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

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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A Positioning Algorithm of Autonomous Car Based on Map-matching and Environmental Perception 33

A Positioning Algorithm of Autonomous Car Based on Map-match...

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第三十三届中国控制会议

作者： XU Qian WANG Meiling DU Zhifang ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Chongqing Jialing Huaguang Photoelectric Technology Co.Ltd.

ISBN: (纸本)9789881563842

Autonomous car is an important tool for transportation and military in the future,and its precise positioning is the basis of autonomous *** positioning algorithms based on map-matching for autonomous car make little use of environmental perception *** solve this problem,a positioning algorithm is proposed in this paper,which is based on map-matching and environmental perception for autonomous *** algorithm includes macroscopic road matching and microscopic precise *** for macroscopic road matching,the algorithm makes use of computational geometry to match the position of autonomous car to the corresponding road,based on GPS point and map information of the road *** for microscopic precise positioning,the algorithm makes use of the environmental perception,which is detected by the autonomous car to make precise *** road matching provides matching road to microscopic precise positioning,and microscopic precise positioning eliminates gross error produced in macroscopic road *** real car tests,the algorithm can match map quickly,improving the positioning precision with strong real-time.

关键词： Autonomous car,Map-matching,Environmental perception,Computational geometry

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A Travel Time Prediction Method for Urban Road Traffic Sensors Data

A Travel Time Prediction Method for Urban Road Traffic Senso...

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International Conference on Identification, Information and Knowledge in the Internet of Things (IIKI)

作者： Guangyu Zhu Kang Song Peng Zhang Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China MOE Key Laboratory for Transportation Complex Systems- Theory and Technology Beijing Jiaotong University Beijing China Beijing Municipality Key Laboratory of Urban Traffic Operation Simulation and Decision Support Beijing China

Travel time parameters obtained from road traffic sensors data play an important role in traffic management practice. In this paper, a travel time analysis and prediction model was established for urban road traffic sensors data based on the change point analysis algorithm and ARIMA model. Firstly, time series of travel time parameters were clustered by using change point mining algorithm after traffic sensors data preprocessing. Then, a travel time prediction model was established based on ARIMA model. Finally, the model was verified with high accuracy through simulation by using multiple sets of data and analysis of its practicability was done.

关键词： Predictive models Data models Roads Time series analysis Detectors Analytical models

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Design and Implementation of the Knowledge Base for Battlefield Task Management system 33

Design and Implementation of the Knowledge Base for Battlefi...

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第三十三届中国控制会议

作者： Zhang Jia Wang Xiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to reduce the operators on the battlefield, and obtain adequate knowledge and improve reaction speed to enhance combat efficiency, the paper builds a knowledge base of battlefield mission management system to manage a variety of required knowledge on the battlefield and supervise each mission profile. Knowledge is presented by production method and is reasoned by forward reasoning method. According to different levels of battlefield tasks, task links are used to organize knowledge. Take combat preparation mission profile as an example, we design every data sheet of the knowledge base. The knowledge base of the battlefield management system could enhance the reusability, sharing and timeliness of knowledge on the battlefield.

关键词： Battlefield Task Management Knowledge Base Task Links Mission Profile

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Modeling and Simulation of Thermoelectric Power Generation system Based on Finite Element Method 33

Modeling and Simulation of Thermoelectric Power Generation S...

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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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Adaptive object tracking based on vision sensor and milli-meter wave radar

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Journal of Computational Information systems 2014年第8期10卷 3283-3290页

作者： Jin, Lu Fu, Mengyin Yang, Yi Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education Beijing 100081 China School of Automation Beijing Institute of Technology Beijing 100081 China

The object tracking for driver assistant system by the multi-sensors fusion has drawn much attention recently. With the complexity of space alignment, a new space alignment algorithm is proposed to project the object by millimeter wave radar onto the image plane. The method needs not to estimate interior and exterior parameters between two sensors. Considering alignment result as the measurement, a new tracking algorithm based on the Mean Shift with Unscented Kalman Filter and Information Measure of Multi-Scale Image is proposed. The Unscented Kalman Filter firstly is used to predict the initial iteration position for Mean Shift algorithm. After the object position is located by Mean Shift algorithm, the size of tracking window is adjusted adaptively through the size change ratio of adjacent frame. The results show that the proposed algorithm can track accurately the object whose size is gradually increasing or decreasing, and the algorithm also reduces the iteration times, the location time and the tracking error. © 2014 Binary Information Press.

关键词： Alignment

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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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： Multi-agent systems coupling uncertainties de-centralized adaptive filtering extended Kalman filter

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Event-based State Estimation of a Discrete-State Hidden Markov Model through a Reliable Communication Channel

Event-based State Estimation of a Discrete-State Hidden Mark...

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第三十四届中国控制会议

作者： Dawei Shi Robert J.Elliott Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology School of Mathematical Sciences University of Adelaide SA 5005 Australia the Haskayne School of Business University of Calgary

ISBN: (纸本)9781467374439

In this work, a state estimation problem is considered for a hidden Markov model subject to event-based sensor measurement updates sent through a reliable communication channel. The change of probability approach is utilized to consider the estimation problem, and an analytical expression for the probability distributions of the states conditioned on all the past hybrid point- and set-valued measurement information caused by the event-triggering scheme is obtained. Also, it is shown that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results,and thus can be solved by applying the proposed results.

关键词： Event-based estimation,Hidden Markov models,Optimal estimation

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An adaptive unimodal and hysteresis thresholding method

Communications in Computer and Information Science

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Communications in Computer and Information Science 2014年 472卷 552-556页

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

ISBN: (纸本)9783662450482

This paper addresses the unimodal and hysteresis thresholding, where a pair of low and high thresholds is under investigation targeted with the unimodal image histogram. The novel bowstring is introduced to make an accurate priori -measurement of the overall tendency of the histogram. The dual-threshold is further computed by adaptively searching two tangent points corresponding to the properly defined transitional characteristics over the whole histogram. The effectiveness of this proposed algorithm is evaluated using the Baddeley’s discrepancy. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Graphic methods

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