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5th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Ji, Haibo Guo, Fuhui Liu, Xiangdong School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

In this paper, an effective guidance scheme and a control scheme are proposed to realize trajectory tracking of hypersonic reentry vehicle(HRV) subject to aileron stuck in some position. The overload is adopted as virtual control instead of lift and lateral force, then guidance order can be obtained by torque coefficient function. In attitude subsystem, attack of angle and sideslip angle are controlled to track guidance order. Time-varying sliding mode control method is adopted to design guidance law and attitude controller. Besides, a RBF observer is designed to estimate the unknown external disturbance to soften the chattering caused by TVSMC. Simulations verify the proposed schemes.

关键词： Sliding mode control

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Comparison of Three Data-Driven Networked Predictive control Methods for a Class of Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1714-1716页

作者： Zhong-Hua Pang Xue-Ying Zhao Jian Sun Yuntao Shi Guo-Ping Liu the Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China the State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and... 详细信息

关键词： letter Nonlinear nonlinear

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Distributed Tracking control of Nonlinear Multi-agent systems Against False Data Injection Attacks 41

Distributed Tracking Control of Nonlinear Multi-agent System...

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第41届中国控制会议

作者： Yanhui Zhang Jian Sun Gang Wang Yong Xu the School of Automation and the Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the Beijing Institute of Technology Chongqing Innovation Center IEEE

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the distributed resilient tracking control problem is investigated for nonlinear multi-agent systems with false data injection(FDI) attacks and unknown *** FDI attacks are considered in communication network between ***,the neighbor's information received by the agent may be wrong due to the attacks,which will affect tracking consensus ***,the approximate property of fuzzy logic systems are utilized to estimate unknown nonlinear *** backstepping framework,we design a distributed resilient control scheme under asymmetric *** asymmetric saturation nonlinearity,an auxiliary system is constructed to simplify designed progress of the *** on Lyapunov stability theory,it is proved that all signals in the closed-loop system are semi-globally uniformly bounded,and the followers' outputs are driven to a neighborhood near the output of ***,simulation results are presented to illustrate the effectiveness of the proposed method.

关键词： Adaptive resilient control nonlinear MASs FDI attacks asymmetric saturation

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Electric Dual Variable Pump controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

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42nd Chinese control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Backstepping

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Design of Modular Humanoid Rehabilitation Robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.

关键词： Rehabilitation Robot Humanoid robot Modularity Singularity Geometric Representation

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Autonomous Tracking control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

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Journal of Beijing Institute of Technology 2020年第4期29卷 466-473页

作者： Jing Li Qingbin Wu Junzheng Wang Hui Qin Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of TechnologyBeijing 100081China

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent *** this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering *** on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are *** the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference *** experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.

关键词： autonomous tracking control four-wheel independent steering robot pure pursuit lateral error

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A CNN-ELM Compound Fault Diagnosis Method Based on Joint Distribution Modification 7

A CNN-ELM Compound Fault Diagnosis Method Based on Joint Dis...

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7th International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2020

作者： Dong, Jiechao Yan, Liping Xia, Yuanqing Zhang, Jinhui Wang, Xianghua Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Shandong Key Laboratory of Big-data Driven Safety Control Technology for Complex Systems Shandong266590 China

ISBN: (纸本)9781728162461

In the industrial field, compound faults often occur on rolling bearings and it's difficult to diagnose them correctly. To solve this problem, this article proposes a CNN-ELM compound fault diagnosis method based on joint distribution modification. Firstly, considering the complementarity and coupling of data from multiple sensors, a data input trick of multi-sensor data connected in parallel is designed. Secondly, due to the discrepancy of distribution between the compound fault data features and the single fault data features, the marginal distribution matrix and the posterior distribution matrix are used to modify the CNN-ELM network, so that the network can extract more reliable data features for fault diagnosis. Finally, referring to the categories and criteria of bearing damage proposed by Paderborn University, the label code is defined. The corresponding data set is used to verify the proposed algorithm. Experimental results show that the algorithm can accurately obtain detailed fault information such as fault location, fault type, and fault severity. © 2020 IEEE.

关键词： Roller bearings

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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UKF based Fault Detection and State Estimation for Nonlinear systems with Correlated Noise 36

UKF based Fault Detection and State Estimation for Nonlinear...

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第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

State estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

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