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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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Fast Automatic Localization of Epileptic Seizure Onset Zones Using complex Morlet Wavelet Transform-based Singular Value Decomposition

Fast Automatic Localization of Epileptic Seizure Onset Zones...

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Chinese control Conference

作者： Zelin Fang Xiongbo Wan Ting Wan Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

A new method for localization of epileptic seizure onset zones (SOZs) is proposed, which uses the Shannon-entropy-based complex Morlet wavelet transform to extract a satisfactory time-frequency feature of high-frequency oscillations (HFOs). The singular value decomposition and the K-medoids clustering algorithm are employed to extract effective features from the redundant matrix of wavelet coefficients. A distinctive feature is to use the singular values to detect HFOs with the consideration that the singular values of HFOs are generally significantly higher than those of normal case. Based on the half-maximum method, the localization of SOZs are achieved by using the characteristics of HFOs. Comparisons show that our method provides a higher sensitivity and specificity than two existing methods do.

关键词： Hafnium oxide Clustering algorithms Feature extraction Wavelet transforms Singular value decomposition Oscillators

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Position control of a Planar Four-Link Underactuated Manipulator

Position Control of a Planar Four-Link Underactuated Manipul...

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Chinese control Conference (CCC)

作者： Dong Liu Xuzhi Lai Yawu Wang Xiongbo Wan Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

A position control strategy by employing the model reduction and the cascade transformation is proposed for a planar four-link AAPA (Active-Active-Passive-Active) underactuated manipulator in this paper. First, a dynamics model of the system is built. Next, three controllers are designed based on the Lyapunov function to control the fourth active link from any initial angle to zero while the angles of the first and second active link remain their initial values, which makes the system is reduced to a planar virtual three-link AAP (Active-Active-Passive) underactuated manipulator. Then, we obtain the new inputs of the cascade system of the planar virtual three-link AAP underactuated manipulator. Finally, we can get the controllers of the active links to realize the system position control objective. Simulation results demonstrate the validity of the proposed control strategy.

关键词： Lyapunov methods Manipulator dynamics Position control Mathematical model Transmission line matrix methods automation

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Improved Kriging for Drilling Visualization Based on Quantum Genetic Algorithm

Improved Kriging for Drilling Visualization Based on Quantum...

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Chinese control Conference

作者： Zheng Zhang Xuzhi Lai Min Wu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

To realize drilling visualization, an effective interpolation method is essential to construct three-dimensional model. Kriging is an effective interpolation method commonly used by geologists. However, the variogram model parameters in traditional Kriging have a certain subjectivity, which will influence the accuracy of interpolation. Quantum Genetic Algorithm (QGA) is introduced to optimize the variogram model parameters selection in this paper. Elevation values of boreholes are used as data sets for simulation. The results show that the proposed improved Kriging has a better prediction accuracy.

关键词： Interpolation Biological cells Genetic algorithms Quantum computing Geology Solid modeling Data models

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control Strategy Based on Iterative Method for Planar Pendubot

Control Strategy Based on Iterative Method for Planar Pendub...

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Chinese control Conference (CCC)

作者： Zixin Huang Xuzhi Lai Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

This paper presents a position control strategy based on the iterative method for a planar Pendubot. The control objective of the system is to move the end-point from any initial equilibrium point to a target equilibrium point. The presented method is based on the iterative steering, where a converging control law is applied repeatedly. In order to compute such a control law, the dynamic equations of the system are transformed via partial feedback linearization and nilpotent approximation. Finally, the simulation results demonstrate that the position control objective is realized by using this control strategy.

关键词： Mathematical model Iterative methods Position control Feedback linearization Manipulators Numerical models Switches

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control strategy based on differential evolution algorithm for planar second-order nonholonomic manipulator

Control strategy based on differential evolution algorithm f...

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Chinese control Conference (CCC)

作者： Yawu Wang Xuzhi Lai Pan Zhang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

This paper presents a two-stage position control strategy based on the differential evolution (DE) algorithm for a planar second-order nonholonomic manipulator, which has one passive joint and this passive joint is not the first joint (planar A m PA n manipulator for short, where m ≥ 1, n ≥ 0). An offline DE algorithm is used to calculate all link target angles corresponding to the target position. According to these target angles, a Lyapunov function is constructed to design the controllers A for the control stage 1, which are used to control all active links to their target angles. According to the constraint equation of the planar A m PA n manipulator, an oscillatory trajectory is planned for the first active link based on the online DE algorithm. When the first active link tracks the oscillatory trajectory, it will back to its target angle eventually. Meantime, the passive link will be jointly controlled to its target angle eventually. Then, the other Lyapunov function is constructed to design the controllers B for the control stage 2, which are used to control the first active link tracks the target trajectory and control the remaining m+n-1 active links maintain in their target angles. Simulation results of a planar AAPA manipulator demonstrate the effectiveness of the proposed control strategy.

关键词： Position control Trajectory Angular velocity Manipulator dynamics Mathematical model Lyapunov methods

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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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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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Performance Diagnosis of controller Based on Eigenvector Subspace K-mean Clustering 36

Performance Diagnosis of Controller Based on Eigenvector Sub...

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第36届中国控制会议

作者： Man Hao Wei-Hua Cao Min Wu Yan Yuan Zhen-Tao Liu School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

To diagnose the specific reasons that lead to deterioration of controller performance and improve the diagnostic accuracy,a performance diagnosis method based on eigenvector subspace K-mean clustering is ***,the number of standard deterioration performance subspace with different degrees of deterioration information is increased on the basis of the eigenvector subspace distance diagnosis method,in which multiple distance values between eigenvector subspaces are ***,K-mean clustering is used to divide these distance values into two classes,and the clustering center with a maximum number of points is selected as the representative ***,current performance degradation factor is attributed to the category that represented by the nearest standard performance *** simulation,a double-tank model is established,and simulation result shows that average accuracy of controller performance diagnosis reaches 99.4%approximately.

关键词： controller performance performance diagnosis eigenvector subspace K-mean clustering

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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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