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IEEE International Conference of intelligent Robotic and control Engineering (IRCE)

作者： Chunli Zhang Yuwei Xie Lei Yan Fucai Qian College of Automation and Information Engineering Xi’an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an China

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

In this paper, high-speed train is regarded as a single prime point, a new tracking control method combining adaptive control and Kalman filtering is proposed. This paper solves the noise interference problem in the tracking control process of high-speed train. The method first linearises the original system, then uses Kalman filtering to do model estimation, and the controller is designed for the predictive model through adaptive control. Finally, MATLAB is used to simulate and verify the effectiveness of this method. This proposed method successfully solves the problems of nonlinearity, noise interference and unknown parameters in system. The error caused by resistance in the high-speed train tracking control process can be dealt with effectively.

关键词： Resistance Filtering Noise Process control Interference Predictive models Mathematical models Kalman filters Adaptive control MATLAB

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Optimizing application layer multicast routing via artificial fish swarm algorithm

Optimizing application layer multicast routing via artificia...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Xuan Ma Rongjun Tang Jingyan Kang Qing Liu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Faculty of Automation and Information Engineering

ISBN: (纸本)9781509040940

In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimization objectives, we design the behaviors of artificial fish individual (AF), i.e. moving randomly, preying, following, and use Pareto ranking to evaluate the fitness of AF. The simulation results show that the proposed algorithm is an appropriate method to explore the search space of the complex problem and leads to good solutions in a reasonable amount of time.

关键词： Delays Routing Optimization Fish Network topology Algorithm design and analysis Visualization

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Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale

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Cyborg and Bionic systems 2022年第1期2022卷 265-272页

作者： Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Sytems Ministry of EducationState Key Laboratory of Ielligent Control and Decision.of Complex SystemBeijing Advanced Innovation Center for Itelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBejing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 1828585Japan

Remotely controlled soft continuum robots with active steering capability have broad prospects in medical ***,conventional continuum robots have the miniaturization *** paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field *** magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in ***,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and *** performance test indicates the soft continuum microrobot featured excellent control and steering *** experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation ***,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.

关键词： friction robot overcome

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Event-based model predictive control of discrete-time non-linear systems with external disturbances

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IET control Theory & Applications 2019年第1期13卷 27-35页

作者： Mengzhi Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Beijing 100081 People's Republic of China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 People's Republic of China

The event-based model predictive control (MPC) problem for discrete-time non-linear control systems with external disturbances is studied. Two triggering conditions are designed based on whether the system state is within the terminal region or not. The first one is triggered outside the terminal region when the difference between the actual system state trajectory and the corresponding optimal state trajectory violates a relative threshold, while the second one is triggered inside the terminal region if the difference between the actual system state trajectory and the predicted nominal state trajectory violates a desired relative threshold. The feasibility analysis and stability analysis are given in detail. Sufficient conditions for feasibility relating to the triggering threshold and disturbance bound are obtained. Sufficient conditions for stability of the event-based control system referring to system parameters, triggering threshold and disturbance bound are given. Besides, the upper bound of the state trajectory is obtained and a robust invariant set that the system state will enter in finite time is given. Finally, simulation examples are given to validate the effectiveness of the proposed method.

关键词： nonlinear control systems robust control stability predictive control control system analysis control system synthesis discrete time systems linear systems discrete-time nonlinear systems external disturbances event-based model predictive control problem discrete-time nonlinear control systems triggering conditions terminal region actual system state trajectory corresponding optimal state trajectory predicted nominal state trajectory desired relative threshold sufficient conditions triggering threshold disturbance event-based control system system parameters

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A UAV Path Planning Algorithm Based on an Improved D* Lite Algorithm for Forest Firefighting

A UAV Path Planning Algorithm Based on an Improved D* Lite A...

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Chinese Automation Congress (CAC)

作者： Zhaohui Luo Youmin Zhang Lingxia Mu Jing Huang Jing Xin Han Liu Shangbin Jiao Guo Xie Yingmin Yi Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China Concordia University Montreal Canada

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This paper proposes a new type of forest firefighting method. When one or more suspected fire spots are found in the forest, the firefighting Unmanned Aerial Vehicles (UAVs) can safely and quickly reach the desired location, conduct a thorough investigation of the suspected fire spots. If a fire occurs, it is necessary to drop firefighting materials to put out the fire. At the same time, considering the characteristics of limited endurance and low load capability have always limited the applications of UAVs, Unmanned Ground Vehicles (UGVs) are considered in this paper as an additional and comprehensive problem solution to provide energy and supplement materials for UAVs. In order to enable firefighting UAV to plan a safe and effective path in real time in the complex forest environment, a new improved D*Lite algorithm is proposed for UAVs in the mission team. Even when the 3D workspace is partially known or completely unknown, the algorithm can plan an effective path so that the firefighting UAV can move to the fire spots and UGV in real time.

关键词： Path planning Heuristic algorithms Unmanned aerial vehicles Forestry Smoothing methods Real-time systems Planning

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A novel GIS platform for UGV application in the unknown environment

A novel GIS platform for UGV application in the unknown envi...

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International Conference on Geoinformatics

作者： Qiangrong Yang Meiling Wang Mei-po Kwan Yi Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing China School of Automation Beijing institute of Technology Beijing China Department of Geography and Geographic Information Science University of Illinois at Urbana Champaign Champaign IL USA

ISBN: (纸本)9781467376648

Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.

关键词： Navigation Vehicles Robots

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Design of a multi-functional supervising terminal

Design of a multi-functional supervising terminal

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作者： Du, Le Chen, Jie Deng, Fang Beijing Institute of Technology Chinese Academy of Sciences Beijing 100080 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9787894631046

In order to watch the status of a system, a multi-functional terminal is necessary. This paper discusses the function of the terminal, the theory or principle which the design based on, the design of the hardware and the software. For the hardware, we use MCU C8051F as the controller. The peripheral circuit design includes the power module, serial port module etc. For the software, we use the idea of multi-layers design including the driver layer and application layer.

关键词： Application programs

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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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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