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第25届中国控制与决策会议

作者： Jie Geng Yongzhi Sheng Xiangdong Liu Bing Liu School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

A novel second-order time-varying sliding mode control(SOTVSMC) law is proposed for the robust tracking control problem of nonlinear smooth single-input single-output(SISO) system with disturbance. The advantages of the proposed SOTVSMC are twofold. The global second order sliding mode is established, which implies that the closed-loop system is global robust against matched parameter uncertainties and disturbances. Meanwhile, the chattering problem is significantly alleviated. Then the parameter of the sliding mode is obtained by solving an optimal problem. Finally, the effectiveness and robustness of the control strategy is demonstrated by simulation results.

关键词： Sliding Mode control, Nonlinear systems, Global Second Order Sliding Phase, Chattering Alleviation

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The SDRE based Second Order Integral Sliding Mode control for Attitude of Reentry Vehicle

The SDRE based Second Order Integral Sliding Mode Control fo...

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第三十二届中国控制会议

作者： GENG Jie SHENG Yongzhi LIU Xiangdong WANG Liang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479900305

In this paper,a state dependent Riccati equation-based second order integral sliding mode control(SSOISMC) algorithrn is proposed for the reentry vehicle with a strong conpling,nonlinearity and ***,the state dependent Riccati equation(SDRE) controller is developed to approach the attitude controller for the nonlinear reentry vehicle without uncertainties. Then the second order integral sliding mode control theory is proposed to combine sliding mode with SDRE,and it is applied to reentry vehicle with parameter variations or external *** achievement of the second order sliding phase is *** the proposed control law,the optimal performance index is achieved and the uncertainties are rejected,furthermore, the chattering is ***,simulation is made through the assumption that aerodynamic parameters and atmospheric density are *** validity and robustness of the proposed strategies are verified by simulation results.

关键词： Flight vehicle control State dependent Riccati equation(SDRE) Second order integral sliding mode

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Analysis and Testing of Delay in HLA-based Distributed Simulation system

Analysis and Testing of Delay in HLA-based Distributed Simul...

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第25届中国控制与决策会议

作者： Chen Chen Lu Chao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

Time is a significant concept in distributed *** the increment of simulation system scale, working efficiency of simulation system will go down very sharply due to the restrictions of time management tactics and time sequence coupling. Therefore, it is necessary to study the characteristics of delay in simulation system to improve its working effeciency. Aiming at HLA-based distributed simulation system, causes of simulation delay is analysed and principles of delay testing is explained. A method which employs synchronization point setting and an effective wall clock time querying approach is put forward. Statistics and analysis of message interaction delay is executed on the software platform of pRTI 1.3 version. The measurement of delay lays an important data foundation for time management algorithms.

关键词： Distributed Simulation system, Delay Testing, High Level Architecture, Synchronization Point.

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Artillery position control through auto disturbance rejection controller based on fuzzy control

Artillery position control through auto disturbance rejectio...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Peng, Ning Bai, Yongqiang Luo, Hao Bai, Junlong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9780769550114

Considering the characteristics of manipulation and collimation control in traction artillery control system, complex mathematic model, uncertainty and nonlinearity, ADRC (Active Disturbance Rejection controller) with Fuzzy control strategy as position controller was adopted and solved the difficult to adjust the parameters and weak anti-interference in practical engineering application. Through tests, it was shown that the controller was robust and met with the requirement of campaign system to quickly move the target to the given position with high reliability and high precision. © 2013 IEEE.

关键词： controllers

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Differential Evolution Based Receding Horizon control for UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期35卷 107-114页

作者： ZHANG Xing School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School University of Manchester Manchester M15 6PB UK

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词：无人机在线运动规划动态约束目标函数

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A Dual-Motor Joint Model for Humanoid Robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Short-term PV generation system direct power prediction model on wavelet neural network and weather type clustering

Short-term PV generation system direct power prediction mode...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yang, Ying Dong, Lei School of Automation Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9780769550114

With the increase of the capacity of PV generated systems, how to eliminate the problem caused by the randomness of power output for photovoltaic system becomes more significant. Most of the existing photovoltaic prediction is Based on the solar radiation. However, it's difficult to implement in China due to insufficient solar radiation station available and poor forecasting performance. In addition, indirect forecasting cannot consider the factors related with PV system. A novel power forecasting model using historical power is proposed to solve the problems. Furthermore, in order to adapt sudden weather changes, the future weather type was recognized by using self-organizing feature map(SOM). Then, PV power generation in each weather type could be forecasted from its corresponding forecast network and the over fitting issue of single network model could be addressed. Wavelet neural network is combined with wavelet analysis and neural network. It is compatible with the good time-frequency property and good fault tolerant ability of neural network. Wavelet neural network can optimize the forecasting model. The experimental results indicate that the prediction has high precision and can be applied in stable operation of photovoltaic generation system. © 2013 IEEE.

关键词： Solar radiation

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Study on GIS's application in driving in the unstructured environment for UGV

Study on GIS's application in driving in the unstructured en...

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2013 International Conference on Geo-Informatics in Resource Management and Sustainable Ecosystem, GRMSE 2013

作者： Yang, Qiangrong Wang, Meiling School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing 100081 China

ISBN: (纸本)9783642419072

For UGV, driving in the unstructured environment safely and quickly without human intervention becomes increasingly important. While many scholars have conducted researches in driving in this case, the results seem quite unsatisfied. In this paper, how to use GIS in aiding the UGV to drive in the unstructured environment is studied. First, GIS is used to process the raw data received from the 3D laser scanner to get the high-resolution gradient and elevation grid, which is used to determine the traversability of the environment. Then the relatively low-resolution gradient grid is used as the cost field in the path planning algorithm to generate the optimal path from the start point to the goal point. At last, an algorithm is introduced to get the reference speed limit from the given optimal path according to the geometry features of the path and the gradient grid. Simulation and experiment results are given to show the effectiveness of the algorithms. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Motion planning

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Multi-target Passive Location Based on the Algorithm of TDOA-Camberra

Multi-target Passive Location Based on the Algorithm of TDOA...

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第25届中国控制与决策会议

作者： Xin Xu Wenjie Chen Mingjun Jiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education China North Vehicle Research Institute

ISBN: (纸本)9781467355339

An algorithm namely the TDOA-Camberra is proposed for the multi-target passive location in this paper. The algorithm uses the Camberra distance to associate the target data and do the optimal search, then uses the time difference of arrival (TDOA) to locate multiple targets passively once data from the same target is determined. At the same time, as the computing time of associating data using Camberra distance is long, the improved sequential similarity detection algorithm (SSDA) is added to the calculation in order to shorten the time of the data association, thus to increase the speed of the multi-target passive location. The theoretical analysis and simulation experiment proves that the multi-target passive location can be implemented by the proposed algorithm accurately and quickly.

关键词： passive location, data association, Camberra distance, SSDA

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