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第33届中国控制与决策会议

作者： Jiangbo Zhao Jiaquan Zhang Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Techenology Center of Special Vehicle Manufacture and Evaluation Engineering of Beijing Beijing North Vehicle Group Co.Ltd.

Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance of the algorithm,a non-uniform column grid lines modeling method is introduced,and on this basis,a modeling method for planning paths is *** at the path planning problem in a multi-obstacle environment,the evaluation function of the path is constructed from four aspects,and the covariance matrix adaptive evolution strategy(CMA-ES)is used to solve the nonlinear optimization *** order to further reduce the amount of calculation,the CMA-ES algorithm is improved by the dynamic adjustment strategy of population *** results show that the path planning algorithm can effectively realize the local path planning in complex environment.

关键词： Local path planning CMA-ES Unmanned ground vehicle

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Attitude stability control for Multi-Agent Six Wheel-Legged Robot

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IFAC-PapersOnLine 2020年第2期53卷 9636-9641页

作者： Zhihua Chen Shoukun Wang Junzheng Wang Kang Xu Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081.P.R.China Beijing Institute of Technology Beijing CO 100081.P.R.China

Multi wheeled-legged robot systems are MIMO complex systems with multi information fusion. In this paper, a multi-sensor information fusion based wheeled-legged cooperative control strategy is proposed to solve the problem of attitude stability control for the six wheeled-legged robot-BIT-NAZA-II. First, when the robot is wheel motion, the overall attitude of the robot is adjusted by controlling the vertical degree of freedom(DOF) for the Stewart platform. Second, when the wheel movement is on uneven road, the foot end is easy to be suspended or raised. The impedance control method based on the position inner loop is used to solve the problem of leg suspension or raised. Third, in order to ensure the maximum motion space of single leg, the central height controller is designed. Moreover, the control strategy is mainly completed by the central CPU and six bottom CPUs. Six bottom CPUs receive the force information of each leg, and calculate the position of each leg by combining the impedance controller. Meanwhile, the central CPU receives the attitude angle information, calculates the position of each leg by using the attitude controller, takes two different position commands as the input of the central height controller, outputs the calculated position of the central height controller to six bottom CPUs through UPD communication, and the bottom CPU is used to calculate the variation of Stewart platform DOF. Finally, the experimental results of the control strategy in the six wheeled-legged robot system are given, and the feasibility and effectiveness of the control strategy are verified.

关键词： wheeled-legged robot cooperative control attitude stability control CPU controller design

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Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field

Path Planning and Evaluation for Obstacle Avoidance of Manip...

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第33届中国控制与决策会议

作者： Jiangbo Zhao Qiang Zhao Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Technology Center of Special Vehicle Manufacture and Evaluation Enginneering of Beijing Beijing North Vehicle Group Co.Ltd.

This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.

关键词： Artificial potential field Danger field Obstacle avoidance Path planning Collision detection

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Effect of Annealing Process Parameters on N-Gaas Ohmic Contacts

SSRN

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SSRN 2021年

作者： Lin, Tao Xie, Jianan Ning, Shaohuan Ma, Zekun Mu, Yan Sun, WanJun Yang, Sha Department of Electronic Engineering Xi'an University of Technology Xi'an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Shaanxi Xi’an710048 China

Ni/Ge/Ni/Au multi-layer metal electrodes were prepared on N-GaAs substrate by electron-beam evaporation to investigate the effect of annealing process parameters on N-GaAs ohmic contacts. In the annealing temperature range of 370 °C to 430 °C, the metal-semiconductor contact was found changing from Schottky contact to ohmic contact as the annealing temperature was above 380 °C. Specific contact resistivity of n-GaAs samples firstly decreased and then increased with the increasing of annealing temperature, and the minimum specific contact resistivity of 3.3×10 -5 Ω·cm 2 was formed at 420 °C annealing for 80 s. Although the specific contact resistivity of the metal-semiconductor contact performed satisfactorily, the surface morphology of the n-GaAs metal electrode was found having metal shrinkage after annealing. The formation mechanism of ohmic contact was qualitatively explained by the elements diffusion under different annealing parameters, which were confirmed by the comparative analysis of SEM and EDX results. © 2021, The Authors. All rights reserved.

关键词： Gallium arsenide

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Sequence impedance modeling of droop-controlled inverter 8

Sequence impedance modeling of droop-controlled inverter

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8th Renewable Power Generation Conference, RPG 2019

作者： Hu, You Wang, Jiajun Liu, Bin Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781839531255

The grid-connected three-phase inverter is an indispensable part of the microgrid. The droop control is widely used in parallel inverters for high reliability and flexibility. The output impedance of droop controlled inverters plays an vital role in its stability. However, the sequence impedance model of grid-connected inverter is currently based on the grid side converter with a single current loop control exdluding the low-frequency dynamics similar in doubly fed induction generators. Both the droop control and voltage loop control greatly affect the stability of inverter, specifically in the low frequency response. This paper proposes a sequence impedance model of inverter, which considers the droop control and voltage and current dual closed-loop control using the harmonic linearization method in the frequency domain. The accuracy of the model is verified through comparing the measurement impedance value in simulation with the impedance value calculated in the sequence impedance model. The influence of control method on system impedance is verified by showing the difference between the single loop controlled inverter and droop control inverter. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Electric inverters

