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2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Shi, Shengli Fang, Yiming Li, Jianxiong Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao Hebei 066004 China College of Science Yanshan University Qinhuangdao Hebei 066004 China

ISBN: (纸本)9781424451951

The problem of adaptive robust control for uncertain nonlinear systems with time-varying delay is considered in this paper. The upper bound of the uncertainty is assumed to be nonlinear functions with unknown coefficients. By using adaptive control method, a class of adaptive robust state feedback controller is proposed. Based on Lyapunov-Krasovskii method and Lyapunov stability theory, it is shown that the controller designed can render the uniform asymptotic stability of the system. Finally, a numerical example is given to show the controller is valid. © 2010 IEEE.

关键词： controllers

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The inverse kinematics analysis of the novel 6-DOF parallel mechanism

The inverse kinematics analysis of the novel 6-DOF parallel ...

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International Conference on Machine Learning and Cybernetics

作者： Wang, Hong-Rui Wang, Qing-Quan Alexander, Malikov Liu, Xiu-Ling Dong, Bin Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qin Huang Dao 066004 China Lab of Electronic and Information Engeering Hebei University Baoding 071002 China Kazan State Technical University Kazan Russia

ISBN: (纸本)9781424465262

In this paper, we present the inverse kinematical of a novel 6-DOF orthogonal parallel mechanism. The displacements Δli (i=1,...,6) of steering gears were deduced from the position and orientation of the moving platform. The desired trajectory was assumed to be more complex nonlinear curves, simulations are performed for the real time trajectory tracking of the mechanism. By using Matlab software, the analysis and simulation of mechanism can be carried out conveniently, and the efficiency of the design can be upgraded. The simulation curves of each displacement were provided and analyzed though simulative research. The results will be used for synthesis of the control law in the form of error feedback, and measurements results of actual movements by means of sensors. The analysis can help to realize the trajectory tracking control fast and accurately. © 2010 IEEE.

关键词： Inverse kinematics

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Synchronization of Van der Pol oscillators based on dynamical complex network

Synchronization of Van der Pol oscillators based on dynamica...

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Chinese control Conference (CCC)

作者： Xinbin Li Lamei Wang Xian Liu Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

Van der pol function is a typical mathematical model of mechanics, physics and electronics. The function can simulate many kinds of nonlinear dynamical system in practical systems by adjusting the parameter. In this paper, we investigate the synchronization of a class of dynamical complex network which is composed of Van der pol oscillators. Based on the Lyapunov method, some sufficient conditions about single Van der Pol function and a network which is formed by N Van der Pol oscillators are established to guarantee global synchronization of dynamical networks with complex topology. Finally numerical examples are provided to demonstrate the effectiveness of the proposed results.

关键词： Synchronization Oscillators Chaos Complex networks Mathematical model Adaptive systems Physics

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A new variable tap-length LMS algorithm and application in fixed satellite communications

A new variable tap-length LMS algorithm and application in f...

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International Conference on Wireless Communications, Networking and Mobile Computing (WiCom)

作者： Hui, Chen Yanguang, Han Haibin, Li Xinping, Guan Xidian University Xian China 54th Research Institute China Electronics Technology Group Corporation Shijiazhuang China Key Lab. of Industrial Computer Control Engineering Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9781424437092

A new variable tap-length LMS algorithm is proposed in this paper. This algorithm can effectively obtain both fast convergence rate and small steady state error by non-linear weighting L errors of the current moment and past moments. The algorithm analysis is also given which the ideal tap-length is obtained by increasing the error information and eliminating the effect of correlated noise sequences. Then the new algorithm is applied to the fixed satellite communications system in which the channel is affected by weather conditions attenuation and multipath effect. Simulation results are presented to support the analysis. The new algorithm converges faster than usual algorithms under same steady state performance. The signal BER performance is greatly improved with the new adaptive filter algorithm equalizer when the signal passes simulation model of fixed satellite communications system. © 2010 IEEE.

关键词： Satellites

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The absence of periodic solutions for pendulum-like systems

The absence of periodic solutions for pendulum-like systems

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Chinese control Conference (CCC)

作者： Xinbin Li Haiyan Jing Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

The pendulum-like system is a special nonlinear system with multiple equilibria. Its periodic solutions are different from the universal nonlinear system's. The frequency-domain criteria for the nonexistence of the second periodic solutions of the pendulum-like systems with MIMO can be converted to the time-domain criteria with the KYP lemma. By applying the frequency-domain criteria the method of the state-feedback controller design and the state-feedback controller design based on the state observer design is investigated. Examples are given to illustrate the results.

关键词： Principal component analysis Observers Electronic mail Frequency domain analysis MIMO Time domain analysis Nonlinear systems

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The absence of periodic solutions for pendulum-like systems

The absence of periodic solutions for pendulum-like systems

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作者： Li, Xinbin Jing, Haiyan Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9787894631046

关键词： controllers

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Synchronization of Van der Pol oscillators based on dynamical complex network

Synchronization of Van der Pol oscillators based on dynamica...

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作者： Li, Xinbin Wang, Lamei Liu, Xian Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9787894631046

关键词： Synchronization

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Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

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Chinese Physics B 2009年第10期18卷 4222-4228页

作者：温淑焕 Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function （RBF） neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.

关键词： mobile robot collision avoidance hybrid force/position control path planning RBF neural network

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Dynamics Modeling and Robust Trajectory Tracking control for a Class of Hybrid Humanoid Arm Based on Neural Network

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Chinese Journal of Mechanical engineering 2009年第3期22卷 355-363页

作者： WANG Yueling JIN Zhenlin College of Mechanical Engineering Yanshan University Qinhuangdao 066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.

关键词： hybrid humanoid arm dynamic modeling neural network adaptive control trajectory tracking

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Application of virtual instrument in sewage multiparameter online monitoring system

Application of virtual instrument in sewage multiparameter o...

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2009 International Workshop on Intelligent Systems and Applications, ISA 2009

作者： Zang, Huaigang Feng, Simeng Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China

ISBN: (纸本)9781424438945

Based on the design concept of virtual instrument and the design method of function modulation, using PC machine and data acquisition card as hardware system, proposed a design of sewage multi-parameter online monitoring system which based on application program platform of labVIEW. The system has friendly human-machine interface, the function is comprehensive and it is easy to operate. It has achieved the sewage multiparameter collecting, recording, controlling and management automatic, and enhanced the automaticity of the sewage collecting and examination. The test indicated that the system worked well, achieved the anticipated target. © 2009 IEEE.

关键词： Sewage

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