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检索条件"机构=Hubei Key Laboratory of Advanced Control and IntelligentAutomation for Complex Systems"

共 1124 条记录，以下是1001-1010 订阅

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Design of High-Gain-Observer-Based State Feedback controller for Positive Time-Delay System

Design of High-Gain-Observer-Based State Feedback Controller...

引用

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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Hierarchical Prediction Model Based on BP Neural Network for Predicting CO/CO_2 in Iron Ore Sintering Process

Hierarchical Prediction Model Based on BP Neural Network for...

引用

Chinese control Conference

作者： Ben Xu Xin Chen Yang Zhou School of Automation China University of Geosciences Wuhan China Intelligent Automation for Complex Systems Hubei key Laboratory of Advanced Control Wuhan China

The sintering process is one of the most energy-consuming processes in steelmaking, its carbon fuel consumption accounts for 8% to 10% in the steel production process. To find ways of reducing the energy consumption, it is necessary to predict the carbon efficiency. The value of CO/CO_2 in the carbon emission can reflect the utilization of carbon combustion in sintering process. In this study, the CO/CO_2 is taken to be a measure of carbon efficiency and a hierarchical model is built to predict it. Firstly, the physical and chemical reactions and the carbon flow mechanism in the sintering process are analyzed, and the process parameters that affect the CO/CO_2 are determined. Then, the gray relational analysis method is used to analyze the influence factors to determine the relationship between the parameters, and a hierarchical predictive model for CO/CO_2 is established based on the relationship between the parameters. The hierarchical predictive model is divided into two parts: the predictive models for the thermal state parameters and the predictive model for CO/CO_2. The inputs of the predictive models for the thermal state parameters are the raw material parameters and the operating parameters, and the inputs of the predictive model for CO/CO_2 are the predicted values of the predictive models for the thermal state parameters. Finally, the simulation results verify the effectiveness of the proposed modeling method. This method can provide a theoretical basis for the optimization and control of carbon efficiency in the sintering process.

关键词： Predictive models Combustion Correlation Mathematical model Carbon dioxide Chemicals Raw materials

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control of Wireless Network Communication for Industrial Robot Servo systems

Control of Wireless Network Communication for Industrial Rob...

引用

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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Optimal Consensus control of Unknown Nonlinear Multi-Agent systems Using Adaptive Dynamic Programming via MRAC

Optimal Consensus Control of Unknown Nonlinear Multi-Agent S...

引用

第37届中国控制会议

作者： Hao Fu Xin Chen Wei Wang Jinbin Li Yaodong Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems State Grid Hubei Electric Power Research Institute

This paper introduces an optimal consensus control scheme for nonlinear multi-agent systems with completely unknown dynamics. In general, it is difficult to solve the coupled Hamilton-Jacobi-Bellman（HJB） equations, which the optimal consensus control relies on in multi-agent systems, especially unknown nonlinear systems. For the purpose of solving the problem, we propose an optimal consensus control approach based on the model reference adaptive control（MRAC） and adaptive dynamic programming（ADP）. Using the structure of the diagonal recurrent neural network, the identifier and controller are devised to achieve MRAC for every plant of the unknown nonlinear systems, i.e. the reference model serves as a dynamic model of each individual agent. Then, according to reference models of distributed agents, an adaptive dynamic programming（ADP）is introduced to approximate the solution of the coupled HJB equations.

关键词： Multi-agent systems optimal consensus model reference adaptive control adaptive dynamic programming

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Modeling and Maximizing Angle Coverage in Visual Sensor Networks

Modeling and Maximizing Angle Coverage in Visual Sensor Netw...

引用

第37届中国控制会议

作者： Yonghua Xiong Manjie Lu Wei Chen School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Guizhou Tobacco Science Institute

Maintaining the quality of network coverage is a major concern in visual sensor networks. In this paper, we study the angle coverage problem in visual sensor networks, considering the target is very large, and each camera node can only monitor a portion of its perimeter. The goal of the proposed work is to schedule camera nodes to achieve maximum angle coverage in different period. Firstly, we establish a novel coverage model and formally prove that the problem is NP-hard in ***, we present a scheduling scheme based on greedy algorithm, to schedule camera nodes into disjoint cover sets working in ***, we conclude that the approximate ratio of the proposed algorithm is k, theoretically, and the time complexity of the algorithm is O（n）. Finally, extensive simulations have been conducted to evaluate the performance of the proposed algorithm.

关键词： Visual sensor network angle coverage camera node scheduling greedy algorithm

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Hexagon-Shaped Screw Recognition and Positioning System Based on Binocular Vision

Hexagon-Shaped Screw Recognition and Positioning System Base...

