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Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

Journal of Beijing Institute of Technology 2014年第3期23卷 358-367页

作者：郝仁剑王军政赵江波汪首坤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

关键词： adaptive robust electrical cylinder friction compensation LuGre model

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Scanning the Issue and Beyond: Transportation and Mobility Transformation for Smart Cities

Scanning the Issue and Beyond: Transportation and Mobility T...

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作者： Wang, Fie-Yue State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China Qingdao Academy of Intelligent Industries Qingdao266109 China

The first issue of IEEE intelligent Transportation systems Society (ITSS) starts with survey papers on technology and security for intelligent vehicles. The first paper titled 'Intra-Vehicle Networks: A Review' by S. Tuohy, M. Glavin, C. Hughes, E. Jones, M. Trivedi, and L. Kilmartin presents a comprehensive overview of current research on advanced intra-vehicle networks and identifies outstanding research questions for the future. J. Petit and S. E. Shladover's paper, 'Potential Cyberattacks on Automated Vehicles' analyzes the threats on autonomous automated vehicle and cooperative automated vehicle. 'A Video-Analysis-Based Railway-Road System for Detecting Hazard Situations at Level Crossings' by H. Salmane, L. Khoudour, and Y. Ruichek explores the possibility of implementing a smart video surveillance security system that is tuned toward detecting and evaluating abnormal situations induced by users in level crossing. 'Traffic Flow Prediction for Road Transportation Networks with Limited Traffic Data' by A. Abadi, T. Rajabioun, and P. A. Ioannou, uses a dynamic traffic simulator to generate flows in all links using available traffic information, estimated demand, and historical traffic data available from links equipped with sensors. The paper titled 'GNSS Multipath and Jamming Mitigation Using High-Mask-Angle Antennas and Multiple Constellations' studies the optimal antenna mask angle that maximizes the suppression of interference but still maintains the performance of a single constellation with a low-mask-angle antenna.

关键词： Antennas

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Solving multi-objective multi-stage weapon target assignment problem via adaptive NSGA-II and adaptive MOEA/D: A comparison study

Solving multi-objective multi-stage weapon target assignment...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin LiHua Dou School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R. China

ISBN: (纸本)9781479974931

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research, and the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the consideration of resource constraints, feasibility constraints and fire transfer constraints. In order to tackle the two challenges, two types of multi-objective optimizers: NSGA-II (domination-based) and MOEA/D (decomposition-based) enhanced with an adaptive mechanism are adopted to achieve efficient problem solving. Then a comparison study between adaptive NSGA-II (ANSGA-II) and adaptive MOEA/D (AMOEA/D) on solving instances of three scales MWTA problems is done, and four performance metrics are used to evaluate each algorithm. Numerical results show that ANSGA-II outperforms AMOEA/D on solving multi-objective MWTA problems discussed in this paper, and the adaptive mechanism definitely enhances performances of both algorithms.

关键词： Weapons Fires Discrete wavelet transforms Optimization Sociology Statistics Genetics

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A Composite controller Strategy for Electromechanical Actuator Using a Permanent-Magnet Synchronous Motor 33

A Composite Controller Strategy for Electromechanical Actuat...

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第三十三届中国控制会议

作者： WANG Chenyi GAN Minggang QIAO Zhi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Electromechanical Actuator,PMSM,Non-Singular Terminal Sliding Mode,Extended State Observer,hinge moment

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A Novel Link Scheduling for Special Re-use TDMA on Ad Hoc Networks 33

A Novel Link Scheduling for Special Re-use TDMA on Ad Hoc Ne...

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第三十三届中国控制会议

作者： Li Weijie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm.

关键词： STDMA,multi-hop ad Hoc networks,scheduling delay

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Sliding Mode control Using linear extended state observer(LESO) and Hysteresis Compensator based on Bouc-Wen model in Sinusoidal Position control of a Piezoelectric Actuator 33

Sliding Mode Control Using linear extended state observer(LE...

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第三十三届中国控制会议

作者： QIAO zhi GAN minggang WANG chenyi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

In this paper,a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA).The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear ***,a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances,with an intention of improving and enhancing the dynamic performance and the robustness of *** feasibility of the proposed control scheme is verified by experiment of a *** result shows that when faced with a fast-rate control input,the proposed method can also ensure the system a good performance.

关键词： Bouc-Wen Model,Hysteresis Compensator,Sliding Mode control,Linear Extended State Observer

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Global MPPT for PV systems under Partially Shaded Conditions Based on Voltage Band 33

Global MPPT for PV Systems under Partially Shaded Conditions...

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第三十三届中国控制会议

作者： Fan Xinyu DENG Fang LI Fengmei School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak *** results shows the good performance of proposed method.

关键词： Maximum Power Point Tracking(MPPT),Voltage band,Partially Shaded Conditions

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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Flocking of multi-robot systems with connectivity maintenance on directed graphs

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Journal of systems Engineering and Electronics 2014年第3期25卷 470-482页

作者： Mao, Yutian Dou, Lihua Fang, Hao Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control Decision of Complex Systems Beijing 100081 China

Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, collision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that all robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm. © 1990-2011 Beijing Institute of Aerospace Information.

关键词： Multipurpose robots

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