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The Analytical Algorithm of Program Quaternion in the Arbitrary Spacecraft Attitude-Adjusting control

The Analytical Algorithm of Program Quaternion in the Arbitr...

引用

2011 3rd International Asia Conference on Informatics in control, Automation and Robotics(CAR 2011)

作者： Shaobo Ni Jianwu Wu Jiayuan Shan Lei Liu Mao Su School of Aerospace Engineering Beijing Institute of technology Beijing Aerospace Automatic Control Institute Key Laboratory of Education Ministry for Image Processing and Intelligent Control Department of Control Science & Engineering Huazhong University of Science and Technology

The analytical algorithm of program quaternion is studied,aiming at the problem of the arbitrary spacecraft attitude-adjusting *** also provides the analytical constructor method of the program quaternion for any given initial quaternion and angle velocity,terminal quaternion and angle *** advantages of this method are as follows:(1)Good *** of the initial and terminal conditions are arbitrary;(2)Simple *** calculation process only involves the simple algebraic operation;(3)Easy to *** using the program quaternion model,the time consumption in the process of spacecraft attitude adjustment and the maximum angular velocity can be optimized *** to the Mathematical simulation results,the program quaternion tracking can be realized by a simple PD control law.

关键词： Spacecraft Dynamic Modeling Attitude control Quaternion

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Chaos analysis and control in a chaotic circuit with a PWL memristor

Chaos analysis and control in a chaotic circuit with a PWL m...

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International Conference on Information Science and Technology (ICIST)

作者： Shiping Wen Yi Shen Zhigang Zeng Yanxia Cai Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China Fenghuang Middle School Xinzhou Wuhan Hubei China

ISBN: (纸本)9781424494408

In this paper, a nonlinear chaotic system is presented, which is derived from the chua's circuit with a memristor. This is a four-dimensional autonomous circuit which exhibits chaotic behavior. The chaotic system is demonstrated by Lyapunov exponent, and phase portraits. Furthermore, this system can be stabilized by a switched feedback controller which can be obtained by solving a set of LMIs. And the results will be demonstrated by the numerical simulation.

关键词： Memristors Switches

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Predictive control of Vehicle Based on Echo State Network

Predictive Control of Vehicle Based on Echo State Network

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International Conference on Intelligence Science and Information Engineering (ISIE)

作者： Shaobo Ni Lei Liu Zhishen Wang Zirui Wang School of AeroSpace Engineering Beijing Institute of technology Beijing China Key Laboratory of Education Ministry for Image Processing and Intelligent Control Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan China

An Echo State Network (ESN) based predictive control method for aircraft system is proposed to increase the flight quality. Aero craft is a nonlinear and time-varying system and its controllers are usually designed by trajectory linearization method. Furthermore, the predictive controller is designed to adjust the current controlled variables by the trend of output to improve the quick responsiveness and traceability. Then, the stability of the system is proved by Lyapunov function. Finally, the numerical simulation results of step-response and attitude tracking illustrate the robustness and effect of the method.

关键词： Predictive control Aerospace control Training Sparse matrices Neurons Aircraft Mathematical model

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A Research of Heart Rate Prediction Model Based on Evolutionary Neural Network

A Research of Heart Rate Prediction Model Based on Evolution...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Feng Xiao Ming Yuchi Mingyue Ding Jun Jo Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Life College of Science and Technology Huazhong University of Science and Technology Wuhan China School of Information and Communication Technology Griffith University QLD Australia

Heart rate (HR) signal analysis is widely used in the medicine and medical research area. Physical activities (PA) are commonly recognized to greatly affect the changes of heart rate. A method of Evolutionary Neural Network - Neuro-evolution of Augmenting Topologies (NEAT) is used to build a PA-based HR predictor model. Through special coding, crossover and mutation operator, NEAT can implement network topology and connectivity weights evolution simultaneously. The common problem in evolutionary neural network, like competing conventions, how to protect the new innovation are effectively solved. The experimental results demonstrated the application potential of the approach.

关键词： Heart rate Biological neural networks Training Monitoring Neurons Encoding Biomedical monitoring

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Quantitative Study on Despeckle Methods of Medical Ultrasound images

Quantitative Study on Despeckle Methods of Medical Ultrasoun...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Runxia Ma Xuming Zhang Mingyue Ding Qi Liu Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Life College of Science and Technology Huazhong University of Science and Technology Wuhan China School of Electrical Information Engineering Sichuan University Chengdu China

Speckle is a granular noise that inherently exists in all types of coherent imaging systems. This paper presents a quantitative study on five despeckling methods such as frost filter, kuan filter, speckle reducing an isotropic diffusion, homomorphic filter and wavelet filter. We select six objective evaluation parameters, such as signal-to-ratio, contrast signal-to-noise ratio, figure of merit, least absolute error, edge protection factor, signal-to-minimum mean square error ratio, to quantify the performance of these filters. The comparative study will provide some parameter comparative reference for selecting a suitable filter in the ultrasound image processing.

