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检索条件"机构=Key Laboratory of Complex System Intelligent Control and Decision"

共 1365 条记录，以下是121-130 订阅

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Gait planning and compliance control of a biped robot on stairs with desired ZMP 19

Gait planning and compliance control of a biped robot on sta...

引用

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

作者： Chen, Guangrong Wang, Junzheng Wang, Lipeng Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology BeijingCO 100081 China

ISBN: (纸本)9783902823625

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples. © IFAC.

关键词： Compliance control

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TIEA: A tradeoff-based interactive multiobjective evolutionary algorithm 7

TIEA: A tradeoff-based interactive multiobjective evolutiona...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Chen, Lu Xin, Bin Chen, Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9784990534349

This paper proposes a tradeoff based interactive multiobjective evolutionary algorithm (TIEA). It can support the decision maker (DM) to guide the search towards the DM's most preferred solution by combing evolutionary algorithms with the framework of gradient projection. At each iteration, an evolutionary algorithm is used to generate an approximate Pareto optimal solution. Then, the DM is asked to provide preferences in terms of indifference tradeoffs, the projection of which onto the tangent hyperplane of the Pareto front provides a tradeoff direction. To calculate the projection, an approach to approximate the normal vector of the tangent hyperplane of the Pareto front is developed. Results on nine numerical examples by using TIEA show that TIEA is able to solve multiobjective optimization problems with more than three objectives. Moreover, it can find the Pareto optimal solution that the DM prefers most. © 2016, Fuji Technology Press. All rights reserved.

关键词： Evolutionary algorithms

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Artillery position control through auto disturbance rejection controller based on fuzzy control

Artillery position control through auto disturbance rejectio...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Peng, Ning Bai, Yongqiang Luo, Hao Bai, Junlong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9780769550114

Considering the characteristics of manipulation and collimation control in traction artillery control system, complex mathematic model, uncertainty and nonlinearity, ADRC (Active Disturbance Rejection controller) with Fuzzy control strategy as position controller was adopted and solved the difficult to adjust the parameters and weak anti-interference in practical engineering application. Through tests, it was shown that the controller was robust and met with the requirement of campaign system to quickly move the target to the given position with high reliability and high precision. © 2013 IEEE.

关键词： controllers

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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control of Bilateral Teleoperation with Time Delay Considering Operator Force Sending 34

Control of Bilateral Teleoperation with Time Delay Consideri...

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第三十四届中国控制会议

作者： QIN Yongming XIA Yuanqing School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.

关键词： bilateral teleoperation,time delay,force sending,position tracking,contact force

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Multi-sensor optimal distributed weighted Kalman filter fusion over unreliable networks 35

Multi-sensor optimal distributed weighted Kalman filter fusi...

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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

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第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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Optimal Design of controllers Based on Libraries and Differential Evolution 34

Optimal Design of Controllers Based on Libraries and Differe...

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第三十四届中国控制会议

作者： SUN Zhenlu XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781467374439

This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established in the *** component library contains different types of system components which may be essential for controller *** components can be selected from the library and then combined to form a controller with richer *** performance criteria library includes some common control performance *** can choose one from it according to performance ***,the differential evolution algorithm is utilized to optimize the parameters of each component in order to find the optimal solution and ultimately obtain the controller structure and parameters which meet *** were done on different types of control *** results show that the controllers designed by the proposed method for different types of control objects generally have better comprehensive performance than the PID controllers designed by conventional methods,differential evolution and genetic ***,stability and generalizability of the proposed method were also tested and verified.

关键词： controller Design Differential Evolution Component Library Performance Criteria Library

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A Composite controller Strategy for Electromechanical Actuator Using a Permanent-Magnet Synchronous Motor 33

A Composite Controller Strategy for Electromechanical Actuat...

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第三十三届中国控制会议

作者： WANG Chenyi GAN Minggang QIAO Zhi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Electromechanical Actuator,PMSM,Non-Singular Terminal Sliding Mode,Extended State Observer,hinge moment

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The Forecasting Research on the Model of the Hysteresis Brake based on Elman Multi-Hidden Layers Neural Network Algorithm with the Speed and Directional Factor 35

The Forecasting Research on the Model of the Hysteresis Brak...

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第35届中国控制会议

作者： ZHANG Bo SHEN Wei WANG Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Hysteresis brake,which provides for step-less torque and high speed,is a stable and reliable device used for loading,but with some problems,such as the large time-lag,strong nonlinearity,and difficulty in modeling et *** to the above-mentioned issues,the special working conditions of hysteresis brake developed by our project team and the advantage of the dynamical performance of the Elman Multi-Hidden Layers Neural Network,this paper employs modified neural network algorithm with Elman dynamic recursive structure to accomplish the model of hysteresis brake,and guarantees the accuracy of output loaded *** this algorithm,we introduce the speed,the given and desired torque,and a directivity factor respectively as a disturbance variable and two input vectors of the system,and then train the model and *** numerical results validate the effectiveness of the algorithm proposed.

关键词： Hysteresis brake strong nonlinearity neural network algorithm with Elman dynamic recursive structure

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