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检索条件"机构=Key Lab. of Industrial Computer Control Engineering"

共 401 条记录，以下是91-100 订阅

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Fault Tolerant control Based on GA-DRE for a Manipulator with Actuator Fault 43

Fault Tolerant Control Based on GA-DRE for a Manipulator wit...

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43rd Chinese control Conference, CCC 2024

作者： Qiu, Jiongzhi Fang, Yiming Zhao, Donliang Liu, Le Shao, Nuan Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Hebei University of Environmental Engineering Department of Environmental Engineering Qinhuangdao China

ISBN: (纸本)9789887581581

To solve the trajectory tracking control problem of a rigid manipulator system in the case of unexpected actuator failure, considering the uncertainty of system parameters and bounded disturbance, an adaptive fault-tolerant tracking control strategy is proposed in this paper. Firstly, an adaptive strategy is designed to estimate and compensate the effects of actuator failure and system uncertainty, and the dynamic regression matrix is extended and mixed to improve the accuracy of parameter estimation without persistency of excitation (PE), which will enhance the trajectory tracking performance. Then, in the framework of sliding mode fault-tolerant control, combined with standard Gradient Adaptive and Dynamic Regressor Extension (GA-DRE) parameter estimation technology, a composite adaptive fault-tolerant controller is designed. Finally, theoretical analysis and numerical simulation results show that the proposed method can perform accurate parameter estimation in a finite time under the premise of matching the new conditions based on DRE additional terms, and the trajectory tracking errors of the expected positions and velocities of each joint of the manipulator can asymptotically converge to zero. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Sliding mode control

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Efficient human action recognition using accumulated motion image and support vector machines

Efficient human action recognition using accumulated motion ...

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International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2011

作者： Cao, Wei Zhang, Xuguang Cao, Shukai Zhang, Jie Wang, Mingjia Han, Guangliang Key Lab. of Industrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130033 China

Vision-based human action recognition provides an advanced interface, and research in this field of human action recognition has been actively carried out. This paper describes a scheme for recognizing human actions from a video sequences. The proposed method is an extension of the Motion History Image(MHI) method based on the ordinal measure of accumulated motion, which is robust to variations of appearances. We define the accumulated motion image(AMI) using image differences firstly. Then the AMI of the video sequencesis resized to a M×N regulation following the standard of training phases. Finally, we employ Support Vector Machine(SVM) as a classifier to distinguish the current activity in target video sequences. In a word, our proposed algorithm not only outperforms the state of art on public availab.e KTH data set and Weizmann data set, but also proves practical to some real world applications, in addition, this method is computationally simple and able to achieve a satisfactory accuracy.

关键词： Support vector machines

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Approach for detecting crowd panic behavior based on fluid kinematic features and entropy

Approach for detecting crowd panic behavior based on fluid k...

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International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2011

作者： Cao, Shukai Zhang, Xuguang Cao, Wei Liu, Chunxia Li, Ying Li, Peng Cheng Key Lab. of Industrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130033 China

Crowd panic behavior detection is an important task in video analysis and event recognition, whose purpose is to detect when the panic behavior happened and alarming the abnormal event timely. In this paper, the crowd is regard as a fluid, and the crowd motion is described by four fluid kinematic features (divergence, vorticity, gradient tensor invariant and rotation tensor invariant). To discriminate the panic event from normal crowd behavior, an information entropy is calculated as a high level feature based on the fluid kinematic features. Experimental results show that the entropy raised dramatically once a panic event happened.