关键词： Nonlinear filters Maximum likelihood detection Ultrasonic imaging Noise Speckle Gabor filters Digital filters

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Improving strategies on PSO for suborbit launch vehicle trajectory optimization

Improving strategies on PSO for suborbit launch vehicle traj...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Fuqiang Xie Ye Yang Songtao Chang Yongji Wang School of Electric Engineering University of South China Hengyang China Beijing AeroSpace Automatic Control Institute Beijing China Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

Solving the optimal control problem with a free final time, such as suborbital launch vehicle (SLV) trajectory optimization with two control variables and multi-constraints ones based on particle swarm optimization (PSO), the smoothness of control variable can not be satisfied by linear interpolation method. A novel method including some improving strategies based on PSO for trajectory optimization is proposed, named LCPSO which is a kind of Cooperate PSO based on Legendre orthogonal polynomials. An additional control variable is introduced and transcribes the original optimal problem to a problem with fixed final time, and one dimension searching method based on interval analysis is used to optimize the additional control variable. Furthermore, a theorem on how to find the boundaries of the coefficient of polynomials is proved. Compared with basic PSO, LCPSO has traits of lower dimensions and smoother control variable. An example of trajectory optimization shows the effectiveness of the LCPSO algorithm.

关键词： Polynomials Optimization Switches Trajectory Optimal control Vehicles Approximation methods

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Analysis of a memristor-based switching network

Analysis of a memristor-based switching network

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International Conference on Information Science and Technology (ICIST)

作者： Ailong Wu Yi Shen Zhigang Zeng Jine Zhang Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan China School of Basic Science East China Jiao Tong University Nanchang China

ISBN: (纸本)9781424494408

In this paper, we formulate and investigate a memristor-based switching network which is directly extended from Itoh and Chua's chaotic circuit. Conditions are derived which ensure the existence of an equilibrium point and the uniformly stable for state trajectories of the memristor-based switching network. The analysis in the paper employs results from the theory of differential equations with discontinuous right-hand side as introduced by Filippov. It is believed that the criteria in this paper is also valuable in the design of memristor-based switching network which can be used to solve efficiently classes of optimization problems arising in practical engineering applications.

关键词： Chaos Switches

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A programmable multi-channel stimulator for array electrodes in transcutaneous electrical stimulation

A programmable multi-channel stimulator for array electrodes...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Qi Xu Tao Huang Jiping He Yizhao Wang Houlun Zhou Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan China Harrington Department of Bioengineering Arizona State University Tempe AZ USA Tongji medical College Huazhong University of Science and Technology Wuhan China

Transcutaneous electrical stimulation (TES) has been applied to restore or maintain the muscle activity of paralyzed patients who suffer from spinal cord injuries and related neural impairments for several decades. In this paper, a portable and low-cost versatile stimulator for multichannel TES applications is described. The microcontroller-based programmable stimulator with four bipolar output channels send arbitrarily specified electrical pulses to the element in the electrode array for enabling the complex schemes of muscles. The amplitude and phase of each pulse in the stimulus sequence are independently variable, and the four channels are independently programmable, allowing a wide variety of stimulus patterns. We also designed an output circuit that can provide bi-phasic, voltage-regulated, charge-balanced outputs while avoiding the electrochemical erosion of electrode due to charge accumulation. The proposed stimulator has provided an opportunity for further study of a potential novel electrical stimulator with closed-loop stimulation paradigm suitable for a variety of FES applications, both for experimental and clinical studies.

关键词： Stimulated emission Algorithms Schottky diodes Biomedical optical imaging

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A delay system method to design of event-triggered control of networked control systems

A delay system method to design of event-triggered control o...

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IEEE Conference on Decision and control

作者： Dong Yue Engang Tian Qing-Long Han Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Hubei 430074 China School of Electrical and Automation Engineering Nanjing Normal University 78 Bancang Street Nanjing 210042 China Center for Intelligent and Networked Systems and the School of Information and Communication Technology Central Queensland University Rockhampton Qld 4702 Australia

ISBN: (纸本)9781612848006

The event-triggered H_(infinity) control design is investigated for networked control systems with uncertainties and transmission delays. A novel event-triggering scheme is proposed, which has some advantages over traditional ones with a continuous detector. Considering the effect of the transmission delay, a delay system model for the analysis is firstly constructed. Then, based on the model and Lyapunov functional method, criteria for the stability with an H_(infinity) norm bound and criteria for the co-design of both the feedback gain and the trigger parameters are derived. In order to solve the feedback gain and the trigger parameters, the linear matrix inequality technique is employed. From the simulation example, it can be concluded that the proposed event-triggering scheme is superior to some other event-triggering schemes in some existing literature.

关键词： feedback gain Networked control systems Event trigger Delay systems Scheme Co-design control systems design control

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Observer-based adaptive tracking control of rigid-link flexible-joint robot manipulators

Observer-based adaptive tracking control of rigid-link flexi...

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作者： Liu, Chao Xiang, Xianbo Poignet, Philippe France Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology China

ISBN: (纸本)9787894631046

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

关键词： Asymptotic stability

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