引用

第37届中国控制会议

作者： Fang Wang Xin Chen Chang Tan Jinbin Li Yaodong Zhang School of Automation China University of Geoscience Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems State Grid Hubei Electric Power Research Institute

Traditional artificial live work asks for a high standard with operator’s mental state and technical level in high-voltage and strong-magnetic environment,which not only reduces the efficiency of modern production and living but also causes potential threats to the safety of ***,developing robot live work has great significance for both academic research and industrial applications.A key problem of the live work for an industrial robot is recognition and positioning of the hexagonshaped screw in substation with high *** solve this problem,this article designs a hexagon-shaped screw recognition and positioning system based on binocular vision in transformer substation.A method for stereo matching including 3 steps is proposed:edge noise of the target is reduced by median filter at the beginning;then the target can be obtained through the image segmentation method of adjusting threshold;further moments are used to express the centers of hexagons in 2 images which work as stereo matching *** depth information can be obtained due to visual geometric relationships based on stereo model and camera calibration parameters based on camera *** experiment results show that the binocular system designed in this article can accurately identify the target with good stability,and the measurement error is controlled in 4%.

关键词： Binocular stereo vision Image segmentation Stereo matching Depth information

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A Dynamic Data-driven Model for Predicting Strip Temperature in Continuous Annealing Line Heating Process

A Dynamic Data-driven Model for Predicting Strip Temperature...

引用

Chinese control Conference (CCC)

作者： Yongyue Zhang Yali Jin Weihua Cao Zezhong Li Yan Yuan School of Information Science and Engineering Central South University Changsha Hunan China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China

In the continuous annealing line heating process, it is hard to get an accurate predict result only by a steady state model as it is a complex, strongly time-delayed and confounding process. This study provides a method for building a dynamic model. First analyzes the mechanism of the annealing line to get the main parameters, and then use the data-driven modeling method to get a steady state model, finally combines with dynamic algorithm to establish a dynamic model. This modeling method improves the accuracy of predict result to guarantee the efficiency of enterprises.

关键词： Heating systems Strips Mathematical model Predictive models Furnaces Process control Data models

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Further Result on the Stability Analysis of Time-Delay System Based on a Novel Inequality

Further Result on the Stability Analysis of Time-Delay Syste...

引用

Chinese control Conference (CCC)

作者： Yibo Huang Jianqi An Yong He Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan

This paper investigates the issue for stability of linear system with time-varying delay. First, by combining the Free-matrix technique and the B-L inequality, a new inequality named Free-matrix Legendre inequality is proposed. Then, based on this inequality, two sets of stability criteria are developed which are less conservative than the existing ones due to the fact that more freedom are introduced. Finally, a numerical example is given to illustrate the advantage of our method.

关键词： Symmetric matrices Linear matrix inequalities Time-varying systems Stability criteria Delays Delay systems

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Hexagon-Shaped Screw Recognition and Positioning System Based on Binocular Vision

Hexagon-Shaped Screw Recognition and Positioning System Base...

引用

Chinese control Conference (CCC)

作者： Fang Wang Xin Chen Chang Tan Jinbin Li Yaodong Zhang Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems State Grid Hubei Electric Power Research Institute Wuhan P. R. China

Traditional artificial live work asks for a high standard with operator's mental state and technical level in high-voltage and strong-magnetic environment, which not only reduces the efficiency of modern production and living but also causes potential threats to the safety of operators. Therefore, developing robot live work has great significance for both academic research and industrial applications. A key problem of the live work for an industrial robot is recognition and positioning of the hexagon-shaped screw in substation with high accuracy. To solve this problem, this article designs a hexagon-shaped screw recognition and positioning system based on binocular vision in transformer substation. A method for stereo matching including 3 steps is proposed: edge noise of the target is reduced by median filter at the beginning; then the target can be obtained through the image segmentation method of adjusting threshold; further moments are used to express the centers of hexagons in 2 images which work as stereo matching points. Finally depth information can be obtained due to visual geometric relationships based on stereo model and camera calibration parameters based on camera model. The experiment results show that the binocular system designed in this article can accurately identify the target with good stability, and the measurement error is controlled in 4%.

关键词： Cameras Fasteners Calibration Image segmentation Mathematical model

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Calculation Method of Load Distribution for Two-crane Cooperative Lift

Calculation Method of Load Distribution for Two-crane Cooper...

引用

Chinese control Conference

作者： Xiaoling Shen Jianqi An Takao Terano Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan

Cooperative lifting by two cranes is widely used in the current construction site. Since the influence of changeable load in the cooperative lifting process, it is essential to take the load distribution into consideration while planning the lifting path to ensure the safety of the whole lifting process. However, most researches did not consider the reasonable actual load distribution or just used a certain load in the lift process. This paper analyzes the relationship between crane operations and the pose of the lifted object. Then based on this relationship, this paper gives the method calculating the distribution of actual load over each crane that the planning approach is based. This paper also gives calculation methods and constraints for the skew angle of each lifting rope. The results of simulation show the effectiveness of this calculation method.

关键词： Cranes Planning Safety Load modeling Gravity Automation

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