关键词： Kinematics

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Simple initial rotor position estimation method for three-phase star-connected switched reluctance machine

Simple initial rotor position estimation method for three-ph...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Somsiri, Pakasit Pupadubsin, Ruchao Jitkreeyan, Prapon Kachapornkul, Seubsuang Tungpimolrut, Kanokvate Chayopitak, Nattapon Aree, Pichai Industrial Control and Automation Lab. National Electronics and Computer Technology Center Pathumthani 12120 Thailand Department of Electrical Engineering Thammasat University Pathumthani 12120 Thailand

ISBN: (纸本)9784907764296

This paper proposes a simple method to estimate the initial rotor position of a three-phase star-connected switched reluctance motor at standstill without position or current sensor. The key principle of the initial rotor position estimation is based on the stator inductance variation related to the actual rotor position. In the proposed method, only two narrow pulse voltage injections are applied in sequence and the initial rotor position can be estimated by comparing phase voltages and simple calculation. The method is suitable for low-cost applications where motor parameters and phase current data are not required. The proposed method is implemented for a 6-stator-pole, 4-rotor-pole, and 1.5 kW three-phase star-connected switched reluctance motor. The experimental results show the effectiveness of the proposed method. The accuracy of the initial rotor position estimation is within 2.5 electrical degrees, which is sufficient to start-up the switched reluctance motor without rotor back-kicking. © 2009 SICE.

关键词： Stars

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Event-Triggered Robust Model Predictive control for Multi-Agent Systems Under Hybrid Attacks 42

Event-Triggered Robust Model Predictive Control for Multi-Ag...

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42nd Chinese control Conference, CCC 2023

作者： Yin, Yongxin Li, Jianxiong Gao, Chongyi Fang, Yiming Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tangshan University Department of Electromechanical Engineering Tangshan063002 China

ISBN: (纸本)9789887581543

In this paper, the consensus control problem for multi-agent systems (MASs) suffering hybrid attacks is discussed, in which the hybrid attacks include randomly occurring deception attacks on system dynamic behavior and denial-of-service attacks (DoS). An event-triggered robust model predictive control (RMPC) method is presented to achieve the consensus of MASs under hybrid attacks. It can be proved that the consensus errors can be asymptotic with prescribed H∞ performance, the sufficient condition for stability can be given in terms of linear matrix inequalities (LMIs), and the controller gains are obtained by solving an optimization problem involving some LMIs. Employing the event-triggered mechanism with maximum trigger interval, not only can not only save computation time and facilitate the efficiency of the shared resources but also can effectively be responsible for the negative impact of cyber-attacks on system performance. Finally, simulation results are given to illustrate the validity and effectiveness of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Extended state observer based nonsingular terminal sliding-mode control for non-sinusoidal oscillation of continuous casting mold driven by servo motor 34

Extended state observer based nonsingular terminal sliding-m...

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34th Chinese control Conference, CCC 2015

作者： Li, Qiang Fang, Yiming Kang, Kesong Huicheng, Zheng Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Department of Mechanical and Electronics Engineering Shijiazhuang Institute of Technology Shijiazhuang China

ISBN: (纸本)9789881563897

A new driving mode that using servo motor to drive continuous casting mold oscillated following the expected non-sinusoidal (include sinusoidal) is introduced. For this system, the integral nonlinear mathematical model is built, which contains the nonlinear model of servo motor and the mechanical transmission parts of the mold. Because the servo motor rotates continuously in single direction while the oscillation waveform of the mold is nonlinear periodic function, firstly, establish the mapping between them to solve the irreversible of this system, and use a third-order tracking differentiator (TD) which has high-speed tracking ability and good tracking precision to track the result of the mapping function and obtain its derivative signal simultaneously. Then a new type of control scheme combined the extended state observer (ESO) with nonsingular terminal sliding-mode control is adopted in investigation. The controller is designed for the integral system by adopting a non-singular terminal sliding mode manifold and can make the singularity avoided by preventing differentiating terms deriving the control laws and applying a continuous control strategy to resolve the chattering. Meanwhile, the ESO is designed to estimate the states and the lumped uncertain disturbances accurately without requiring exact mathematical model and the sensors. The proposed controller can guarantee stabilization of the tracing system. Simulated results are provided to demonstrate the effectiveness of the proposed control scheme. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Continuous casting mold Extended state observer Non-sinusoidal oscillation Sliding mode control Third order TD

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A double-loop structure in the adaptive generalized predictive control algorithm for control of robot end-point contact force

A double-loop structure in the adaptive generalized predicti...

