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第25届中国控制与决策会议

作者： Zhen Chen Binglong Cong Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

The control problem of spacecraft eigenaxis maneuver in the presence of parametric uncertainty and external disturbance is addressed in this paper. Modified Rodrigues parameters （MRPs） are utilized as the attitude parameters for the non-redundancy. An eigenaxis maneuver control law with feedback and feed-forward terms is presented for the nominal system. The transient response of close loop system can be adjusted according to an approximate second order system. To improve the robustness, integral sliding mode （ISM） technique is adopted to reject undesirable effects and track nominal trajectory. The resulting controller can perform the eigenaxis maneuver in the presence of parametric uncertainty and external disturbance while possess good system performance. The effectiveness of the proposed method is demonstrated by simulation results.

关键词： Rigid Spacecraft Attitude control Eigenaxis Rotation Integral Sliding Mode MRPs

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Chaotic Particle Swarm Optimization Algorithm Parametric Identification of Bouc-Wen hysteresis Model for Piezoelectric Ceramic Actuator

Chaotic Particle Swarm Optimization Algorithm Parametric Ide...

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第25届中国控制与决策会议

作者： Ning Dong Hongjuan Li Xiangdong Liu Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467355339

A chaotic particle swarm optimization (CPSO) algorithm is proposed by introducing chaos state into the original Particle Swarm Optimization (PSO) which aims to solving the flaws of easy plunging into local optimum and losing search ability in the last period for the fast particle velocity decrease. CPSO algorithm takes advantage of the ergodicity, randomicity, and regularity of chaos to make chaotic searching for the global extremun at the same time with the particle swarm optimization. This algorithm synthesizes the high efficiency of global optimization of PSO algorithm and the ergodicity and randomicity of local search of chaotic algorithm. This paper utilizes aforementioned algorithm to identify the Bouc-Wen hysteresis model for piezoelectric ceramic actuators (PCA). The experimental results show that the model identified by CPSO algorithm has better performance than that by PSO algorithm.

关键词： Chaotic Particle Swarm Optimization Bouc-Wen Identification Piezoelectric Ceramic Actuator

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Observer-based fuzzy control for nonlinear fractional-order systems via fuzzy T-S models: The 1 < α < 2 case

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IFAC Proceedings Volumes 2014年第3期47卷 6086-6091页

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang 110036 P. R. China School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 P. R. China

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 < α < 2 via fuzzy T-S models. Using the properties of the Kronecker product and LMI approach, the feedback and observer gain matrices are designed. By this method, the state of nonlinear system described as the fuzzy T-S model is convergent to the equilibrium and the observer error is convergent to zero. Finally, the simulation result of a numerical example is given to illustrate the effectiveness of this method.

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Optimization of Coordinate Transformation Matrix for Discrete-Time H∞ Static-Output-Feedback control Problems

Optimization of Coordinate Transformation Matrix for Discret...

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第三十三届中国控制会议

作者： Zhi-Yong Feng Li Xu Ye Li Huijin Fan Xue-Xun Guo Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Hubei Collaborative Innovation Center for Automotive Components Technology Department of Electronics and Information Systems Akita Prefectural UniversityYuri-HonjoAkita 015-0055Japan Department of Control Science and Engineering University of Shanghai for Science and Technology Key Laboratory of Image Processing and Intelligent Control School of AutomationHuazhong University of Science and Technology

ISBN: (纸本)9781479947249

The problem of how to select a coordinate transformation matrix to improve the LMI conditions for H∞ staticoutput-feedback(SOF) control of discrete-time systems is a challenging open *** paper applies a newly proposed strategy to solve this *** iterative algorithm is developed to produce controllers with locally optimal closed-loop H∞*** algorithm is also applied to other H∞ SOF control problems,such as decentralized H∞ SOF control and simultaneous H∞ SOF ***,numerical examples are provided to demonstrate the effectiveness and advantages of the proposed method.

关键词： H∞ control,Static output feedback,Decentralized control,Simultaneous control,Linear matrix inequality(LMI)

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Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM ...

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Shuangshuang Han Liuqing Yang Xiang Cheng Shichao Chen Fenghua Zhu Zhongdong Yu Haitao Xie Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Electronics Engineering and Computer Science Peking University Guang Zhou Communication Information Construction Investment and Operation Co.Ltd.

Multiple-Input Multiple-Output- Orthogonal Frequency Division Multiplexing(MIMO-OFDM) is adopted to vehicular networks to increase the capacity,reliability and *** this paper,iterative demodulation and decoding algorithms are studied to approach the capacity of MIMOOFDM vehicular *** analysing the drawbacks of the Gaussian approximation on the interference cancellation,NonGaussian approximation is proposed to enhance the performance of interference cancellation based detectors with large *** results demonstrate that the proposed non-Gaussian algorithm can achieve a significant performance gain over existing ones with high order constellations.

关键词： Gaussian Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

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Decentralized Filtering a Multi-Agent System with Local Parametric Couplings Based On Kalman Filter

Decentralized Filtering a Multi-Agent System with Local Para...