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Event-Triggered Extended Kalman Filter for UAV Monitoring system

Event-Triggered Extended Kalman Filter for UAV Monitoring Sy...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Yanmin Liu Xiaozhong Liao Zihao Wang Xi Chen Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

The unmanned aerial vehicles (UAVs) formation needs the frequent data-exchanging of individual's state between units for monitoring and instruction uploading from the ground station, which inevitably occupies huge communication bandwidth. This paper presents the extended Kalman filter (EKF) design based on the event-triggered strategy to get UAVs greatly relieved of the communication burden with guaranteed accuracy. The event-triggered strategy firstly selects only the state measurements containing innovational information for the purpose of filtering. Due to the nonlinearity of UAV system, the EKF is further applied to make full use of the information from the prior event-trigger strategy so as to enhance the performance of estimation. The proposed algorithm is verified on the physical UAVs regarding the estimation quality and communication rate, demonstrating the robust dynamic performance with effectively reduced communication rate.

关键词： Estimation Quaternions Unmanned aerial vehicles Monitoring Kalman filters Accelerometers Data models

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Complete Z-intuitionistic Fuzzy MULTIMOORA Method with AHP and its Application to COVID-19

Research Square

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Research Square 2021年

作者： Zhang, Yijin Huang, Jie Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

For emergencies, the reliability of information can not be guaranteed. At the same time, due to the lack of information and knowledge, neither the criteria itself nor the credibility can be given a precise evaluation by decision-makers(DMs). Therefore, we combine intuitionistic fuzzy set and Z-number to get a new class of fuzzy set, complete Z-intuitionistic fuzzy set(CZIFS), and its degenerate form, A-type Z-intuitionistic fuzzy set(AZIFS) and B-type Z-intuitionistic fuzzy set(BZIFS). CZIFS can serve as a reliable tool to depict the hesitant degree both on the ambiguity and reliability of uncertain information. In addition, we introduce the score and accuracy functions and distance measure of complete Z-intuitionistic fuzzy number(CZIFN), with which we have considered both reliability information and DM-s’ preference on it. Then, we improve traditional MULTIMOORA by developing reference point(RP) model to consider both the risk and profile of alternatives and integrating analytic hierarchy process(AHP) in the process of ranking aggregation method to take into account the preference of DMs on three subordinate rankings. Besides, to solve multicriteria group decision making(MCGDM) problem, we develop improved MULTIMOORA method to the environment of CZIFN. Finally, to illustrate the proposed method, we give a numerical example, solving site selecting of Fangcang shelter hospital for COVID-19. © 2021, CC BY.

关键词： Analytic hierarchy process

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Research on Vibration Isolation control of Six wheel-legged Robot Based on Impedance control

Research on Vibration Isolation Control of Six wheel-legged ...

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第三十九届中国控制会议

作者： Binkai Yue Shoukun Wang Zhihua Chen Kang Xu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

The electric parallel six wheel-legged robot（EPSWLR） is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control（IC） still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control（AIC） algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.

关键词： Electric parallel six wheel-legged robot Impedance control Adaptive algorithm Stewart structure

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Distributed Solving Sylvester equations with an explicit exponential Convergence

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IFAC-PapersOnLine 2020年第2期53卷 3260-3265页

作者： Songsong Cheng Xianlin Zeng Yiguang Hong Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 Beijing China

This paper addresses distributed achieving the least squares solution of Sylvester equations in the form of AX + XB = C. By decomposing the parameter matrices A, B and C, we formulate the problem of distributed solving Sylvester equations as a distributed optimization model and propose a continuous-time algorithm from the primal-dual viewpoint. Then, by constructing a Lyapunov function, we prove that the proposed algorithm can achieve a least squares solution of Sylvester equations with an explicit exponential convergence rate. Additionally, we illustrate the convergence performance by using a numerical example.

关键词： Sylvester equations Distributed optimization Least squares solution exponential convergence

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Security of Networked control systems with Incomplete Information Based on Game Theory

Security of Networked Control Systems with Incomplete Inform...

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第三十九届中国控制会议

作者： Lei Gao Jian Sun Jun Li Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center China Industrial Control Systems Cyber Emergency Response Team

The security problem of networked control systems（NCSs） suffering denial of service（DoS） attacks with incomplete information is investigated in this paper. Data transmission among different components in NCSs may be blocked due to DoS attacks. We use the concept of security level to describe the degree of security of different components in an NCS. Intrusion detection system（IDS） is used to monitor the invalid data generated by DoS attacks. At each time slot, the defender considers which component to monitor while the attacker considers which place for invasion. A one–shot game between attacker and defender is built and both the complete information case and the incomplete information case are considered. Furthermore, a repeated game model with updating beliefs is also established based on the Bayes’ rule. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Networked control systems Security DoS attacks Game theory Incomplete information

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