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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Gao, Zhe Liao, Xiaozhong College of Light Industry Liaoning University Shenyang110036 China School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 © IFAC.

ISBN: (纸本)9783902823625

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 © IFAC.

关键词： Numerical methods

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complex Terrain Perception based on Hidden Markov Model

Complex Terrain Perception based on Hidden Markov Model

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IEEE International Conference on intelligent Transportation systems

作者： Meiling WANG Liang ZUO Yi YANG Qiangrong YANG Tong LIU School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

Terrain perception in complex environment is important for Autonomous Land Vehicle to drive automatically. In order to access the terrain information, in this paper, we present a terrain perception method based on Hidden Markov Model (HMM) which combines LIDAR with machine vision. On the basis of spatial fan-shaped model, terrain feature extraction is performed to acquire the observation model. Hidden markov models describe the vertical structure of the driving space and Viterbi algorithm is used for terrain classification. Then the navigation decision is given based on the perception of the complex environment. Experiment results show that the method can give an accurate environment description for ALV.

关键词： terrain perception sensor fusion feature extraction principal component analysis multihidden markov models

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Distributed Attitude Coordinated Tracking control for Multi-group Spacecrafts Based On Input Normalized Adaptive Neural Network

Distributed Attitude Coordinated Tracking Control for Multi-...

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American control Conference

作者： Xiangdong Liu Chao Gan Pingli Lu School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781479932757

In this paper, the distributed attitude coordinated tracking controller is presented for multi-group spacecrafts based on input normalized adaptive neural network. In contrast to the existing works about spacecraft formation flying(SFF), where all spacecrafts reach the same reference attitude asymptotically, we require that all spacecrafts track several leaders and each spacecraft only synchronize within its group leader, respectively. A distributed finite time observer is proposed for each spacecraft to obtain an accurate estimation of its corresponding reference attitude. A distributed attitude coordination controller based on input normalized neural network is proposed to guarantee that the whole spacecrafts track their corresponding reference attitude cooperatively. Based on Lyapunov theory, the stability of the overall closed-loop system is guaranteed, and numerical simulations are shown to demonstrate the effectiveness of the proposed controller.

关键词： SFF Distributed Attitude Coordinated Tracking control Multi-group Spacecrafts Based Spacecraft adaptive neural network tracking control Attitude ENTERING tracking controller Induction loop systems Distribute

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Robust Attitude Coordination control for Satellite Formation with Matched Perturbations and Measurement Noises

Robust Attitude Coordination Control for Satellite Formation...

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American control Conference

作者： Xiangdong Liu Yaohua Guo Pingli Lu School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781479932757

In this paper, robust attitude coordination control for satellite formation is addressed in the presence of matched perturbations and measurement noise based on the development of reference model. The reference model generates a smooth and coordinated attitude reference trajectory(ART) for each satellite, which is favorable for the design of attitude tracking and formation keeping control law. The sliding mode control is applied such that the satellite formation controller is global robust against matched perturbations. To attenuate the influence of measurement noise on formation-keeping(i.e., H_∞-type performance), linear matrix inequality(LMI) method is used to design sliding-mode parameters. Finally, a numerical example is introduced to illustrate the efficiency of the proposed method.

关键词： Satellites Noise Attitude control Noise measurement Subspace constraints Trajectory Robustness

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Design and optimization of a high-bandwidth low-speed high-torque permanent magnetic synchronous motor

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Diangong Jishu Xuebao/Transactions of China Electrotechnical Society 2014年 29卷 108-114页

作者： Chen, Hao Liu, Xiangdong Zhao, Jing Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100081 China