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第25届中国控制与决策会议

作者： Yini Lv Hongbin Ma Mengyin Fu Chenguang Yang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institution of Technology School of Computing and Mathematics Plymouth University

ISBN: (纸本)9781467355339

In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discrete-time stochastic linear time-varying dynamics, and every agent can be locally influenced by its neighbor agents. Therefore the states evolution of each agent is not only related with its previous states but also related with its neighbors' previous states in the linear dynamic system. Communication limitations existing in the considered multi-agent system restrict that each agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent. Because of communication limitations and information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional kalman filter or other state observers, which were extensively discussed in the literature. In this preliminary study, for the considered coupled linear discrete-time multiagent system with uncertain linear local couplings, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from the area of adaptive control, we propose an efficient decentralized kalman filtering scheme, for each agent, to simultaneously estimate the unknown states and coupling parameters, and extensive simulations are conducted, which have clearly verified the effectiveness of the proposed decentralized filtering scheme.

关键词： multi-agent system, kalman filter, parametric couplings, parameter estimation, states estimation, decentralized filtering

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Sensor fault detection with online sparse least squares support vector machine

Sensor fault detection with online sparse least squares supp...

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32nd Chinese control Conference, CCC 2013

作者： Su, Guo Fang, Deng Jian, Sun Li, Fengmei School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

ISBN: (纸本)9789881563835

In this paper, we present the theory of online sparse least squares support vector machine (OS-LSSVM) for prediction and propose a predictor with OS-LSSVM to detect sensor fault. The principle of the predictor and its online algorithm are introduced. Compared with the traditional least squares support vector machine (LSSVM), OS-LSSVM has an advantage on training speed owing to the online training algorithm based on the base vector set. The real-time output data of sensor is employed as the training vector to establish the regression model. This method is compared with the LSSVM predictor in the experiment. Three typical faults of sensors are investigated and the simulation result indicates that the OS-LSSVM predictor can diagnose sensor fault accurately and rapidly, thus it is especially suitable for online sensor fault detection. © 2013 TCCT, CAA.

关键词： Vectors

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一种仿生水下机器人的设计与动力学分析(英文)

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自动化学报 2013年第8期39卷 1330-1338页

作者： WEI Qing-Ping WANG Shuo DONG Xiang SHANG Liu-Ji TAN Min The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Intelligent Machines Chinese Academy of Sciences

A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

关键词：水下机器人车辆设计动力学分析起伏仿生鳍计算流体动力学运动学分析

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Application of soft magnetic composite material in the field of electrical machines

Application of soft magnetic composite material in the field...

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2013 International Conference on Vehicle and Mechanical Engineering and Information Technology, VMEIT 2013

作者： Li, Xiao Bei Zhao, Jing Chen, Zhen School of Automation Beijing Institute of Technology Beijing 100081 China Key laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 10008 China

ISBN: (纸本)9783037858202

The property of the soft magnetic composite (SMC) material is introduced. Take the traditional material used for electric machine, i.e. the silicon steel lamination, as the reference, this paper summarizes the application advantages of SMC in the typical electric machine, such as tubular permanent-magnet liner machine, high-speed permanent-magnet machine, claw-pole machine, axial flux permanent-magnet machine and radial flux permanent-magnet machine. SMC material has much applied potential in the field of electric machine. © (2013) Trans Tech Publications, Switzerland.

关键词： Electric machinery

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A Framework of Finite-model Kalman Filter with Case Study： MVDP-FMKF Algorithm

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自动化学报 2013年第8期39卷 1246-1256页

作者： FENG Bo MA Hong-Bin FU Meng-Yin WANG Shun-Ting School of Automation Beijing Institution of TechnologyBeijing 100081China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of TechnologyBeijing 100081China

然而，过滤技术的 Kalman 广泛地在许多应用被使用了为线性 Gaussian 系统的标准 Kalman 过滤器不能通常工作很好或甚至面对大模型无常分叉。在实际应用程序，有高费用的实验的大数字是昂贵的或对甚至不可能获得一个准确系统模型。在有... 详细信息

然而，过滤技术的 Kalman 广泛地在许多应用被使用了为线性 Gaussian 系统的标准 Kalman 过滤器不能通常工作很好或甚至面对大模型无常分叉。在实际应用程序，有高费用的实验的大数字是昂贵的或对甚至不可能获得一个准确系统模型。在有限模型的适应控制上由我们的以前的开创的工作激发了，过滤的有限模型的 Kalman 的一个框架在这份报纸被介绍。这个框架想那大模型无常可以被能与对方很不同的已知的模型的一个有限集合限制。而且，在集合的已知的模型的数字能灵活地被选择以便换句话说，不明确的模型可以被已知的模型之一总是接近大模型无常被已知的模型的凸的壳盖住。在介绍框架以内根据经由最小化的向量距离原则的适应切换的想法，一个简单有限模型的 Kalman 过滤器， MVDP-FMKF，被广泛的模拟算术地提出并且说明。MEMS 回转仪飘移的一个实验验证了建议算法的有效性，显示有限模型的 Kalman 过滤器的机制在 Kalman 过滤器的实际应用有用、有效，特别在惯性的航行系统。

关键词：卡尔曼滤波技术有限模型框架算法卡尔曼滤波器不确定性模型惯性导航系统自适应控制

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