检索结果-内蒙古大学图书馆

第37届中国控制会议

作者： Xianlin Zeng Shu Liang Jie Chen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing Advanced Innovation Center for Intelligent Robots and Systems (Beijing Institute of Technology) Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education

In this paper, we investigate a privacy preservation design in the distributed nonsmooth convex optimization with set constraints. To solve the distributed optimization problem while preserving the privacy, we use pseudo-subgradients involved with（non-integrable） set-valued functions. Based on pseudo-subgradients, we propose distributed nonsmooth optimization algorithms with keeping subgradient information confidential. Then we prove the correctness and convergence of the distributed privacy preservation optimization algorithms to achieve the exact solution of the original optimization problem.

关键词： Distributed nonsmooth convex optimization privacy preservation set constraints pseudo-subgradients

来源：评论

学校读者我要写书评

暂无评论

Distributed Cooperative Search Method for Multi-Uav with Unstable Communications

SSRN

引用

SSRN 2023年

作者： Zhang, Huaqing Ma, Hongbin Mersha, Bemnet Wondimagegnehu Zhang, Xiaofei Jin, Ying School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing100081 China School of Vehicle and Mobility Tsinghua University Beijing100084 China

In search-attack and search-rescue tasks performed by multi-UAV, cooperative search plays an important part. The majority of approaches in use today assume that the UAV swarm's communication network is complete. However, these links are susceptible to environmental changes or adversary interference. Aiming at cooperative search in search-attack and search-rescue tasks, we propose a distributed cooperative search method for multi-UAV with unstable communications (DCS-UC), which is developed based on ant colony optimization (ACO). In this method, three algorithms are presented to enable the UAV swarm to conduct online cooperative search efficiently and safely. Firstly, an algorithm of pheromone matrix consensus update used in ACO is designed under switching and connected topology graphs, which can make the pheromone matrix maintained by each UAV achieve consensus, so that the cooperative efficiency of the UAV swarm is improved. Then, a position consensus update algorithm is presented where the position vector, including the positions of all the UAVs in each UAV, can achieve consensus under switching and connected topology graphs. Finally, to tackle the collision avoidance of all the UAVs, an algorithm of collision avoidance between UAVs is designed by using the obtained consistent positions of all the UAVs, which can make the UAV swarm conduct cooperative search safely. Extensive physical simulation results carried out in Gazebo verify the advantages of our multi-UAV cooperative search method. © 2023, The Authors. All rights reserved.

关键词： Ant colony optimization

来源：评论

学校读者我要写书评

暂无评论

Backlash neural network model for hysteresis nonlinearity

引用

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2007年第SUPPL. 1期27卷 226-230页

作者： Liao, Xiao-Zhong Lu, Guo-Hui Liu, Xiang-Dong Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

A Backlash neural network model is proposed for the systems with hysteresis nonlinearity. In order to approximate the hysteresis nonlinearity, Backlash-type operators are used as one layer of the neural network. Then, the number of Backlash operators and neurons of hidden layer are gotten through simulation. Compared with the normal BP network, the results show the improvement validity of the proposed Backlash neural network model for describing the hysteresis nonlinearity.

关键词： Nonlinear network analysis

来源：评论

学校读者我要写书评

暂无评论

Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

引用

第三十九届中国控制会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

来源：评论

学校读者我要写书评

暂无评论

New approach for constructing BDD from a complex fault tree

引用

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2007年第SUPPL. 1期27卷 140-144页

作者： Zhu, Lin Chen, Jie Chen, Wen-Jie Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

A new conversion method for fault tree (FT) to binary decision diagram (BDD) was introduced. Firstly, FT was reduced and the reduction rule was proposed, share-node conception was introduced on the basis of FT decomposition, then the rules of connection of component BDD was proposed. Furthermore the route-based BDD reduction rule was proved, with which reduction can be done at the same time with BDD composition, and the route sequence and cut sets can be obtained, while computation and storage is greatly reduced during the process. Finally, the procedure of the transformation is presented. The affectivity effectiveness and practicability is thereby proved.

关键词： Fault tree analysis

来源：评论

学校读者我要写书评

暂无评论

New stability criteria for linear systems with time-varying interval delay

New stability criteria for linear systems with time-varying ...

引用

UKACC International Conference on control (control)

作者： Jian Sun Jie Chen G.P. Liu School of Automation Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China CTGT Center Harbin Institute of Technology Harbin China Faculty of Advanced Technology University of Glamorgan Pontypridd UK

This paper is concerned with the problem of stability of systems with time-varying delay in a given interval. A novel Lyapunov-Krasovskii functional is proposed to obtain new stability conditions. Some triple integral terms are introduced in the Lyapunov-Krasovskii functional and the information on the lower bound on the delay are sufficiently used. New delay-dependent stability criteria are derived using integral inequalities and formulated in terms of linear matrix inequality (LMI). Comparing numerical examples show that the proposed criteria yield a larger upper bound on the delay for a given lower bound on the delay than existing results.

关键词： Delay Stability criteria Time varying systems Linear matrix inequalities Numerical stability Linear systems

来源：评论

学校读者我要写书评

暂无评论

An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

An Easy-implemented Optimization Method of Trajectory Planni...

引用

第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

来源：评论

学校读者我要写书评

暂无评论

Global MPPT for PV systems under partially shaded conditions based on voltage band

Global MPPT for PV systems under partially shaded conditions...

引用

Chinese control Conference (CCC)

作者： Fan Xinyu Fang Deng Fengmei Li Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing P. R. China School of Automation Beijing Institute of Technology Beijing P. R. China Beijing Institute of Technology Beijing Beijing CN

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 fast. Simulation results shows the good performance of proposed method.

关键词： Maximum power point trackers Photovoltaic systems Arrays Solar energy Mathematical model Equations

来源：评论

学校读者我要写书评

暂无评论

On stability of sampled-data extended state observer for networked systems

On stability of sampled-data extended state observer for net...

引用

Asian control Conference

作者： Yuan Huang Junzheng Wang Dawei Shi Jian Xue State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Harvard John A. Paulson School of Engineering & Applied Sciences Harvard University Cambridge MA USA

ISBN: (纸本)9781509015740;9781509015733

The problem of sampled-data state observation is considered in this work. A nonlinear continuous-time system with internal uncertainty and external disturbance is introduced, for which the sampled-data observation problem based on an extended state observer is formulated. We first introduce the framework of the observed system, in which the output measurement is sampled and transmitted to extended state observer periodically. Then based on this framework, the observation performance of the sampled-data extended state observer (SD-ESO) is investigated. For the observer considered, the uniformly ultimately bounded property has been guaranteed. Furthermore, a co-design method for the sample interval and high gain parameter of SD-ESO is provided to achieve the desired observation performance. The obtained theoretic results are validated through the numerical simulations.

关键词： Observers Uncertainty Networked control systems Convergence Distributed databases Gold Australia

来源：评论

学校读者我要写书评

暂无评论

Algorithm of improved marriage in honey bees optimization and convergence analysis

引用

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2007年第SUPPL. 1期27卷 80-84页

作者： Yang, Chen-Guang Cai, Tao Tu, Xu-Yan Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

One problem of marriage in honey bees optimization (MBO) is that its complex computation process will limit its applications. The paper proposed an improved marriage honey bees optimization (IMBO). By randomly initializing drones and restricting the condition of iteration, the calculation process becomes easier. The global convergence characteristic of IMBO is also proved based on the Markov chain theory. With different number of nodes, traveling salesman problem(TSP) is used to compare the IMBO with MBO and genetic algorithm(GA). Simulation results show that IMBO has better convergence performance.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：