In order to get a better dynamic response for actuator in condition of low-speed, a permanent magnet synchronous motor (PMSM) in direct-drive application with the characteristics of high-bandwidth, low-speed and high-torque was designed in this paper. Based on the requirement of high-bandwidth, the motor's inertia should be kept low to acquire a large acceleration. The limitation of space size makes motor work in non-linear region, which will increase the electrical capacity. This paper took the relationship between inertia, physical size and electrical capacity into consideration and an optimal result was selected by the method of cyclic iteration. According to the characteristics of large-torque motors, the reason of low power factor was further analyzed. In order to improve the motor performance, optimal design was taken on modified Taguchi method based on time-stepping Finite Element Method (FEM) in this paper. First, five structural parameters (pole-arc coefficient, etc.) were taken as optimization variables and four motor performance indexes (power factor, etc.) as optimization objectives. Then, the multi-objective multivariable optimization was adopted. Finally, The results of FEM and prototype experiment verified the advantage and effectiveness of the modified Taguchi method. ©, 2014, Diangong Jishu Xuebao/Transactions of China Electrotechnical Society. All right reserved.

关键词： Finite element method

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Hybrid optimization of dynamic deployment for networked fire control system

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Journal of systems Engineering and Electronics 2013年第6期24卷 954-961页

作者： Chen Chen Jie Chen Bin Xin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

With applying the information technology to the military field, the advantages and importance of the networked combat are more and more obvious. In order to make full use of limited battlefield resources and maximally destroy enemy targets from arbitrary angle in a limited time, the research on firepower nodes dynamic deployment becomes a key problem of command and control. Considering a variety of tactical indexes and actual constraints in air defense, a mathematical model is formulated to minimize the enemy target penetration probability. Based on characteristics of the mathematical model and demands of the deployment problems, an assistance-based algorithm is put forward which combines the artificial potential field （APF） method with a memetic algorithm. The APF method is employed to solve the constraint handling problem and generate feasible solutions. The constrained optimization problem transforms into an optimization problem of APF parameters adjustment, and the dimension of the problem is reduced greatly. The dynamic deployment is accomplished by generation and refinement of feasible solutions. The simulation results show that the proposed algorithm is effective and feasible in dynamic situation.

关键词： deployment optimization artificial potential field （APF） constraint handling generation of feasible solutions memetic algorithm

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Trajectory synchronization of multi-cylinder electrohydraulic lift system with huge load

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Journal of Beijing Institute of Technology 2013年第2期22卷 228-234页

作者：何玉东王军政李静赵江波 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was es- tablished and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was pro- posed to fit each cylinder＇ s tracking performance and multi-cylinder＇ s trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift sys- tem with load of 100 tons verified the effectiveness of the proposed method.

关键词： hydraulic cylinder lift system trajectory synchronization

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The Gait Planning Theory and Technology Research on the Wheel-foot Multi-joint Mobile Robot

The Gait Planning Theory and Technology Research on the Whee...

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第26届中国控制与决策会议

作者： Zhang Yeqing Luo Qingsheng Wang Meiling Wu Fan Wu Di Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology School of Mechanic and Electronic Engineering Beijing Institute of Technology

Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot's body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.

关键词： mechanical structure kinematical formulas workspace of feet walking gaits prototype test

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Design and analysis of a five-phase double-stator permanent magnet synchronous motor

Design and analysis of a five-phase double-stator permanent ...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Jing Zhao Jingqi Li Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China

This paper presents a novel five-phase double-stator permanent-magnet synchronous motor (DSPMSM). The motor is compacted with DSPMSM and fault-tolerant motor, so that the motor not only inherits the merits of double-stator which with high torque density and high utilization rate of the space, but also achieves fault tolerance. A new structure of the rotor is proposed for the DSPMSM. The DSPMSM proposed in the paper poses with high air-gap flux density, torque density and fault-tolerant capacity. control strategies and electromagnetic torque characteristics of the DSPMSM with completely loss of one and two phases are described. The fault-tolerant performance of the DSPMSM is analyzed by finite element method.

关键词： Rotors Torque Stator windings Bridges Electromagnetics Magnetic flux

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Formation control and obstacles avoidance for multi-agent systems based on position estimation

Formation control and obstacles avoidance for multi-agent sy...

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第三十三届中国控制会议

作者： Jing Chen Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781479947249

Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning *** control input is added into the derived control strategy,with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position,it can also realize obstacle avoidance for agents between themselves.

关键词： Formation control,Second-order system,Optimal control,Obstacle avoidance

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