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作者： Wen, Shuhuan Zhu, Jinghai Li, Xiaoli Chen, Shengyong Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China College of Computer Science Zhejiang University of Technology Hangzhou310023 China

Robot force control is an essential issue in robotic intelligence. There is much high uncertainty when robot end-effector contacts with the environment. Because of the environment stiffness effects on the system of the robot end-effector contact with environment, the adaptive generalized predictive control algorithm based on quantitative feedback theory is designed for robot end-point contact force system. The controller of the internal loop is designed on the foundation of QFT to control the uncertainty of the system. An adaptive GPC algorithm is used to design external loop controller to improve the performance and the robustness of the system. Two closed loops used in the design approach realize the systems performance and improve the robustness. The simulation results show that the algorithm of the robot end-effector contacting force control system is effective. © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Point contacts

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Chaos characteristics analysis of transient signals for phase-locked synthesizer based FHC system 14

Chaos characteristics analysis of transient signals for phas...

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14th International Symposium on Communications and Information Technologies, ISCIT 2014

作者： Ping, Li Guohong, Wang Yan, Xiaopeng Peng, Gong Shi, Wenbo Chunyun, Song Beijing Institute of Technology National Key Lab. of Mechatronic Engineering and Control Beijing100081 China Northeastern University School of Computer and Communication Engineering Qinhuangdao China National Lab. of Information Control Technology for Communication System Jiaxing Zhejiang314033 China

ISBN: (纸本)9781479944163

Frequency synthesizer plays an important role in frequency hopping communication system. In this paper, we derivate the conditions for a system to become the chaotic based on the phase model of phase-locked synthesizer. We found that the system parameter changing during the frequency switching is able to make the system to be chaotic. Based on the Cao's method [5], we find that the fractal dimension of the transient signals should be equal to or less than 4, which also provides the maximal positive Lyapunov exponent. In addition, the unique double-ring attractor of them is also reproduced through the phase reconstruction, which also implies that the frequency switching will result in a chaotic for Frequency-Hopping Communication system. © 2014 IEEE.

关键词： Fractal dimension

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An designing of oxygen saturation detection module based on ZigBee technology

An designing of oxygen saturation detection module based on ...

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International Conference on Machine Learning and Cybernetics

作者： Wang, Hong-Rui Liu, Yu-Ming Gao, Chao Liu, Xiu-Ling Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qin Huang Dao 066004 China Lab of Electronic and Information Engineering Hebei University Baoding 071002 China

ISBN: (纸本)9781424465262

In this paper, the technology of ZigBee based on wireless sensor network was adopted to carry out the real-time oxyhemoglobin saturation monitoring. C8051F340 was used to control UZ2400 as MCU(Micro control Unit). Electricity was consumed less than 2mA when it worked and electricity was consumed less than 1μA when it slept. This system can prolong the life time of battery effectively. And the system avoided tedious A/D conversion which the traditional sensor needs and its measure precision is good. © 2010 IEEE.

关键词： Hemoglobin

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A PD- Type iterative learning algorithm for networked control systems with missing data 2019

A PD- Type iterative learning algorithm for networked contro...

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2019 International Conference on Artificial Intelligence and computer Science, AICS 2019

作者： Cheng, Xiaoyan Dong, Yahui Wang, Hongbin Wang, Qinzhao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China Weapon and Control Department Army Academy of Armored Forces Beijing100072 China

ISBN: (纸本)9781450371506

In this paper, a PD-type iterative learning control method is proposed for a class of nonlinear discrete networked control systems with measurement signal and control signal data dropouts. Proportional and differential items of the error signal are employed in this method to modify the current control signal, which takes full advantage of the historical error signals. The data dropout is described as a stochastic and independent Bernoulli process with a given probability. In addition, the zero-order holding method is introduced at the data receivers of the controller and actuator. Finally, the stability analysis and simulation results are performed to verify the convergence and effectiveness of the proposed method. © 2019 Association for Computing Machinery.

关键词： Networked control systems

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