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Analytical algorithm of program quaternion in the arbitrary spacecraft attitude-adjusting control

Journal of Information and Computational Science 2012年第3期9卷 751-759页

作者： Ni, Shaobo Wu, Jianwu Liu, Lei Wang, Yongji Shan, Jiayuan Su, Mao School of Aerospace Engineering Beijing Institute of Technology Beijing 100081 China Beijing Aerospace Automatic Control Institute Beijing 100854 China Key Laboratory of Education Ministry for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

The analytical algorithm of program quaternion is studied, aiming at the problem of the arbitrary space vehicle attitude-adjusting control. The analytical constructor method of the program quaternion is provided for arbitrary given initial quaternion, initial angle velocity, terminal quaternion and terminal angle velocity. The presented method has advantages as: good adaptability, the initial and terminal conditions are both arbitrary;reduced operation, the calculation process involves the fundamental algebraic operation;direct optimization, the time consumption in the process of space vehicle attitude adjustment and the maximum angular velocity can be optimized directly by using the program quaternion model. Finally, according to the simulation results, the program quaternion tracking can be realized by a PD control law. © 2012 Binary Information Press.

关键词： Attitude control

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An Iterative Procedure for Multidimensional Realization By LFT Techniques

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IFAC Proceedings Volumes 2012年第13期45卷 723-727页

作者： Huijin Fan Li Xu Kose Uemura Shinya Matsushita Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Dept. Control Science & Engineering Huazhong University of Science and Technology P. R. China Dept. of Electronic and Information Systems Akita Prefectural University Akita Japan

In this paper, by utilizing Linear Fractional Transformation (LFT) techniques, an iterative realization procedure resulting in multidimensional ( n -D) Roesser state-space model is proposed. The philosophy employed here is to achieve an overall n -D realization by realizing relatively lower-dimensional systems with respect to (w.r.t.) less-number of variables iteratively. Symbolic examples are presented to illustrate the basic idea as well as the effectiveness of the proposed procedure.

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Adaptive Group Consensus of Coupled Harmonic Oscillators with Multiple Leaders

Adaptive Group Consensus of Coupled Harmonic Oscillators wit...

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10th World Congress on intelligent control and Automation (WCICA)

作者： Su, Housheng Chen, Michael Z. Q. Wang, Xiaofan Valeyev, Najl V. Huazhong Univ Sci & Technol Dept Control Sci & Engn Image Proc & Intelligent Control Key Lab Educ Minist China Luoyu Rd 1037 Wuhan 430074 Peoples R China Univ Hong Kong Dept Mech Engn Hong Kong Hong Kong Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Univ Exeter Coll Engn Math & Phys Sci Exeter Devon England

ISBN: (纸本)9781467313988

In this paper, we investigate the group consensus of coupled harmonic oscillators with multiple leaders in an undirected fixed network. Unlike many existing algorithms for group consensus of multi-agent systems or cluster synchronization of complex dynamical networks, which require global information of the underlying network such as the eigenvalues of the coupling matrix or centralized control protocols, we propose a novel decentralized adaptive group consensus algorithm for coupled harmonic oscillators. By using the decentralized adaptive group consensus algorithm and without using any global information of the underlying network, all agents in the same group asymptotically synchronize with the corresponding leader even when only one agent in each group has access to the information of the corresponding leader. Numerical simulation results are presented to illustrate the theoretical results.

关键词： Distributed control multi-agent systems group consensus adaptive control leader

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Efficient sparse reconstruction algorithm for bioluminescence tomography based on duality and variable splitting

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APPLIED OPTICS 2012年第23期51卷 5676-5685页

作者： Guo, Wei Jia, Kebin Han, Dong Zhang, Qian Liu, Xueyan Feng, Jinchao Qin, Chenghu Ma, Xibo Tian, Jie Beijing Univ Technol Coll Elect Informat & Control Engn Beijing 100124 Peoples R China Northeastern Univ Minist Educ Key Lab Med Image Comp Shenyang 11004 Liaoning Peoples R China Xidian Univ Sch Life Sci & Technol Xian 710071 Shaanxi Peoples R China Northeastern Univ Sinodutch Biomed & Informat Engn Sch Shenyang 110004 Liaoning Peoples R China Chinese Acad Sci Inst Automat Intelligent Med Res Ctr Beijing 100190 Peoples R China

