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检索条件"机构=Key Laboratory of Intelligent Control and Decision for Complex System"

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

引用

第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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The design and optimization method of near space intelligent target generator

The design and optimization method of near space intelligent...

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Chinese control Conference (CCC)

作者： Xiaolong Han Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and complex decision-making Ministry of Education. Systems Beijing School of Automation Beijing Institute of Technology Beijing

This paper presents the design and optimization method of near space intelligent target generator to simulate the physical characteristics of the near space vehicle. Combined with High Level Architecture distributed simulation technology, a common, repeatable and verified platform for the near space vehicle has been provided. This method used 3D modeling software Creator and 3D visual rendering software Vega, two-dimensional map and three-dimensional vision were constructed to form a simulation environment, which enhanced the authenticity of the simulation. Based on particle swarm optimization, the intelligent path planning study of near space vehicle was conducted in this environment to make up for the inadequate intelligence of traditional target generators.

关键词： Solid modeling Generators Space vehicles Load modeling Path planning Radar

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A Dual-Motor Joint Model for Humanoid Robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Short-term PV generation system direct power prediction model on wavelet neural network and weather type clustering

Short-term PV generation system direct power prediction mode...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yang, Ying Dong, Lei School of Automation Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9780769550114

With the increase of the capacity of PV generated systems, how to eliminate the problem caused by the randomness of power output for photovoltaic system becomes more significant. Most of the existing photovoltaic prediction is Based on the solar radiation. However, it's difficult to implement in China due to insufficient solar radiation station available and poor forecasting performance. In addition, indirect forecasting cannot consider the factors related with PV system. A novel power forecasting model using historical power is proposed to solve the problems. Furthermore, in order to adapt sudden weather changes, the future weather type was recognized by using self-organizing feature map(SOM). Then, PV power generation in each weather type could be forecasted from its corresponding forecast network and the over fitting issue of single network model could be addressed. Wavelet neural network is combined with wavelet analysis and neural network. It is compatible with the good time-frequency property and good fault tolerant ability of neural network. Wavelet neural network can optimize the forecasting model. The experimental results indicate that the prediction has high precision and can be applied in stable operation of photovoltaic generation system. © 2013 IEEE.

关键词： Solar radiation

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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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A New Method Based on Polytopic Linear Inclusion for Nonlinear filter with Non-Gaussian Noise

A New Method Based on Polytopic Linear Inclusion for Nonline...

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第25届中国控制与决策会议

作者： Bing Liu Zhen Chen Xiangdong Liu Fan Yang School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355322

This paper presents a new method based on the polytopic linear differential inclusion and the robust mixed H2/∞ filtering for the design of the nonlinear filter with non-Gaussian noises. The main goal is to solve the problems of the complexity and large calculation number in the general nonlinear filter and the filtering design problem for systems with the non-Gaussian noises. The noises considered in the paper involve two different kinds of noises: white noises and energy bounded noises. Differing from the linearization in most nonlinear filters, the estimation error system for the nonlinear system is represented by an uncertain polytopic linear model, based on which, the rectification equations for the predicted errors are designed following the robust mixed H2/∞ filtering. The state estimates for the nonlinear system are given through updating the predictions by the rectified quantities, where, the state predicted quantities of the nonlinear system are gained by the prediction equation of the EKF. The evident advantage of the new filter is the filter coefficients of the rectification equation are constant, without the need to evaluate the Jacobian matrixes. As a result, the calculation number for the new filter is decreased much and the real-time performance of the new filter is much better than the EKF, though the accuracy is a little decline. Its effectiveness is demonstrated by using an example and the statistics result of the calculation number for the filters in the example.

关键词： nonlinear filter polytopic linear inclusion non-Gaussian noise

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Global MPPT for PV systems under partially shaded conditions based on voltage band

Global MPPT for PV systems under partially shaded conditions...

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Chinese control Conference (CCC)

作者： Fan Xinyu Fang Deng Fengmei Li Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing P. R. China School of Automation Beijing Institute of Technology Beijing P. R. China Beijing Institute of Technology Beijing Beijing CN

This paper presents a novel maximum power point (MPP) tracking (MPPT) method to increase photovoltaic (PV) system performance during partially shaded conditions (PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak fast. Simulation results shows the good performance of proposed method.

关键词： Maximum power point trackers Photovoltaic systems Arrays Solar energy Mathematical model Equations

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