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Unsupervised robust recursive least-squares algorithm for impulsive noise filtering

Science China(Information Sciences) 2013年第4期56卷 203-212页

作者： CHEN Jie MA Tao CHEN WenJie PENG ZhiHong School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision(Beijing Institute of Technology) Ministry of Education

A robust recursive least-squares(RLS) adaptive filter against impulsive noise is proposed for the situation of an unknown desired *** minimizing a saturable nonlinear constrained unsupervised cost function instead of the conventional least-squares function,a possible impulse-corrupted signal is prevented from entering the filter’s weight updating ***,a multi-step adaptive filter is devised to reconstruct the observed "impulse-free" noisy sequence,and whenever impulsive noise is detected,the impulse contaminated samples are replaced by predictive *** on simulation and experimental results,the proposed unsupervised robust recursive least-square adaptive filter performs as well as conventional RLS filters in "impulse-free" circumstances,and is effective in restricting large disturbances such as impulsive noise when the RLS and the more recent unsupervised adaptive filter fails.

关键词： unsupervised adaptive filtering impulsive noise suppression recursive least-squares algorithm

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Loose Coupling Visual-lidar Odometry by combining VISO2 and LOAM 36

Loose Coupling Visual-lidar Odometry by combining VISO2 and ...

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第36届中国控制会议

作者： Min Yan Junzheng Wang Jing Li Chi Zhang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9781538629185

Odometry is a very popular research direction in recent decades and plays a very critical role in the autonomous navigation ***02,as a relatively robust and mature visual odometry algorithm,becomes unreliable when distinct visual features are insufficiently or when the texture of the environment is *** if not in such a challenging environment,the drift is still a big problem for the practical ***,a lidar odometry algorithm,has been leading the way for the performance on KITTI data *** fact,it also has limitations in shape features not prominent environment,like a highway with few buildings *** that the current mobile unmanned platforms（e.g.,unmanned vehicles） are almost equipped with both lidar and cameras,this paper proposes a loose coupling visual-lidar odometry by combining VIS02 and LOAM to achieve the advantages of both camera and lidar and reduce the number of restricted *** algorithm proposed in this paper is tested on the raw data set of *** average translation error is about 1.37% on 10 sequences,and the accuracy is improved with respect to LOAM with the same *** the help of VIS02,the algorithm also performs well in shape features not prominent environment（e.g.,highway）,and from the experiment results,we confirmed the efficient strategy to combine VIS02 and LOAM to adapt to challenging environment and to keep the accuracy of the algorithm.

关键词： Ego-motion Estimation Visual Odometry Lidar Odometry SLAM

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Obstacle Information Detection Based on Fusion of 3D LADAR and Camera 36

Obstacle Information Detection Based on Fusion of 3D LADAR a...

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第36届中国控制会议

作者： Jing Li Liuzhi Yu Junzheng Wang Min Yan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538629185

Obstacle information detection is a prerequisite for safety and stability driving of unmanned platforms in the unknown *** detection of the obstacle using the 3D laser radar(3D LADAR) and camera is proposed in this ***,joint calibration between 3D LADAR and camera based on the planar feature method is ***,laser point cloud is clustered to identify the number of obstacles,and then detected image is divided into the corresponding small regions according to the number of ***,we use the image processing technology to detect the obstacle *** experiments in the real world are implemented to show that the proposed approach can effectively detect the size of the obstacles.

关键词： Obstacle detection Joint calibration Monocular camera 3D LADAR Information fusion

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Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

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第三十二届中国控制会议

作者： HAO Renjian WANG Junzheng ZHAO Jiangbo Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563835

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process.A torque decoupling approach for electric linear actuator is proposed to achieve respective *** improve the speed of time varying parameters estimating,a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust *** adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric *** modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded *** co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Adaptive robust control Electric linear actuator LuGre model Fast estimation

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The Separate Meter in Separate Meter Out control system Using Dual Servo Valves Based on Indirect Adaptive Robust Dynamic Surface control

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Journal of systems Science & complexity 2019年第2期32卷 557-576页

作者： CHEN Guangrong WANG Junzheng WANG Shoukun ZHAO Jiangbo SHEN Wei The Key Laboratory of Drive and Control of Servo Motion Systems Beijing Institute of Technology The Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out *** designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external *** surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.

关键词： Dynamic surface control indirect adaptive robust control parameter estimation SMISMO stability analysis

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Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

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Journal of Beijing Institute of Technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

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Adaptive Backstepping Slide Mode control of Pneumatic Position Servo system

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Chinese Journal of Mechanical Engineering 2016年第5期29卷 1003-1009页

作者： REN Haipeng FAN Juntao Shaanxi Key Laboratory Complex System Control and Intelligent Information Processing Xi'an University of Technology

With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking

关键词： pneumatic position servo system adaptive backstepping design slide mode control uncertain parameter tracking accuracy

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New Synchronization Algorithm and Analysis of Its Convergence Rate for Clock Oscillators in Dynamical Network with Time-Delays

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Journal of Beijing Institute of Technology 2010年第1期19卷 58-65页

作者：甘明刚于淼陈杰窦丽华 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

New synchronization algorithm and analysis of its convergence rate for clock oscillators in dynamical network with time-delays are presented.A network of nodes equipped with hardware clock oscillators with bounded drift is ***,a dynamic synchronization algorithm based on consensus control strategy,namely fast averaging synchronization algorithm （FASA）,is presented to find the solutions to the synchronization *** FASA,each node computes the logical clock value based on its value of hardware clock and message *** goal is to synchronize all the nodes＇ logical clocks as closely as ***,the convergence rate of FASA is analyzed that proves it is related to the bound by a nondecreasing function of the uncertainty in message delay and network ***,FASA＇s convergence rate is proven by means of the robust optimal ***,several practical applications for FASA,especially the application to inverse global positioning system （IGPS） base station network are ***,numerical simulation results demonstrate the correctness and efficiency of the proposed *** FASA with traditional clock synchronization algorithms （CSAs）,the convergence rate of the proposed algorithm converges faster than that of the CSAs evidently.

关键词： clock synchronization convergence rate dynamical network robust optimal design

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Immune particle swarm optimization of linear frequency modulation in acoustic communication

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Journal of systems Engineering and Electronics 2015年第3期26卷 450-456页

作者： Haipeng Ren Yang Zhao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

With the exploration of the ocean, underwater acoustic communication has attracted more and more attention in recent years. The underwater acoustic channel is considered to be one of the most complicated channels because it suffers from more serious multipath effect, fewer available bandwidths and quite complex noise. Since the signals experience a serious distortion after being transmitted through the underwater acoustic channel, the underwater acoustic communication experiences a high bit error rate （BER）. To solve this problem, carrier waveform inter- displacement （CWlD） modulation is proposed. It has been proved that CWlD modulation is an effective method to decrease BER. The linear frequency modulation （LFM） carrier-waves are used in CWlD modulation. The performance of the communication using CWID modulation is sensitive to the change of the frequency band of LFM carrier-waves. The immune particle swarm optimization （IPSO） is introduced to search for the optimal frequency band of the LFM carrier-waves, due to its excellent performance in solving complicated optimization problems. The multi-objective and multi- peak optimization nature of the IPSO gives a suitable description of the relationship between the upper band and the lower band of the LFM carrier-waves. Simulations verify the improved perfor- mance and effectiveness of the optimization method.

关键词： underwater acoustic communication carrier waveform inter-displacement （CWlD） multi-objective optimization immune particle swarm optimization （IPSO）.

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Joint space compliance control for a hydraulic quadruped robot based on force feedback

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Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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