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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu 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 AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Observer-based fuzzy control for nonlinear fractional-order systems via fuzzy T-S models: The 1 < α < 2 case

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IFAC Proceedings Volumes 2014年第3期47卷 6086-6091页

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang 110036 P. R. China School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 P. R. China

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 < α < 2 via fuzzy T-S models. Using the properties of the Kronecker product and LMI approach, the feedback and observer gain matrices are designed. By this method, the state of nonlinear system described as the fuzzy T-S model is convergent to the equilibrium and the observer error is convergent to zero. Finally, the simulation result of a numerical example is given to illustrate the effectiveness of this method.

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Distributed sub-optimal resource allocation via a projected form of singular perturbation

arXiv

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arXiv 2019年

作者： Liang, Shu Zeng, Xianlin Chen, Guanpu Hong, Yiguang Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Distributed optimization for resource allocation problems is investigated and a sub-optimal continuous-time algorithm is proposed. Our algorithm has lower order dynamics than others to reduce burdens of computation and communication, and is applicable to weight-balanced graphs. Moreover, it can deal with both local constraints and coupled inequality constraints, and remove the requirement of twice differentiability of the cost function in comparison with the existing sub-optimal algorithm. However, this algorithm is not easy to be analyzed since it involves singular perturbation type dynamics with projected non-differentiable righthand side. We overcome the encountered difficulties and obtain results including the existence of an equilibrium of the algorithm, the sub-optimality in the sense that the solution approaches to the optimal solution as an adjustable parameter tends to zero, and the convergence of the algorithm. Copyright © 2019, The Authors. All rights reserved.

关键词： Resource allocation

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Dynamic State Estimation Using Event-Trigger Master-Slave Nonlinear Filter for WAMS Applications

Dynamic State Estimation Using Event-Trigger Master-Slave No...

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Data Driven control and Learning systems (DDCLS)

作者： Qing Yuan Fengdi Zhang Hengheng Gong Luyu Li Sen Li Xiaozhong Liao Zhen Li Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing P. R. China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing P. R. China Beijing Institute of Radio Measurement Beijing P. R. China

ISBN: (纸本)9781538626191

The real-time state estimation becomes greatly important with the wide application of phasor measurement unit (PMU) in distributed generation (DG) for wide-area measurement systems (WAMS). In view of estimation, particle filter (PF) is capable of providing the best performance but at the cost of heavy computation burden. Besides, the growing grid size sustainably boosts the amount of data communication from PMU, causing the congestion. An event-trigger master-slave nonlinear filter (ET-MSNF) is proposed to guarantee the estimation accuracy and get the communication bandwidth relieved. The local slave filter at the generator node carries out the local estimation and event-trigger strategy using unscented transformation, which is identical to the center slave. The master filter at the center is designed using Monte Carlo method to improve the center's estimation accuracy by the cooperation with the center slave. Such master-slave filtering structure can fully utilize the computation capability both at the center and node. Simulation on the standard IEEE 39-bus system verify the performance of ET-MSNF.

关键词： Generators Monte Carlo methods Phasor measurement units Master-slave Wide area measurements State estimation

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Vision-based Autonomous Landing of UAV on Dynamic Apron

Vision-based Autonomous Landing of UAV on Dynamic Apron

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IEEE International Conference on Unmanned systems (ICUS)

作者： Pengyu Yue Jing Xin Zhijie Mao Yongchang Lu Youmin Zhang Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an P.R.China Department of Mechanical Industrial & Aerospace Engineering Concordia University Montreal QC Canada

Aiming at the landing problem of Unmanned Aerial Vehicle (UAV) without landmarks and global coordinates, this paper proposes an efficient vision-based UAV autonomous landing solution. Firstly, image information is obtained from the bottom visual sensor of the UAV, and the YOLOV5 object detection method is employed to determine the initial position of the dynamic apron. Subsequently, an improved dynamic apron tracking method based on Spatio-Temporal Transformer is designed. This method updates an initial template through target detection algorithm and utilizes multi-source perceptual data for confidence evaluation and dynamic template updates. It outputs the distribution estimation of the predicted bounding box corner coordinates, and achieves the high reliability continuous positional smoothing estimation and dynamic apron loss re-detection based on UAV vision. Finally, the UAV calculates the horizontal control quantity based on the horizontal relative position between the UAV and the apron obtained. The vertical control quantity is calculated based on the vertical relative position between the UAV and the apron. The vertical relative position is estimated using laser ranging and visual odometry techniques. Based on the results of horizontal tracking control and vertical regulation, velocity commands for the UAV in all three directions are generated, enabling the UAV to achieve autonomous landing on the dynamic apron. This paper achieves precise landing for dynamic apron in real-world environments. The experimental results demonstrate that this method avoids the limitations of labeled data and global information on autonomous landing of UAV. Even under GPS-denied conditions, the UAV can generate control commands based on visual data and achieve autonomous landing for randomly moving apron.

