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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

key Engineering Materials 2015年 645卷 957-962页

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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Scanning the Issue and Beyond: Transportation and Mobility Transformation for Smart Cities

Scanning the Issue and Beyond: Transportation and Mobility T...

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作者： Wang, Fie-Yue State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China Qingdao Academy of Intelligent Industries Qingdao266109 China

The first issue of IEEE intelligent Transportation systems Society (ITSS) starts with survey papers on technology and security for intelligent vehicles. The first paper titled 'Intra-Vehicle Networks: A Review' by S. Tuohy, M. Glavin, C. Hughes, E. Jones, M. Trivedi, and L. Kilmartin presents a comprehensive overview of current research on advanced intra-vehicle networks and identifies outstanding research questions for the future. J. Petit and S. E. Shladover's paper, 'Potential Cyberattacks on Automated Vehicles' analyzes the threats on autonomous automated vehicle and cooperative automated vehicle. 'A Video-Analysis-Based Railway-Road System for Detecting Hazard Situations at Level Crossings' by H. Salmane, L. Khoudour, and Y. Ruichek explores the possibility of implementing a smart video surveillance security system that is tuned toward detecting and evaluating abnormal situations induced by users in level crossing. 'Traffic Flow Prediction for Road Transportation Networks with Limited Traffic Data' by A. Abadi, T. Rajabioun, and P. A. Ioannou, uses a dynamic traffic simulator to generate flows in all links using available traffic information, estimated demand, and historical traffic data available from links equipped with sensors. The paper titled 'GNSS Multipath and Jamming Mitigation Using High-Mask-Angle Antennas and Multiple Constellations' studies the optimal antenna mask angle that maximizes the suppression of interference but still maintains the performance of a single constellation with a low-mask-angle antenna.

关键词： Antennas

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On Convergence of Extended State Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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Robust Decentralized Control of Interconnected Nonlinear systems Subject to Uncertainties and Disturbances via Generalized Extended State Observers 34

Robust Decentralized Control of Interconnected Nonlinear Sys...

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第三十四届中国控制会议

作者： ZHANG Chuanlin YANG ning HE Shuaipeng JIA Ruting Shanghai Engineering Research Center of Intelligent Management and Control for Power Process College of Automation EngineeringShanghai University of Electric Power Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Electrical and Computer Engineering Department California State University

ISBN: (纸本)9789881563897

This paper studies the problem of robust decentralized control for a class of large-scale interconnected systems subject to uncertainties and disturbances via a generalized active disturbance rejection control method. First, a novel extended state observer(ESO) is constructed separately for each subsystem with less dependence of the precise system information and structure. Second, an explicit formula of the decentralized active disturbance rejection control(DADRC) law is presented by utilizing the output feedback domination approach. It is shown that by a delicate analysis procedure, the closed-loop system can be rendered semi-globally asymptotically stable only using decentralized output feedback anti-disturbance controller. Numerical simulations show the efficiency of the proposed method.

关键词： output feedback control global stabilization disturbance rejection control extended state observer

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Semisupervised Sparse Multilinear Discriminant Analysis

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Journal of Computer Science & Technology 2014年第6期29卷 1058-1071页

作者：黄锴张丽清 MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and EngineeringShanghai Jiao Tong University IEEE

Various problems are encountered when adopting ordinary vector space algorithms for high-order tensor data input. Namely, one must overcome the Small Sample Size （SSS） and overfitting problems. In addition, the structural information of the original tensor signal is lost during the vectorization process. Therefore, comparable methods using a direct tensor input are more appropriate. In the case of electrocardiograms （ECGs）, another problem must be overcome; the manual diagnosis of ECG data is expensive and time consuming, rendering it difficult to acquire data with diagnosis labels. However, when effective features for classification in the original data are very sparse, we propose a semisupervised sparse multilinear discriminant analysis （SSSMDA） method. This method uses the distribution of both the labeled and the unlabeled data together with labels discovered through a label propagation Mgorithm. In practice, we use 12-lead ECGs collected from a remote diagnosis system and apply a short-time-fourier transformation （STFT） to obtain third-order tensors. The experimental results highlight the sparsity of the ECG data and the ability of our method to extract sparse and effective features that can be used for classification.

关键词： ECG analysis semisupervised learning sparse coding dimension reduction tensor learning approach

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Build emotion lexicon from microblogs by combining effects of seed words and emoticons in a heterogeneous graph 15

Build emotion lexicon from microblogs by combining effects o...

