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Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

Journal of systems Engineering and Electronics 2013年第4期24卷 655-665页

作者： Fang Deng Jie Chen Chen Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.

关键词： parameter estimation state estimation unscented Kalman filter （UKF） strong tracking filter wavelet transform.

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Event-Triggered Networked Predictive controller Design for Linear systems with Communication Delay

Event-Triggered Networked Predictive Controller Design for L...

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第三十三届中国控制会议

作者： Di Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479947249

This paper is concerned with the controller design for networked control systems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.

关键词： Networked control system,Networked predictive control,Event-triggered control,Lyapunov function

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Further Improvements in Stability Analysis of Linear systems with Interval Time-varying Delay

Further Improvements in Stability Analysis of Linear Systems...

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第25届中国过程控制会议

作者： Jian Sun Sheng-Lan Xiao School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.

关键词： Time-delay system,Delay-dependent stability,Interval delay,Linear matrix inequality

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Cooperative Adaptive Fuzzy control of High-Order Nonlinear Multi-Agent systems with Unknown Dynamics

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IFAC Proceedings Volumes 2014年第3期47卷 9774-9779页

作者： Jie Huang Hao Fang Jie Chen Lihua Dou Fang Deng School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China Fujian Institute of Education Fuzhou 350025 China

This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.

关键词： Multi-agent systems Distributed control Consensus High-order Backstepping Fuzzy logic systems

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Fast trajectory planning of reactive operation considering manipulability for a humanoid

Fast trajectory planning of reactive operation considering m...

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World Congress on intelligent control and Automation (WCICA)

作者： Yan Liu Jing Li Zhangguo Yu Wen Zhang Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Fei Meng Weimin Zhang Junyao Gao Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper, efforts are made to generate trajectory for these operations. Firstly, an extended manipulability index is proposed to optimize the key poses so that the humanoid robot has the manipulability considering joint limits at the key poses, which makes it convenient to adjust the trajectory. Secondly, a fast approach to generating the whole trajectory consisting of all the key poses and the strategies to realize the trajectory adjustment when specifications change are proposed. Finally, the ZMP (Zero Moment Point) displacement excited by the reactive operations is also given to decide whether the generated trajectory is feasible. The effectiveness of the method is demonstrated through simulations.

关键词： Trajectory Joints Humanoid robots Indexes Jacobian matrices Optimization

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Improving Constraint Handling for Multiobjective Particle Swarm Optimization

Improving Constraint Handling for Multiobjective Particle Sw...

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第三十三届中国控制会议

作者： Erdong Yu Qing Fei Hongbin Ma Qingbo Geng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479947249

In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.

关键词： multiobjective,constraint handling,particle swarm optimization,adaptive grid,voting mechanism

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HCLC integration design and high-precision control of a joint for space manipulator 20

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20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

作者： Jiang, Zhihong Li, Hui Dong, Que Zhang, Xiaodong Tang, Zixing Rao, Wei Mo, Yang Ji, Chenjun Huang, Qiang IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9783319070575

A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for space manipulator joint with high-cohesion and low-coupling (HCLC) performance. Moreover, the mechanical and electrical interfaces of designed joint are especially suitable for space manipulator. First, To achieve higher system performance, the joint is designed as a whole for perfect match among components including permanent magnet synchronous motor (PMSM), motor controller and driver, sensors, space environment controller, reducer, routing and other mechanisms, which could eliminate redundant shell packages and mounting surfaces existed in traditional manipulator joint. Second, a new method is presented to design the rotors of two resolvers as joint sensors at the same axis shared with motor rotor, this kind of design has the advantages of redundant and high-precision sensing for the positions of motor rotor and joint, and joint position signal is differential sensing and has high robustness. Then, a kind of high-precision controller is presented for space manipulator based on a new PMSM model with model difference, and this controller is robust to joint nonlinear factors, such as friction and other disturbance torque. Finally, the experimental results showed the designed joint had fine performances with high power density, high controlling precision and high operation stability and so on, and it is suitable for the application of space manipulator. © Springer International Publishing Switzerland 2014.

关键词： controllers

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Data yard based system effectiveness evaluation and decision support method

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Guofang Keji Daxue Xuebao/Journal of National University of Defense Technology 2014年第1期36卷 124-130页

作者： Chen, Chen Wang, Yun School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

With the development of information technology, the increase of system information brings new problems to the military system effectiveness evaluation. Aiming at nonlinear, high dimension and strong coupling data of system effectiveness analysis, a data yard based system effectiveness evaluation and decision support method was proposed. Data recovery, subtraction, refinement and reconstruction operations were applied to the simulation data processing, then a data yard cube was built up to meet the multiple demands for system analysis of different levels and data dependency were reduced. Taking task-oriented networked fire control system for example, its system effectiveness evaluation, timeliness evaluation and indices analysis were carried out, and practicability and validity of the method were verified in three levels. Applying data mining technology to the simulation system effectiveness evaluation decision-making, makes it get more extensive application.

关键词： Data mining

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A Map Matching Algorithm for Inertial Navigation systems Based on the Adaptive Projection Method

A Map Matching Algorithm for Inertial Navigation Systems Bas...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Hao Luo Zhihong Deng Mengyin Fu Bo Wang National Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing China

ISBN: (纸本)9781479970063

In this paper, it studies the various elements of map-matching algorithm, in order to achieve better real-time and accuracy for vehicle navigation systems. This paper uses two-stage staggered mesh, combined with the second round screening domain. Using of vehicle location, direction, road geometric and topological relations with the angular rate of change, this paper proposes a new map matching algorithm, angle and distance segment dominated approach. The results show that the map-matching algorithm in this paper can achieve vehicle navigation and positioning functions accurately and quickly.

关键词： Roads Vehicles Navigation Accuracy Real-time systems Network topology Adaptive algorithms

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complex Terrain Perception based on Hidden Markov Model

Complex Terrain Perception based on Hidden Markov Model

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Meiling WANG Liang ZUO Yi YANG Qiangrong YANG Tong LIU School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System

Terrain perception in complex environment is important for Autonomous Land Vehicle to drive *** order to access the terrain information,in this paper,we present a terrain perception method based on Hidden Markov Model(HMM) which combines LIDAR with machine *** the basis of spatial fan-shaped model,terrain feature extraction is performed to acquire the observation *** markov models describe the vertical structure of the driving space and Viterbi algorithm is used for terrain *** the navigation decision is given based on the perception of the complex *** results show that the method can give an accurate environment description for ALV.

关键词： terrain perception,sensor fusion,feature extraction,principal component analysis,multihidden markov models

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