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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Sequential Fusion and State Estimation for Asynchronous Multirate Multisensor Dynamic systems

Sequential Fusion and State Estimation for Asynchronous Mult...

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第三十三届中国控制会议

作者： Lu Jiang Liping Yan Bo Xiao Yuanqing Xia Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

A sequential fusion and state estimation algorithm for an asynchronous multirate multisensor dynamic system is presented in this *** dynamic system at the finest scale is *** are multiple sensors observing a single target independently with different sampling rates,and the observations are obtained *** present algorithm is shown to be more effective and efficient than the existed *** on a radar tracking system with three sensors are done and show the effectiveness of the present algorithm.

关键词： state estimation,sequential fusion,asynchronous,multirate multisensor,Kalman filter

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Research on an axial-axial flux compound-structure PMSM with varying air gap to fulfill field-weakening control

Research on an axial-axial flux compound-structure PMSM with...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Jing Zhao Yashuang Yan Zhongxin Gu Zhen Chen Ping Zheng Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China Department of Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479951635

A compound-structure permanent-magnet synchronous machine (CS-PMSM), which integrates two PMSMs, is a hybrid electric vehicle (HEV) power train concept. In order to meet the requirement of wide speed range of HEV, an axialaxial flux CS-PMSM with a new mechanical method of varying air gap to fulfill field-weakening control and to improve the operating speed range is investigated. The field-weakening principle of the axial-axial flux CS-PMSM with varying air gap is analyzed. The electromagnetic performances with air gaps varying are evaluated by 3D finite-element method (FEM). The principle of selecting original air gap is proposed with comprehensive consideration. The field weakening capability by varying air gap is evaluated based on the comparison with two other electric methods.

关键词： Air gaps Couplings Torque Stators Magnetic flux Hybrid electric vehicles Rotors

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The Fusion of Multisensor Images with Multi-resolutions

The Fusion of Multisensor Images with Multi-resolutions

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第三十三届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Meiling Wang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479947249

Images taken by different sensors at different time instant with different resolutions are formulated by state space models, and are fused by use of Multiscale Kalman Filter(MKF). The effectiveness of the presented algorithm is shown by comparing it with the wavelet based method through experiments, where four performance measures are used. The performance evaluation indices are the root mean square errors(RMSE), the information entropy(Entropy), the space frequency(SF) and the space visibility(SV). Theretical analysis and experimental results show the effectiveness of the presented algorithm.

关键词： Image fusion,multiresolution,multiscale Kalman filter,state space model

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Active disturbance rejection control for synchronization of different fractional-order chaotic systems

Active disturbance rejection control for synchronization of ...

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World Congress on intelligent control and Automation (WCICA)

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang Liaoning Province China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

This paper investigates the fractional-order active disturbance rejection control for the synchronization of two different fractional-order chaotic systems. By the fractional-order extended state observers, the nonlinear dynamics in the synchronization error equations for each subsystems are estimated in real time. Compensating the nonlinear estimations into controllers, the active disturbance rejection controllers are designed to achieve the synchronization. Finally, two examples of synchronization issues on different fractional-order chaotic systems are provided to verify that the fractional-order ADRC is irrelevant with the nonlinear dynamics in the fractional-order chaotic systems. The proposed controllers can achieve the synchronization and estimate the nonlinear dynamics effectively for different fractional-order chaotic systems.

关键词： Synchronization Nonlinear dynamical systems Chaos Equations Noise Observers

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Second-order time-varying sliding mode control for reentry vehicle

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International Journal of intelligent Computing and Cybernetics 2013年第3期6卷 272-295页

作者： Jie Geng Yongzhi Sheng Xiangdong Liu Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of TechnologyMinistry of EducationBeijingPeople’s Republic of China

Purpose-The purpose of this paper is to design a global robust and continuous control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach-First,feedback linearization is applied to the model of reentry vehicle,resulting in three independent uncertain *** a new second-order time-varying sliding function is proposed,based on which a continuous second-order time-varying sliding mode control(SOTVSMC)law is proposed for each *** global robustness and convergence performance of the closed-loop reentry vehicle control system under the proposed control law are ***-Simulation is made for a reentry vehicle through the assumption that there is external disturbance to aerodynamic moment and the aerodynamic parameters as well as the atmospheric density are *** results verify the validity and robustness of the proposed ***/value-The SOTVSMC attitude controller based on feedback linearization is proposed for the reentry *** advantages of the proposed SOTVSMC are ***,the global second order sliding mode is established,which implies that the closed-loop system is global robust against matched parameter uncertainties and disturbances in ***,the chattering problem is significantly alleviated.

