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Chinese control Conference

作者： Jiafeng Xu Xin Chen Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems china University of Geosciences Wuhan China

In the process of deep geological resources exploration, there are often some complex stratigraphic situations. A three-dimension drilling trajectory is designed by using the geological environment data. The trajectory should be sure that the target position is reachable. And it can avoid the area prone to be in an accident. In order to solve this problem, this paper discusses a three-dimensional wellbore trajectory design optimization model suitable for shale gas horizontal mining. Considering the wellbore stability and dogleg severity as constraints, the minimum drilling length is taken as the objective function. Depending on the Mohr-Coulomb criterion, the range of azimuth angle and inclination angle of safety trajectory can be determined. It can be seen as a constraint on the wellbore derrick segment. As for the optimization algorithm, bat algorithm (BA) optimizer combined with a penalty function method is applied to this optimization model. Finally, the case study shows that the BA performs well in the wellbore optimization design. It obtains the trade-off result between the safe and efficient drilling demands. And. it provides a basic model idea for the real-time trajectory optimization while drilling.

关键词： Trajectory Stress Mathematical model Stability criteria Geology Azimuth

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Stable control of Single-Link Flexible-Joint Manipulator

Stable Control of Single-Link Flexible-Joint Manipulator

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Chinese control Conference (CCC)

作者： Ze Yan Xuzhi Lai Qingxin Meng Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei P. R. China

This paper presents a novel approach for stable control of a single-link flexible-joint manipulator (SLFJM). The control objective is to stabilize the SLFJM at the straight-up equilibrium position from the straight-down equilibrium position and suppress vibration by only using position measurement. First, differential homeomorphic transformation is used to equivalently convert the original system into a new handy system. Next, the new system is divided into two parts: linear and nonlinear. The nonlinear part is considered as a virtual disturbance of the linear part. Then, the Equivalent-input-disturbance-based (EID-based) control system is designed to suppress this virtual nonlinear disturbance at the zero equilibrium point. By this way, the control objective of the original system is effectively realized. Finally, the numerical results demonstrate its validity.

关键词： Manipulators Observers Vibrations Shafts State feedback

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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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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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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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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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Establishment and Optimization of Gas Flow Prediction Model for Annealing Furnace Based on GA-SVM

Establishment and Optimization of Gas Flow Prediction Model ...

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第37届中国控制会议

作者： Qilin Qu Yan Yuan Jin Yali Yongyue Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System School of Information Science and Engineering Central South University

The annealing furnace is an important equipment for annealing in the production process of cold rolled strip steel. The temperature accuracy of the steel coil is directly affected the production quality of the steel plate. In the annealing furnace temperature control system, strip temperature control is mainly decided by various furnace annealing furnace gas flow in the area, so setting up a precise model between gas flow and temperature has become an important problem of the control system of annealing furnace. In this paper, SVM is applied to the prediction model of the gas flow in the annealing furnace since it’s suitable for nonlinear and high dimensional problems as a machine learning method. In view of that the choice of C, G and the model parameters of the SVM directly affect the prediction precision of the model, this paper uses GA to optimize these two parameters. Finally, we use the data of field production as training and testing samples to establish and verify the model. The experimental results showed that the established model well achieved the requirements of the accuracy of the target.

关键词： Annealing furnace Gas flow Model Support Vector Machine Genetic Algorithm

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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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Improved stabilization conditions for T-S fuzzy systems with interval time-varying delay 36

Improved stabilization conditions for T-S fuzzy systems with...

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第36届中国控制会议

作者： LIAN Zhi HE Yong ZHANG Chuanke WU Min School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

This paper is concerned with the stabilization problem for T-S fuzzy system with interval time-varying delay. By constructing a novel augmented LKF and using a developed reciprocally convex matrix inequality proposed in this paper to bound the derivative of the LKF, a delay-dependent stabilization condition based on parallel distributed compensation scheme is worked out for the closed-loop fuzzy system. Two numerical examples and an application to control of a truck-trailer are given to illustrate the effectiveness of our method.

关键词： Fuzzy systems Delay-dependent Stabilization Reciprocally convex matrix inequality

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