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第35届中国控制会议

作者： DU Xiaolong WANG Shoukun ZONG Xiaoyan WANG Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis in terms of the gait ***,two kinds of gait curves respectively,cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction(SLR).The length of step(S),the height of step(H) and the duty ratio of gait cycle(P) are set as the primary research points about the gait of mobile *** this work,we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait ***,the results provide some recommendations for the gait planning of the quadruped robot,that is,the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Energy consumption Multi-legged robot Gait planning SLR Gait parameters

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Distributed observer-based coordination for multiple Lagrangian systems using only position measurements

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IET Control Theory and Applications 2014年第17期8卷 2102-2114页

作者： Yang, Qingkai Fang, Hao Chen, Jie Wang, Xueyuan School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

This study addresses the distributed coordination problem for multiple Lagrangian systems under a directed graph. Two cases are considered, namely, the distributed tracking control problem with a dynamic leader and the leaderless synchronisation problem. To overcome the difficulty that only positions are measured, a kind of new distributed observer is designed to estimate the velocity for each follower. The velocity observer is updated using only position information from the agent itself and from its neighbours. Based on the outputs of the observer, the distributed control protocols are proposed, respectively, such that the tracking errors locally exponentially converge to zero in the tracking scenario and the agents synchronise in the leaderless synchronisation scenario. Furthermore, the stability of the overall scheme is discussed under the directed interaction graphs that contain a directed spanning tree. Finally, cooperative simulations are provided to show the effectiveness of the proposed observer and control algorithms. © 2014 The Institution of Engineering and Technology.

关键词： Directed graphs

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The Energy Consumption analysis of Hydraulic Quadruped Robot based on Gait Parameters 34

The Energy Consumption Analysis of Hydraulic Quadruped Robot...

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第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

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Event-Triggered Nonlinear Model Predictive Control with Bounded Disturbances and State-dependent Uncertainties

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IFAC-PapersOnLine 2017年第1期50卷 9308-9314页

作者： Wang M. Sun J. Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

In this paper, two event-triggered nonlinear model predictive control(NMPC) strategies based on Lyapunov function method for discrete-time nonlinear systems with bounded disturbances and state-dependent uncertainties are proposed. The corresponding event-triggered control law is designed and the feasibility is analyzed. Stability of the event-triggered NMPC systems is studied and sufficient stability conditions are obtained. Finally, simulation results show advantages of the two event-triggered strategies on performance and computational burden. © 2017

关键词： event-triggered control,nonlinear model predictive control, Lyapunov function

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A survey on the security of cyber-physical systems

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Control Theory and Technology 2016年第1期14卷 2-10页

作者： Guangyu WU Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Cyber-physical systems （CPSs） are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and manufacturing. Security is one of the most important issues that should be investigated in CPSs and hence has received much attention in recent years. This paper surveys recent results in this area and mainly focusses on three important categories： attack detection, attack design and secure estimation and control. We also discuss several future research directions including risk assessment, modeling of attacks and attacks design, counter-attack strategy and testbed and validation.

关键词： Security cyber-physical systems attack detection secure estimation and control

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A Multimodal Emotion Perception Model based on Context-Aware decision-Level Fusion 41

A Multimodal Emotion Perception Model based on Context-Aware...

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第41届中国控制会议

作者： Yishan Chen Zhiyang Jia Kaoru Hirota Yaping Dai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A Multimodal Emotion Perception model with Audio and Visual modalities(MEP-AV) is proposed to detect the individual emotions in public *** framework of MEP-AV model consists of four parts,i.e.,data collection module,audio expression analysis module,visual expression analysis module and multimodal fusion *** order to ensure that the emotion perception results meet the requirement of short-term continuity,a Context-Aware decision-Level Fusion(CADLF) model is proposed and applied in multimodal fusion *** CADLF model estimates the affective status by using context information of multimodal *** short-term continuity is considered to improve the accuracy of the emotion perception *** experiment results evaluated by various metrics demonstrate that the performance of the multimodal structure is improved compared with that of unimodal emotion *** MEP-AV model using multimodal fusion algorithm provides the accuracies of70.89% and 77.07% in valence and arousal *** F1-scores reaches 70.2% and 75.6% respectively,indicating the boost performance on emotion perception.

关键词： Emotion Perception decision-level Fusion Context-aware

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An Adversarial Video Moment Retrieval Algorithm 41

An Adversarial Video Moment Retrieval Algorithm

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第41届中国控制会议

作者： Mohan Jia Zhongjian Dai Yaping Dai Zhiyang Jia School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In one-stage methods for video moment retrieval,the common representations indirectly supervised by boundary prediction fail to fully preserve the inherent characteristic of the video and query,which limits the retrieval *** solve this problem,an Adversarial Video Moment Retrieval(AVMR) algorithm is proposed to learn the common representations with modality invariance and cross-modal *** is implemented through the process of adversarial learning between a feature projector and a modality *** feature projector tries to generate a modality-invariant common representation and to confuse the modality *** modality classifier tries to discriminate between different modalities based on the generated representation by the feature *** triplet constraints are further imposed on the feature projector to preserve the underlying cross-modal semantic structure of *** experimental results show that AVMR surpasses the baseline Attentive Cross-modal Relevance Matching(ACRM) by 1.10% and 1.73% in the "mIoU" metric on two public datasets Charades-STA and TACoS,respectively.

关键词： Video Moment Retrieval Cross-modal Retrieval Deep learning Adversarial Learning

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Heterogeneous Network Integration Based on Protocol Conversion 35

Heterogeneous Network Integration Based on Protocol Conversi...

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第35届中国控制会议

作者： CHEN Huijuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

It is a tendency for Internet of Things to research Zigbee-WiFi hybrid *** paper introduces a heterogeneous network integration module based on protocol conversion which can integrate 802.15.4 network with 802.11 b *** heterogeneous network integration module resolves mismatch problems on physical layer,MAC layer and address mapping,meanwhile it makes a contrast with existing Zigbee-WiFi gateway and found to be advanced and effective in three performance indexes:network connection speed,SINR(signal interference noise ratio) and network *** design and realization of heterogeneous network integration are based on QualNet simulation software.

关键词： 802154,80211b heterogeneous network integration protocol conversion

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Switching Control System Based on Robust Model Reference Adaptive Control

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Journal of systems Science & complexity 2016年第4期29卷 897-932页

作者： HU Qiong FEI Qing MA Hongbin WU Qinghe GENG Qingbo School of Automation Beijing Institute of Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

关键词： Longitudinal control of F-16 aircraft switching control switching law. nonlinear systems RMRAC switched systems

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Photovoltaic,thermoelectric and electromagnetic generation technologies applied in power systems for mobile unmanned systems

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Science China(Technological Sciences) 2023年第3期66卷 599-629页

作者： DING Ning WANG XiangYang XIAN XiaoYang CAI YeYun LIU DaoMing DENG Fang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.

关键词： unmanned system renewable energy generation technology photovoltaic generation thermoelectric generation electromagnetic generation

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