关键词： Flight control Nonlinear control Real-time systems Robust control Variable structure control

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Second-Order Time-Varying Sliding Mode control for Uncertain systems

Second-Order Time-Varying Sliding Mode Control for Uncertain...

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第25届中国控制与决策会议

作者： Jie Geng Yongzhi Sheng Xiangdong Liu Bing Liu School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

A novel second-order time-varying sliding mode control(SOTVSMC) law is proposed for the robust tracking control problem of nonlinear smooth single-input single-output(SISO) system with disturbance. The advantages of the proposed SOTVSMC are twofold. The global second order sliding mode is established, which implies that the closed-loop system is global robust against matched parameter uncertainties and disturbances. Meanwhile, the chattering problem is significantly alleviated. Then the parameter of the sliding mode is obtained by solving an optimal problem. Finally, the effectiveness and robustness of the control strategy is demonstrated by simulation results.

关键词： Sliding Mode control, Nonlinear systems, Global Second Order Sliding Phase, Chattering Alleviation

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An Approach of Bayesian Filtering for Stochastic Boolean Dynamic systems

An Approach of Bayesian Filtering for Stochastic Boolean Dyn...

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第26届中国控制与决策会议

作者： Hongbin MA Dong WANG Hongsheng QI Mengyin FU School of Automation Beijing Institute of Technology the State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences

This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measurement is an arbitrary function of the state yet with additive binary measurement *** problem of figuring out the true state using the only available noisy outputs is crucial for practical applications of Boolean dynamic system models, however, for such Boolean systems with wide background, there are no ready-to-use convenient tools like Kalman filter for linear systems. To resolve this challenging problem, an approach based on Bayesian filtering called Boolean Bayesian Filter(BBF) is put forward to estimate the true states of SBDS, and an efficient algorithm is presented for their exact computation. An index to evaluate the filtering performance,named estimation error rate, is put forward in this paper as well. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed algorithm based on BBF.

关键词： Stochastic Boolean dynamic systems,Bayesian filtering,estimation algorithm,estimation error rate

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The SDRE based Second Order Integral Sliding Mode control for Attitude of Reentry Vehicle

The SDRE based Second Order Integral Sliding Mode Control fo...

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第三十二届中国控制会议

作者： GENG Jie SHENG Yongzhi LIU Xiangdong WANG Liang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479900305

In this paper,a state dependent Riccati equation-based second order integral sliding mode control(SSOISMC) algorithrn is proposed for the reentry vehicle with a strong conpling,nonlinearity and ***,the state dependent Riccati equation(SDRE) controller is developed to approach the attitude controller for the nonlinear reentry vehicle without uncertainties. Then the second order integral sliding mode control theory is proposed to combine sliding mode with SDRE,and it is applied to reentry vehicle with parameter variations or external *** achievement of the second order sliding phase is *** the proposed control law,the optimal performance index is achieved and the uncertainties are rejected,furthermore, the chattering is ***,simulation is made through the assumption that aerodynamic parameters and atmospheric density are *** validity and robustness of the proposed strategies are verified by simulation results.

关键词： Flight vehicle control State dependent Riccati equation(SDRE) Second order integral sliding mode

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Analysis and Testing of Delay in HLA-based Distributed Simulation system

Analysis and Testing of Delay in HLA-based Distributed Simul...

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第25届中国控制与决策会议

作者： Chen Chen Lu Chao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

Time is a significant concept in distributed *** the increment of simulation system scale, working efficiency of simulation system will go down very sharply due to the restrictions of time management tactics and time sequence coupling. Therefore, it is necessary to study the characteristics of delay in simulation system to improve its working effeciency. Aiming at HLA-based distributed simulation system, causes of simulation delay is analysed and principles of delay testing is explained. A method which employs synchronization point setting and an effective wall clock time querying approach is put forward. Statistics and analysis of message interaction delay is executed on the software platform of pRTI 1.3 version. The measurement of delay lays an important data foundation for time management algorithms.

关键词： Distributed Simulation system, Delay Testing, High Level Architecture, Synchronization Point.

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