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第35届中国控制会议

作者： Tang Chao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.

关键词： Ad Hoc high-relative velocity motion model link lifetime

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Energy consumption analysis in multi-legged robots based on gait planning

Energy consumption analysis in multi-legged robots based on ...

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Chinese control Conference (CCC)

作者： Xiaolong Du Shoukun Wang Xiaoyan Zong Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509009107

Currently, the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of robots. Aimed at the problem of energy consumption for mobile robots, this paper provides the analysis in terms of the gait planning. Firstly, two kinds of gait curves Respectively, cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction (SLR). The length of step (S), the height of step (H) and the duty ratio of gait cycle (β) are set as the primary research points about the gait of mobile robot. In this work, we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait parameters. Finally, the results provide some recommendations for the gait planning of the quadruped robot, that is, the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Three-dimensional displays

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Modified gain-based lower bounds computation for the real structured singular value 7

Modified gain-based lower bounds computation for the real st...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Gao, Linjie Song, Zhuoyue Zhang, Xuenan Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education of China China Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, a modified gain-based algorithm (GBA) is presented to calculate the lower bound for the real structured singular Value (μ) problem. The basic idea of GBA is reformulating the real μ problem into a related worst-case disturbance-error performance problem, then the standard lower bound algorithm for worst-case performance assessment is used for calculation of maximizer uncertainty which maximizes the disturbance-error gain, and next this maximizer uncertainty can be used to obtain the lower bound for real μ. In the initial gain-based algorithm previously suggested by Pete Seiler etal, the way disturbance inserted and the error pulled off is from one channel to one channel. In this proposed modified algorithm, the error signal is still pulled off from one channel, however, the disturbance is inserted into from a linear combination (summation) of all channels, hence the effect of signals from all channels are reflected into the error signal. Several test problems indicate that the modified gain-based algorithm has a better performance for pure real μ problems. © 2016, Fuji Technology Press. All rights reserved.

关键词： Errors

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An Improved Part-based Compressive Tracking Method

An Improved Part-based Compressive Tracking Method

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第35届中国控制会议

作者： Qiwen Hou Wenjie Chen HuiLin Gao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our part-based method,the occluded image patches which are selected by K-means are not able to participate in determining the location of the target in order to increase tracking *** solve the problem of scale variation,an algorithm is proposed to estimate the size of target with the information of the whole *** addition,we also use the positions of every part to help us to get a precise size of the *** the combination of two methods,the scale of the target is *** compared with five state-of-the-arts have been done to prove the effectiveness and robustness of our method.

关键词： compressive sensing part-based tracking occlusion handling scale estimation

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Integrated 3-D Flight Trajectory Tracking control with Aerodynamic Constraints on Attitude and control Surfaces

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Asian Journal of control 2017年第5期20卷

作者： Xueyuan Wang Hao Fang Lihua Dou Jie Chen Bin Xin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

关键词： Trajectory tracking high-order nonlinear system backstepping B-spline neural network

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Robust and Scalable Power System State Estimation via Composite Optimization

arXiv

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arXiv 2017年

作者： Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center and the Electrical and Computer Engineering Department University of Minnesota MinneapolisMN55455 United States State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Tongji University Shanghai200072 China

—In today’s cyber-enabled smart grids, high penetration of uncertain renewables, purposeful manipulation of meter readings, and the need for wide-area situational awareness, call for fast, accurate, and robust power system state estimation. The least-absolute-value (LAV) estimator is known for its robustness relative to the weighted least-squares (WLS) one. However, due to nonconvexity and nonsmoothness, existing LAV solvers based on linear programming are typically slow, hence inadequate for real-time system monitoring. This paper develops two novel algorithms for efficient LAV estimation, which draw from recent advances in composite optimization. The first is a deterministic linear proximal scheme that handles a sequence of (5 ∼ 10 in general) convex quadratic problems, each efficiently solvable either via off-the-shelf toolboxes or through the alternating direction method of multipliers. Leveraging the sparse connectivity inherent to power networks, the second scheme is stochastic, and updates only a few entries of the complex voltage state vector per iteration. In particular, when voltage magnitude and (re)active power flow measurements are used only, this number reduces to one or two, regardless of the number of buses in the network. This computational complexity evidently scales well to large-size power systems. Furthermore, by carefully mini-batching the voltage and power flow measurements, accelerated implementation of the stochastic iterations becomes possible. The developed algorithms are numerically evaluated using a variety of benchmark power networks. Simulated tests corroborate that improved robustness can be attained at comparable or markedly reduced computation times for medium- or large-size networks relative to existing alternatives. Copyright © 2017, The Authors. All rights reserved.