Bioluminescence tomography (BLT) can three-dimensionally and quantitatively resolve the molecular processes in small animals in vivo. In this paper, we propose a BLT reconstruction algorithm based on duality and variable splitting. By using duality and variable splitting to obtain a new equivalent constrained optimization problem and updating the primal variable as the Lagrangian multiplier in the dual augmented Lagrangian problem, the proposed method can obtain fast and stable source reconstruction even without the permissible source region and multispectral measurements. Numerical simulations on a mouse atlas and in vivo mouse experiments were conducted to validate the effectiveness and potential of the method. (C) 2012 Optical Society of America

关键词： Inverse problems Molecular imaging Numerical simulation Radiative transfer Reconstruction algorithms Three dimensional imaging

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Artificial Bee Colony Algorithm based Auto-Disturbance Rejection control for Rehabilitation Robotic Arm Driven by PM-TS Actuator

Artificial Bee Colony Algorithm based Auto-Disturbance Rejec...

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2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Jun Wu Yongji Wang Jian Huang Kexin Xing Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Enginee Key Laboratory of Image Processing andIntelligent Control Department of Control Science and Engineer College of Information Engineering ZhejiangUniversity of TechnologyHangzhouZhejiang 310032China

ISBN: (纸本)9781467315241

Pneumatic Muscle (PM) has the advantages of cheapness, light weight, compliance, safe and high power/*** is suitable for rehabilitation *** minimize the number of PM for driving a single joint of rehabilitation, a new PM-TS actuator comprising a PM and a Torsion Spring (TS) is *** the traditional agonist/antagonist PM actuator, the PM is arranged in appropriate place as agonist and the torsion spring provides opposing torque as antagonist in the proposed *** dynamic model of a 1-DOF (Degree of Freedom) rehabilitation robotic arm is derived considering the PM-TS *** realize high accurate trajectory tracking control of the robotic arm, an Artificial Bee Colony (ABC) algorithm based Auto-Disturbance Rejection control (ADRC) is proposed, where ABC is employed to optimize the control parameters of *** results demonstrate the validity of PM-TS actuator, and verify that the ABC based ADRC has satisfactory performance.

关键词： Pneumatic Muscle Artificial Bee Colony Auto-Disturbance Rejection control Rehabilitation Robotic Arm

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Accuracy and Repeatability of Computer Aided Cervical Vertebra Landmarking in Cephalogram

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Journal of Huazhong University of Science and Technology(Medical Sciences) 2012年第1期32卷 119-123页

作者：陈莉莉蓝智聪许向阳林久祥胡怀飞 Department of Stomatology Union HospitalTongji Medical CollegeHuazhong University of Science and Technology Key Laboratory of Education Ministry for Image Processing and Intelligent Control School of Computer Science and TechnologyHuazhong University of Science and Technology Department of Orthodontics Peking University School and Hospital of Stomatology and DirectorResearch Center of Craniofacial Growth and Development

The accuracy and repeatability of computer aided cervical vertebra landmarking (CACVL) were investigated in cephalogram.120 adolescents (60 boys,60 girls) aged from 9.1 to 17.2 years old were randomly ***-seven landmarks from the second to fifth cervical vertebrae on the lat-eral cephalogram were *** this study,the system of CACVL was developed and used to iden-tify and calculate the landmarks by fast marching method and parabolic curve *** accuracy and repeatability in CACVL group were compared with those in two manual landmarking groups [orthodon-tic experts (OE) group and orthodontic novices (ON) group].The results showed that,as for the accu-racy,there was no significant difference between CACVL group and OE group no matter in x-axis or y-axis (P>0.05),but there was significant difference between CACVL group and ON group,as well as OE group and ON group in both axes (P<0.05).As for the repeatability,CACVL group was more reli-able than OE group and ON group in both *** is concluded that CACVL has the same or higher ac-curacy,better repeatability and less workload than manual landmarking ***’s reliable for cervi-cal parameters identification on the lateral cephalogram and cervical vertebral maturation prediction in orthodontic practice and research.

关键词： cervical vertebral maturation fast marching method parabolic curve fitting landmark ac-curacy repeatability

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Adaptive flocking of multi-agent systems with locally Lipschitz nonlinearity

Adaptive flocking of multi-agent systems with locally Lipsch...