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An Algorithm for Cooperative Navigation using Neural Network to Identify Colored Noise Online

An Algorithm for Cooperative Navigation using Neural Network...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Danting Sheng Jin Cheng Fengyi Li Mingrui Hao Beijing Electro-mechanical Engineering Institute CASIC Beijing China HIWING Technology Academy of CASIC CASIC Beijing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation CASIC Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

In practical applications of cooperative navigation algorithms based on Kalman filtering, noise is often colored noise, which does not meet the requirement of Gaussian white noise for Kalman filtering. Therefore, an algorithm is proposed to identify and compensate for colored noise online using a BP neural network. Firstly, a cooperative navigation model based on Kalman filtering is established. Then, by studying the update process of Kalman filtering, the neural network is incorporated into the prediction calculation of the observations, following the online learning and updating of the Kalman filter. Mathematical simulations show that under conditions of colored noise, the results of the Kalman filter diverge. However, after correction by the BP neural network, the filtering converges, providing high reference value for improving the accuracy of cooperative navigation.

关键词： Accuracy Filtering Navigation Neural networks Collaboration White noise Mathematical models Kalman filters Colored noise Convergence

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A NSGA-II based Peak Load Shifting Optimization Method for Customers with Distributed Generators Considering Time-of-use Price

A NSGA-II based Peak Load Shifting Optimization Method for C...

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Chinese control Conference

作者： Hao Zhou Min Ding Bo Hu Qingyi Wang Zhili Tan Danyun Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan P. R. China Global Energy Interconnection Development and Cooperation Organization Beijing P. R. China

With the extensive use of distributed generation, the traditional demand response analysis cannot meet the current requirements. This paper proposes a NSGA-II based peak load shifting optimization method for customers with distributed generators considering time-of-use price. Firstly, a fuzzy classification method divides the daily power into three time segments, peak hours, flat hours and valley hours. Secondly, on the basis of the time-of-use price, a peak load shifting optimization model is built with constraints and the objectives of minimizing the peak load, maximizing the valley load, and minimizing the peak-valley difference. Then, a NSGA-II based optimization method solves the optimal model and obtains the optimal electricity prices of different time segments to shift the peak load and the valley load. Finally, the simulation results shows the effectiveness of the proposed method.

关键词： Load management Load modeling Real-time systems Mathematical model Distributed power generation Optimization Heuristic algorithms

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Dynamics of Small World Effect and Random Fuzzy Graph

Research Square

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Research Square 2021年

作者： Zhang, Yijin Huang, Jie Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing Municipal Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

Small World Effect (or Six Degrees of Separation theory) has generated significant influence in the world. Many researchers and institutes have done lots of work on the study of it. We model Small World Effect by random process and Graph, calculate the probability that any two people i and j in the world can contact each other after n steps (forwarding messages by intermediaries) based on different R (average number of acquaintances everyone has in the world).When R=50 or 80, if, the probability is 0.848 and the search is very likely to happen. When R=150, n=4, this probability is 0.99994, that is, after 4 steps, any two people in the world will establish connection almost surely. In the sense of Dunbar's number (R=150), six degrees of separation becomes four degrees of separation. We propose the concepts of (directed) Random Fuzzy Graph for the very first time which can describe the fact of recognition among people best, because the relation among persons is random and fuzzy. © 2021, CC BY.

关键词： Random processes

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Image Fusion based on Variational Method for Maintenance of Gradient and Intensity

Image Fusion based on Variational Method for Maintenance of ...

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Chinese control Conference (CCC)

作者： Jinglan Bai Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing P. R. China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Infrared and visible image fusion technology helps to improve the spatial resolution. It mainly preserves the features and details of the source images and generates a fusion image with visual enhancement. In this paper, based on the gradient features and intensity information of the source images, an optimization model for image fusion is built. Firstly, the pre-fused gradient of the source images is obtained by combining the structure tensor and the proposed local gradient similarity, where local gradient similarity is used to make the fused gradient direction more accurately. Secondly, the source images are reconstructed into salient and non-salient images according to the comparison of the pixel intensity. A weight map before the non-salient image in the optimization model makes the effective details preserved, so that the pre-fused images consist of the salient image and the non-salient image with a weight map. Finally, an optimization model is constructed to constrain the gradient and intensity of the final fused image close to the pre-fused gradient and the pre-fused images. The final fused image is obtained from solving the optimization model by use of the variational method. The experimental results are evaluated from subjective and objective assessments, which show the effectiveness of the proposed algorithm.

关键词： Optimization Tensile stress Image fusion Mathematical model Matrix decomposition Eigenvalues and eigenfunctions Visualization

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Variable structure controller based on extended state observer in gun turret system

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2009年第4期29卷 318-322页

作者： Chen, Jie Jin, Tian-Xu Bai, Yong-Qiang Department of Automatic Control School of Information and Science Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

Considering the characteristics of the servo system, such as disturbance, nonlinearity and high inertia, variable structure controller (VSC) based on extended state observers (ESO) are designed for the aim of quick, stable and high-accuracy controlling processes. The disturbances and high-order factors are estimated and compensated using ESO. Dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC. Because ESO provides a high-frequency path for the dynamic state not modelled, the chatter of VSC is reduced. Through tests in the gun turret system, it was shown that this controller is superior to the engineering PID and general VSC.

关键词： Variable structure control

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