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第三十三届中国控制会议

作者： LI YONG DENG FANG School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

The temperature distribution is the crucial part in the design of the thermoelectric power generation system. Based on the temperature distribution, the system efficiency and stability could be effectively improved by using structure design of the thermoelectric power generation system. In this paper, the differential equation model and the finite element governing equation of thermoelectric power generation system is established, the model is analyzed through the finite element method, and the commercial finite element analysis software Ansys is used to simulate the system temperature distribution, with the assistant of APDL(Ansys Parametric Design Language), a parametric model is built and then the temperature field distribution is *** simulation results are not only beneficial to provide guidance for the optimum of thermoelectric power generation system,but also meaningful to evaluate the feasibility of the design scheme of the system.

关键词： Thermoelectric Power Generator System,Finite Element Method,Temperature Distribution,Structure Optimum,System Evaluation

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A calculation method of braking torque for eddy current dynamometer using least square method based on assumption of cylindrical ring 29

A calculation method of braking torque for eddy current dyna...

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第29届中国控制与决策会议

作者： Li Duo-yang Wang Jun-zheng Shen Wei Chen Ying-hui Zhao Jiang-bo Chen Guang-rong Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781509046584

For engineering applications,the existing method of calculating the braking torque is more ***,the calculation method depends on the internal structure parameters which are often difficult to ***,the calculational method of braking torque using least square method based on assumption of cylindrical ring(CR-LS) is proposed in this *** to calculation methods of eddy current braking devices,The CR-LS assumes that the eddy current is distributed as a cylindrical ring with the same width as the tooth tip of the *** current values are worked out by conversion *** the employ of LS,unknown internal structure parameters of dynamometer in formula are *** makes the formula use in industrial control with *** experimental verification,the formula obtained by CR-LS was simple and available,and calculation results had minor errors in contrast with output values of actual *** CR-LS can be applied in actual engineering calculations of dynamometer.

关键词： Dynamometer Braking Torque Cylindrical Ring CR-LS

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Large-scale 3D Semantic Mapping Using Stereo Vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping (SLAM).

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Decentralized Adaptive Filtering for Multi-agent systems with Uncertain Couplings

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 101-112页

作者： Hongbin Ma Yini Lv Chenguang Yang Mengyin Fu the School of Automation Beijing Institute of Technology the Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the School of Computing and Mathematics Plymouth University

In this paper, the problem of decentralized adaptive filtering for multi-agent systems with uncertain couplings is formulated and investigated. This problem is challenging due to the mutual dependency of state estimation and coupling estimation. First, the problem is divided into four typical types based on the origin of coupling relations and linearity of the agent dynamics. Then models of the four types are given and the corresponding decentralized adaptive filtering algorithms are designed for the purpose of estimation of the unknown states and couplings which denotes the relations between agents and their neighbor agents in terms of states or outputs simultaneously,with preliminary stability analysis and discussions. For testing the effects of algorithm, with the so-called certainty-equivalence principle, control signals are designed based on the results of state estimation and coupling estimation got by the proposed decentralized adaptive filtering algorithms. Extensive simulations are conducted to verify the effectiveness of considered algorithms..

关键词： Couplings Covariance matrices Multi-agent systems Adaptation models Kalman filters Mathematical model

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An Adaptive Padding Correlation Filter With Group Feature Fusion for Robust Visual Tracking

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1845-1860页

作者： Zihang Feng Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081China IEEE the School of Artificial Intelligence Beijing University of Posts and TelecommunicationsBeijing 100876China

In recent visual tracking research,correlation filter(CF)based trackers become popular because of their high speed and considerable *** methods mainly work on the extension of features and the solution of the boundary effect to learn a better correlation ***,the related studies are *** exploring the potential of trackers in these two aspects,a novel adaptive padding correlation filter(APCF)with feature group fusion is proposed for robust visual tracking in this paper based on the popular context-aware tracking *** the tracker,three feature groups are fused by use of the weighted sum of the normalized response maps,to alleviate the risk of drift caused by the extreme change of single ***,to improve the adaptive ability of padding for the filter training of different object shapes,the best padding is selected from the preset pool according to tracking precision over the whole video,where tracking precision is predicted according to the prediction model trained by use of the sequence features of the first several *** sequence features include three traditional features and eight newly constructed *** experiments demonstrate that the proposed tracker is superior to most state-of-the-art correlation filter based trackers and has a stable improvement compared to the basic trackers.

