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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Yang, Qingkai Zhou, Fengyi Chen, Jie Li, Xin Fang, Hao School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9783902823625

This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms. © IFAC.

关键词： Multi agent systems

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Design and implement of intelligent human-computer interface on vehicles based on event-driven 10

Design and implement of intelligent human-computer interface...

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Joint International Conference of the 10th China-Japan International Workshop on Information Technology and control Applications and the 6th International Symposium on Computational Intelligence and Industrial Applications, ITCA and ISCIIA 2014

作者： Zhang, Jia Xu, Sheng-Li Deng, Fang School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

An event-driven on-vehicle intelligent human-computer interface has been proposed to solve the issue about complex on-vehicle human-computer interaction. After the demand analysis of human-computer interaction under the vehicle platform, the framework of intelligent human-computer interface is established, the role of the various modules and workflow in the system are designed, and the reasoning feature which based on fuzzy cognitive map is implemented. The on-vehicle intelligent human-computer interface can help the user to complete the interactive operate which is unrelated to the driving operations. Furthermore, it can analyze the whole information and predictive the information required by the user. At last, it can display the information on the interface. So, the on-vehicle intelligent human-computer interface can both to meet the user's demand for secondary interactive tasks, and can ensure the driving performance and safety.

关键词： Human computer interaction

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A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

A new control method of quadruped robot walking on rough ter...

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IEEE International Conference on Robotics and Biomimetics

作者： Xin Li Junyao Gao Qiang Huang Haojian Lu Zhe Xu Yi Liu Intelligent Robotics Institute Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.

关键词： Legged locomotion Foot Trajectory Mathematical model Robot sensing systems

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Robust attitude control with improved transient performance 19

Robust attitude control with improved transient performance

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cong, B.L. Chen, Z. Liu, X.D. Beijing Institute of Technology Beijing100081 China Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9783902823625

This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve highperformance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the convergence of attitude error to accelerate the system response. The overshooting phenomenon is also avoided by imposing a restriction on the parameter selection. Then, the integral sliding mode control technique is employed to improve the robustness, where the Lyapunov-based control law is used as the equivalent control part. Theoretical analysis and simulation results verify the effectiveness of the proposed strategy. © IFAC.

关键词： control theory

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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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Experiments of a human-robot social interactive system with whole-body movements 20

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

作者： Ma, Gan Huang, Qiang Yu, Zhangguo Chen, Xuechao Zhang, Weimin Gao, Junyao Duan, Xingguang Shi, Qing 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

ISBN: (纸本)9783319070575

One crucial problem for a humanoid service robot is to be able to communicate with humans naturally. This study focuses on this issue and develops a social interactive system for a humanoid robot to interact with human beings. The interactive system features hearing, voice conversation, and facial and full body emotional expression capability. Experiments are conducted on the robot to interact with humans in a real human indoor environment, and the effectiveness of the system is evaluated. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems with unknown dynamics 19

Cooperative adaptive fuzzy control of high-order nonlinear m...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Huang, Jie Fang, Hao Chen, Jie Dou, Lihua Deng, Fang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Fujian Institute of Education Fuzhou350025 China

ISBN: (纸本)9783902823625

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. © IFAC.

关键词： Multi agent systems

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Distributed adaptive tracking on Lagrangian systems with reduced interaction 11

Distributed adaptive tracking on Lagrangian systems with red...

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2014 11th World Congress on intelligent control and Automation, WCICA 2014

作者： Liu, Yuchen Fang, Hao Mao, Yutian School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479958252

In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fraction of agents within the leader's communication range are informed about the position of the leader. Without using the leader's velocity information, a connectivity-preserving adaptive controller is proposed to achieve tracking control on Lagrangian systems with the leader of constant velocity. Moreover, position and velocity consensus can be achieved asymptotically with the proposed control strategy. Numerical simulations are further provided to illustrate the theoretical results. © 2014 IEEE.

关键词： Adaptive control systems

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