关键词： Electric power transmission networks

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Disturbance prediction based active disturbance rejection control approach

Disturbance prediction based active disturbance rejection co...

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第35届中国控制会议

作者： Chongling Li Tao Cai Zeyu Han School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.

关键词： disturbance discrete ADRC LESO predictive linear extended state observer

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Two-layer Fuzzy Kernel Regression for Human Emotional Intention Understanding

Two-layer Fuzzy Kernel Regression for Human Emotional Intent...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Luefeng Chen Mengtian Zhou Min Wu Jinhua She Kaoru Hirota School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China School of Engineering Tokyo University of Technology Tokyo Japan Tokyo Institute of Technology Beijing Institute of Technology Yokohama Japan

A two-layer fuzzy kernel regression (TLFKR) model is proposed for understanding human emotional intention in human-robot interaction, where TLFKR model consists of two layers, including fuzzy c-means (FCM) with kernel ridge regression (Kernel 1) for information analysis layer, fuzzy support vector regressions (FSVR) (Kernel 2) for intention understanding layer. TLFKR model represents the weight impact for each emotional information and aims to improve smooth human-robot interaction by endowing robot with human emotional intention understanding capability. Experimental Results show that the proposal obtains an intention understanding accuracy of 65.67%/68.33%/80.67% with the clusters number c=2/3/6 (according to different genders/ages/nationalities), which are 7.34%/7.18%/8.67% and 18.67%/21.33%/33.67% higher than that of TLFSVR and SVR, respectively. Additionally, preliminary application experiments are performed in the developing emotional social robot system, where two mobile robots and volunteers experience a scenario of "drinking at a bar", and social robots are able to express basic emotions and understand human order intention.

关键词： Kernel Robots Training Support vector machines Proposals Information analysis Bars

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Evaluation of Lower-Limb Rehabilitation Based on Muscle Fatigue

Evaluation of Lower-Limb Rehabilitation Based on Muscle Fati...

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IEEE International Symposium on Industrial Electronics

作者： Juan Zhao Jinhua She Dianhong Wang Edwardo F. Fukushima Min Wu Hiroshi Hashimoto School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology Tokyo Japan

The purpose of this study was to investigate the features of muscle fatigue extracted from surface electromyography (sEMG) signals of lower limbs, and then to present an evaluation method of lower-limb rehabilitation to provide physical basis for the training effect of rehabilitation. Four healthy young university students were invited to perform a pedaling exercise for 40 days. The sEMG signals of four lower-limb muscles are recorded and processed using a Butterworth filter and a Daubechies 10 wavelet. Then, the change of the ratios of the spectrums of Types I and II muscle fibers to the total number of the spectrum along the exercise are examined. The time of the first intersection of the ratios for Types I and II for each muscle is used as a performance index. The increase in the time at the beginning and the end of the training period indicates the improvement of motor function, and thus it verifies the effectiveness of the rehabilitation.

关键词： SEMG Muscle fatigue Rehabilitation evaluation Unequal length segmentation

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Process Noise Estimator Based on Observation Sequence and its Application on Inertial Navigation System

Process Noise Estimator Based on Observation Sequence and it...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Xiao Xuan Huang Kun Yang Liming Liang Yuan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Kalman filter has been extensively applied in vast areas. However, it is widely acknowledged that the performance of Kalman filter depends on the accuracy of priori information such as model structure, statistics information of process and observation noise. Obtaining the covariance matrix of process noise is difficult in some application *** such background, this paper presents a process noise estimation algorithm based on the noise observation sequence. By constructing a transform matrix and removing the state variables from the observation, the noise observation sequence can be established, through which the covariance matrix of process noise can be estimated. Comparing to conventional adaptive filter, this algorithm needs less calculation. Moreover,the noise estimation process is separated from Kalman filter thus ensures Kalman Filters independence and optimality. The simulation results show that the new algorithm can effectively estimate the process noise covariance, and remain uninfluenced by the initial condition.

关键词： Adapt Kalman filter noise estimate

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