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26th ACM Conference on Hypertext and Social Media, HT 2015

作者： Song, Kaisong Feng, Shi Gao, Wei Wang, Daling Chen, Ling Zhang, Chengqi School of Information Science and Engineering Northeastern University Shenyang China Key Laboratory of Medical Image Computing Northeastern University Ministry of Education China Qatar Computing Research Institute Hamad Bin Khalifa University Doha Qatar Centre for Quantum Computation and Intelligent Systems University of Technology Sydney Australia

ISBN: (纸本)9781450333955

As an indispensable resource for emotion analysis, emotion lexicons have attracted increasing attention in recent years. Most existing methods focus on capturing the single emotional effect of words rather than the emotion distributions which are helpful to model multiple complex emotions in a subjective text. Meanwhile, automatic lexicon building methods are overly dependent on seed words but neglect the effect of emoticons which are natural graphical labels of fine-grained emotion. In this paper, we propose a novel emotion lexicon building framework that leverages both seed words and emoticons simultaneously to capture emotion distributions of candidate words more accurately. Our method overcomes the weakness of existing methods by combining the effects of both seed words and emoticons in a unified three-layer heterogeneous graph, in which a multi-label random walk (MLRW) algorithm is performed to strengthen the emotion distribution estimation. Experimental results on real-world data reveal that our constructed emotion lexicon achieves promising results for emotion classification compared to the state-of-the-art lexicons. © 2015 ACM.

关键词： Computer programming

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Coordinated Transportation of a Group of Unmanned Ground Vehicles

Coordinated Transportation of a Group of Unmanned Ground Veh...

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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies a coordinated transportation problem of a group of unmanned ground vehicles(UGVs). These ground vehicles belong to two categories: master vehicles and slave vehicles. A two-step strategy is proposed to solve this problem. First, let the master vehicles move along ideal trajectories. Then, let the slave vehicles move into the area surrounded by master vehicles and move together with them. By the two-step strategy, the coordinated transportation problem is divided into a tracking problem and a containment problem. A P In-type tracking protocol and a P In-type containment protocol(P and I stand for Proportion and Integration, respectively;Inimplies that the protocol includes high-order integral terms) are proposed to solve these two problems. It is proved that the coordinated transportation problem can be solved by two proposed protocols with proper parameters if for each follower there exists at least one leader which has a directed path to this follower. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed algorithms.

关键词： Coordinated transportation,Polynomial trajectory,Containment control,Multi-agent system.

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Near Minimum-Time Feedback Attitude Control with Multiple Saturation Constraints for Satellites

Near Minimum-Time Feedback Attitude Control with Multiple Sa...

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第三十四届中国控制会议

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

ISBN: (纸本)9781467374439

A near minimum time feedback control law is proposed for the agile satellite attitude control system. The real time controller is formed by specially designed cascaded subunits. Based on this, the rapid attitude maneuvering can be applied in tasks including the move to move case. The near optimal property of that is guaranteed by the rapid dynamic response with a modified bang-bang control logic while simultaneously ensuring non-saturation properties on 3-Axis. The near optimal method is utilized for an online attitude planning, and the generated attitude maneuver path in real time is tracked by a nonlinear back-stepping controller with its improved dynamic performance and by which the united closed loop control is *** simulations are conducted to verify the effectiveness of the proposed control strategy.

关键词： Attitude control,agile satellites,saturation control,back-stepping

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Parameter-Dependent H2 State Estimation for Nonlinear systems

Parameter-Dependent H2 State Estimation for Nonlinear System...

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第三十四届中国控制会议

作者： Yin Yu Zhen Li Xiangdong Liu Bing Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

The state estimation of general nonlinear systems is investigated through a parameter-dependent approach. This paper adopts the polytopic approximation for the nonlinear systems, which facilitates the application of analytical approaches for resultant convex-bounded linear systems into the given nonlinear systems. The design of a high performance H2 state estimator is firstly determined by solving a convex optimization problem constrained by relaxed linear matrix inequalities(LMIs). The tensor product(TP) model transformation is then adopted to obtain the polytopic linearization. Specifically, A new process is presented to correct the result of the TP model transformation such that a necessary condition to solve the state estimation problem is assured. Finally, a numerical simulation is performed to illustrate the design process and verify the performance.

关键词： Nonlinear state estimation,parameter-dependent H2 filter,linear matrix inequalities(LMIs),tensor product(TP) model transformation

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