problems in similar cases. Finally, the validity of the theoretical results and the numerical comparisons with existing work are supported by numerous simulations. © 2018 IEEE.

关键词： Topology

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A CUDA-Based Parallel Adaptive Dynamic Programming Algorithm 36

A CUDA-Based Parallel Adaptive Dynamic Programming Algorithm

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第36届中国控制会议

作者： Lu Li Xin Chen Wei Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

Adaptive Dynamic Programming（ADP） with critic-actor architecture is a useful way to achieve online learning *** algorithm Gaussian-Kernel Adaptive Dynamic Programming（GK-ADP） that has been developed before has a kind of two-phase iteration,which not only approximates value function,but also optimizes hyper-parameters ***,just like most iteration algorithms are applied in practice,the scale of sample set will increase as the complexity of the system increases,and it will induce a high computation *** order to speed up computation,a practical acceleration method using parallel computation for GK-ADP is presented in this *** realize parallel computation,a high efficient configuration based on CUDA is designed,in which a group of GPUs work in parallel to compute the most complex part of *** comparison test illustrates that the computation burden which hinders GK-ADP’s application is reduced to a large extent when the parallel computing is introduced.

关键词： Gaussian-Kernel Adaptive Dynamic Programming CUDA Parallel Computing GPU

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Short-term Wind Power Prediction by Using Empirical Mode Decomposition Based GA-SVR 36

Short-term Wind Power Prediction by Using Empirical Mode Dec...

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第36届中国控制会议

作者： Hua Xie Min Ding Luefeng Chen Jianqi An Zhangbing Chen Min Wu School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

Accurate short-term wind power prediction can improve the trade and the dispatch level of wind *** predict the short-term wind power,we investigated the empirical mode decomposition（EMD） of numerical weather prediction（NWP） and genetic algorithm（GA） optimization of support vector regression（SVR）.First,the wind speed data from NWP is decomposed into the EMD components,including multiple intrinsic mode functions（IMFs） and one ***,a genetic algorithmsupport vector regression model（GA-SVR） is used to build models of all ***,the prediction results of all components are integrated,which as input of wind-power curve for obtain the predicted value of wind *** order to validate the proposed method,one real-world dataset was used for model training and testing,and the results show that the proposed method is more accurate and effective than SVR and back propagation neural networks（BPNN）.

关键词： Wind Power Prediction Empirical Mode Decomposition Support Vector Regression Genetic Algorithm Fast Fourier Transform Wavelet Filter

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