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Chinese control Conference (CCC)

作者： Ningzi Zhang Housheng Su Michael Z. Q. Chen Xiaofan Wang Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Shanghai JiaoTong University Shanghai China

ISBN: (纸本)9781467325813

This paper investigates adaptive flocking of multi-agent systems (MASs) with a virtual leader. All agents and the virtual leader share the same intrinsic nonlinear dynamics, which satisfies a locally Lipschitz condition and depends on both position and velocity information of the agent itself. Under the assumption that the initial network is connected, an approach to preserving the connectivity of the network is proposed. Based on the Lyapunov stability theory, an adaptive flocking control law is derived to make the MASs track the virtual leader without collision. Finally, a numerical example is presented to illustrate the effectiveness of the theoretical results.

关键词： Multiagent systems Artificial neural networks Nonlinear dynamical systems Educational institutions Heuristic algorithms Couplings

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Adaptive Group Consensus of Coupled Harmonic Oscillators with Multiple Leaders

Adaptive Group Consensus of Coupled Harmonic Oscillators wit...

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World Congress on intelligent control and Automation

作者： Housheng Su Michael Z. Q. Chen Xiaofan Wang Najl V. Valeyev Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong Department of Automation Shanghai Jiao Tong University College of Engineering Mathematics and Physical Sciences University of Exeter

ISBN: (纸本)9781467313971

关键词： Distributed control Multi-agent systems Group consensus Adaptive control Leader

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Event-triggered guaranteed cost control for uncertain discrete-time networked control systems with time-varying transmission delays

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IET control THEORY AND APPLICATIONS 2012年第18期6卷 2793-2804页

作者： Hu, S. Yin, X. Zhang, Y. Tian, E. G. Hubei Univ Arts & Sci Coll Math & Comp Sci Xiangyang 441053 Hubei Peoples R China Nangjing Univ Posts & Telecommun Coll Automat Nanjing 210046 Jiangsu Peoples R China Huazhong Univ Sci & Technol Dept Control Sci & Engn Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Minist Educ Image Proc & Intelligent Control Wuhan 430074 Peoples R China China Three Gorges Univ Coll Elect Engn & New Energy Yichang 443002 Hubei Peoples R China Nanjing Normal Univ Sch Elect & Automat Engn Nanjing 210046 Jiangsu Peoples R China

In this study, event-triggered guaranteed cost control problem for discrete-time networked control systems (NCSs) with parameter uncertainties and time-varying transmission delays is studied. First, an event-triggering scheme for discrete-time NCSs is proposed. Then by using a delay system approach, a unified model of event-triggered control systems with parameter uncertainties and state delay is established. By applying Laypunov functional method together with linear matrix inequality (LMI) technique, sufficient conditions for the existence of an admissible guaranteed cost controller are established, which ensure a specific quadratic cost function has an upper bound for all admissible uncertainties. The proposed stability and stabilisation conditions are formulated in the framework of LMIs, which can be solved efficiently by using existing optimisation techniques. Finally, a numerical example and a practical example are given to demonstrate that, under the proposed event-triggering scheme, the advantage of reducing communication traffic in a control network without compromising the stability of the closed-loop system is preserved.

关键词： Optimisation techniques event-triggered guaranteed cost control system event-triggering scheme time-varying systems admissible guaranteed cost controller Time-varying control systems stability delay system approach Stability in control theory closed loop system stability state delay parameter uncertainties specific quadratic cost function networked control systems time-varying transmission delays communication traffic reduction optimisation techniques Linear algebra (numerical analysis) Lyapunov methods sufficient conditions linear matrix inequality technique discrete time NCS stabilisation conditions uncertain systems linear matrix inequalities Discrete control systems uncertain discrete time networked control systems optimisation Lyapunov functional method Distributed parameter control systems LMI technique discrete time systems delay systems

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Tissue P systems with cell separation: attacking the partition problem

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Science China(Information Sciences) 2011年第2期54卷 293-304页

作者： ZHANG XingYi1, WANG Shuo2, NIU YunYun2 & PAN LinQiang2 1key lab of intelligent Computing and Signal processing of Ministry of Education, School of Computer Science and Technology, Anhui University, Hefei 230039, China 2image processing and intelligent control key laboratory of Education Ministry of China, Department of control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China 1. Key Lab of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei 230039 China2. Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Tissue P systems are distributed parallel and non-deterministic computing models in the framework of membrane computing, which are inspired by intercellular communication and cooperation between neurons. Recently, cell separation is introduced into tissue P systems, which enables systems to generate an exponential workspace in a polynomial time. In this work, the computational power of tissue P systems with cell separation is investigated. Specifically, a uniform family of tissue P systems with cell separation is constructed for effciently solving a well-known NP-complete problem, the partition problem.

关键词： membrane computing tissue P system cell separation partition problem

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