关键词： Adaptive padding context information correlation filter(CF) feature group fusion robust visual tracking

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Finite-time tracking control of heterogeneous multi-AUV systems with partial measurements and intermittent communication

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Science China(Information Sciences) 2024年第5期67卷 165-182页

作者： Bo CHEN Jiangping HU Bijoy Kumar GHOSH School of Automation Engineering University of Electronic Science and Technology of China Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Yangtze Delta Region Institute (Huzhou) University of Electronic Science and Technology of China Department of Mathematics and Statistics Texas Tech University

The development of a distributed trajectory-tracking control strategy that is independent of velocity measurements is critical to achieving finite-time tracking control of autonomous underwater vehicle(AUV) systems. In this study, a group of heterogeneous AUV systems with intermittent communication links is considered and a finite-time trajectory-tracking control strategy is developed. The strategy includes two observers and one controller proposed for each follower-AUV. The first observer, a hybrid finite-time observer,estimates the state of the leader, whereas the second observer, which relies only on the position measurement,is proposed to estimate the states of the follower-AUV itself. In addition, a distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements. A homogeneous technique is utilized to prove that all followers can track the leader in a finite time. Finally, the effectiveness of the developed finite-time tracking control strategy is illustrated by numerical simulations.

关键词： distributed observer finite-time tracking homogeneous technique intermittent communication multiple heterogeneous AUVs

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SDRE based Adaptive Optimal Sliding Mode Control for Re-entry Vehicle

SDRE based Adaptive Optimal Sliding Mode Control for Re-entr...

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第三十二届中国控制会议

作者： WANG Liang SHENG Yongzhi LIU Xiangdong School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

This paper considers the robust attitude control problem of re-entry vehicle in the presence of the parametric uncertainties and external *** on SDRE method,an optimal sliding surface is first obtained through the minimization of a selected performance index ***,an adaptive sliding mode controller is designed to guarantee the reachability condition of the related optimal sliding *** switching gains are obtained on-line through an adaptation scheme,which eliminates the requirement of a priori knowledge of the upper bound on the lumped *** effectiveness of the proposed strategy is verified by both theoretical analysis and simulation results.

关键词： Re-entry vehicle Attitude control SDRE Adaptive optimal sliding mode control

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Robust Control of Spacecraft Eigenaxis Maneuver via Integral Sliding Mode

Robust Control of Spacecraft Eigenaxis Maneuver via Integral...

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第25届中国控制与决策会议

作者： Zhen Chen Binglong Cong Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

The control problem of spacecraft eigenaxis maneuver in the presence of parametric uncertainty and external disturbance is addressed in this paper. Modified Rodrigues parameters （MRPs） are utilized as the attitude parameters for the non-redundancy. An eigenaxis maneuver control law with feedback and feed-forward terms is presented for the nominal system. The transient response of close loop system can be adjusted according to an approximate second order system. To improve the robustness, integral sliding mode （ISM） technique is adopted to reject undesirable effects and track nominal trajectory. The resulting controller can perform the eigenaxis maneuver in the presence of parametric uncertainty and external disturbance while possess good system performance. The effectiveness of the proposed method is demonstrated by simulation results.

关键词： Rigid Spacecraft Attitude Control Eigenaxis Rotation Integral Sliding Mode MRPs

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Lateral Control of Autonomous Vehicles Based on Fuzzy Logic

Lateral Control of Autonomous Vehicles Based on Fuzzy Logic

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第25届中国控制与决策会议

作者： Xinyu Wang Mengyin Fu Yi Yang Hongbin Ma School of Automation Beijing Institution of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781467355322

Autonomous vehicles have attracted considerable attention in the research community and industry due to their potential benefits to unmanned driving and assisted driving. This paper addresses the problem of designing lateral control law and the strategy of determining the giving speed for autonomous vehicles. An improved method of calculating lateral offset and angle error based on multiple look-ahead distances is proposed to reduce the impact of noise in reference path data on the lateral control system. Multiple fuzzy inference engines are used to design the steering controller and determine the given driving speed including forward and backward to deal with both simple and complex reference paths. Satisfactory simulation and experimental results have been obtained for different reference paths including a path with U-turn task in which backward driving is needed.

关键词： Autonomous Vehicle, Lateral Control, Multiple Look-ahead Distances, Given Driving Speed, Fuzzy Logic

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Stability analysis of Event-triggered Networked Control systems with Time-Varying Delay 34

Stability Analysis of Event-triggered Networked Control Syst...

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第三十四届中国控制会议

作者： WANG Zhao SUN Jian CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Networked control systems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keeping a satisfactory performance of the system, by transmitting the state measurements only when an event-triggered condition is met. However,some network-induced problems would happen inevitably, such as communication delay. The delay can degrade the control performance significantly and can even lead to instability. In this paper, we study an NCS considering both ETC and time-varying delay, which is rare in the literature. We formulate the system as a discretized piecewise linear system with exponential uncertainty. Then the model is embedded in a polytopic approximation with better structure suitable for stability *** conditions are derived in terms of linear matrix inequalities(LMIs). Finally, the developed method is illustrated by a numerical example.

关键词： Networked control system,event-triggered control,time-varying delay,piecewise linear system,polytopic approximation,stability

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