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第三十三届中国控制会议

作者： Fan Xinyu DENG Fang LI Fengmei School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

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 *** results shows the good performance of proposed method.

关键词： Maximum Power Point Tracking(MPPT),Voltage band,Partially Shaded Conditions

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Pursuit-evasion Games of Multi-players with a Single Faster Player 35

Pursuit-evasion Games of Multi-players with a Single Faster ...

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第35届中国控制会议

作者： WANG Duo PENG Zhihong School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theory of differential games, which helps simplify computation complexity and meet an ideal result. We discuss the situation of one faster pursuer and one evader under some basic assumptions in which the amount of evaders increases by steps in the full visibility case. We apply the task allocation method to simulate the optimal motion track in both fixed sequence capture mode and free sequence capture mode of the pursuer. The optimal motion strategies acquired by differential games theory respond faster than those acquired in traditional ways. We prove all the chase process discussed with differential games by MATLAB simulation.

关键词： differential games pursuit-evasion game optimal strategy capture sequence

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Stable Walking control of Parallel Wheel-foot Robot Based on ZMP Theory 36

Stable Walking Control of Parallel Wheel-foot Robot Based on...

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第36届中国控制会议

作者： Dongchen Liu Junzheng Wang Renjian Hao Dawei Shi Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.

关键词： Zero Moment Point Gait planning Integrated simulation platform Virtual prototyping

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Construction of Multilayer Porous Scaffold Based on Magnetically Guided Assembly of Microfiber

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Journal of Systems Science & complexity 2018年第3期31卷 581-595页

作者： LI Xingfu WANG Huaping SHI Qing SUN Tao HUANG Qiang FUKUDA Toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100816 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible and biodegradable alginate solution with homogeneous magnetic nanopar- ticles, which are continuously spun from a microfluidic device by precise pressure control of the syringe pump. Magnetic nanoparticles enable the control of magnetic field on microfibers. Meanwhile, mag- netized device combining with a round permanent magnet are utilized to guide the distribution of spouted microfibers. The device is composed by pure iron wire arrays and wax, which stimulates pow- erful magnetic flux density and magnetic field gradients for the capture and assembly of microfibers. Thus, magnetic microfibers are spun on desired places of the magnetized device by motion control of the micromanipulation robot, and precise locations are adjusted by magnetic force couple with the assist of glass micropipette. Afterwards, microfibers are spatially organized by periodic magnetic force and crossed layer-by-layer to form micro-pore structure with both length and width of 650μm. Finally, the authors construct a multilayer microfiber-based scaffold with high porosity to provide a satisfactory environment for long-term cell culture. The experimental results demonstrate the effectiveness of the proposed method.

关键词： Magnetically guided assembly magnetic microfiber magnetized device periodic magneticforce multilayer porous scaffold.

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Active Disturbance Rejection control for Electrical Cylinder 36

Active Disturbance Rejection Control for Electrical Cylinder

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第36届中国控制会议

作者： Hui Peng JunZheng Wang Wei Shen JiangBo Zhao RenJian Hao School of Automation Beijing Institute of Technology Key laboratory of intelligent control and decision of complex system

ISBN: (纸本)9781538629185

The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging the transition process to avoid overshoot. Extended state observer is built to estimate the unmeasurable internal disturbance, parametric uncertainties and external uncertainty for a guaranteed robust performance. Nonlinear state error feedback is designed to combine the error feedbacks more reasonable. Simulation and experimental results show that active disturbance rejection controller shows very strong robustness and adaptability compared with traditional PID control algorithm.

关键词： Electrical cylinder Nonlinear disturbance Position tracking control Active disturbance rejection control

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Stability Analysis of Event-Triggered Networked control Systems with Time-Varying Delay and Packet Loss

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系统科学与复杂性学报（英文版） 2021年第1期34卷 265-280页

作者： WANG Zhao SUN Jian BAI Yongqiang The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China

Networked control systems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory performance of the system,by transmitting the measurements only when an event-triggered condition is ***,some network-induced problems would happen inevitably,such as communication delay and packet loss,which can degrade the control performance significantly and can even lead to *** this paper,a periodic event-triggered NCS considering both time-varying delay and packet loss is *** system is discretized into a piecewise linear system with *** the model is handled by a polytopic over-approximation method to be more suitable for stability ***,stability conditions are obtained and presented in terms of linear matrix inequalities(LMIs).The result is illustrated by a numerical example.

关键词： Delay event-triggered control networked control systems packet loss stability analysis

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Flocking of multi-robot systems with connectivity maintenance on directed graphs

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Journal of Systems Engineering and Electronics 2014年第3期25卷 470-482页

作者： Mao, Yutian Dou, Lihua Fang, Hao Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control Decision of Complex Systems Beijing 100081 China

Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, collision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that all robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm. © 1990-2011 Beijing Institute of Aerospace Information.

关键词： Multipurpose robots

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Flocking of Second-Order Multiagent Systems with Connectivity Preservation Based on Algebraic Connectivity Estimation

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IEEE Transactions on Cybernetics 2017年第4期47卷 1067-1077页

作者： Fang, Hao Wei, Yue Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new decentralized inverse power iteration scheme is formulated. Then, based on the estimation of the algebraic connectivity, a set of distributed gradient-based flocking control protocols is built with a new class of generalized hybrid potential fields which could guarantee collision avoidance, desired distance stabilization, and the connectivity of the underlying communication network simultaneously. What is important is that the proposed control scheme allows the existing edges to be broken without violation of connectivity constraints, and thus yields more flexibility of motions and reduces the communication cost for the multiagent system. In the end, nontrivial comparative simulations and experimental results are performed to demonstrate the effectiveness of the theoretical results and highlight the advantages of the proposed estimation scheme and control algorithm. © 2017 IEEE.

关键词： Multi agent systems

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Fault Tolerant control for a Class of Nonlinear System based on Active Disturbance Rejection control and RBF Neural Networks 36

Fault Tolerant Control for a Class of Nonlinear System based...

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第36届中国控制会议

作者： Lushan Zhou Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781538629185

In this paper,a fault tolerant control method based on active disturbance rejection control(ADRC) and radial basis function neural network(RBFNN) is proposed for a class of multi-input-multi-output nonlinear system with actuator faults,components faults and sensor *** proposed method does not rely on the plant *** regarding the faults and plant uncertainties as the disturbance,through the observation of extended state observer and the compensation of feedback control signal,this method achieves the fault tolerance control of the plant with component fault and actuator *** sensor faults,in this work,radial basis function neural network is applied to estimate the real output of the *** this output estimation is utilized by active disturbance rejection control to achieve the fault tolerance of ***,the effectiveness of the proposed method is validated by the simulation results of the three-tank system.

关键词： Fault tolerant control active disturbance rejection control radial basis function neural network

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Robust Model Predictive control for PMSM Drives Against Parameter Mismatch 41

Robust Model Predictive Control for PMSM Drives Against Para...

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第41届中国控制会议

作者： Luwei Shao Wei Shen Fan Li Chuanyu Ge State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an advanced control method of permanent magnet synchronous motor(PMSM),finite control set model predictive control(FCS-MPC) has earned widespread attention for its advantages of intuitive concept,splendid dynamic performance and capability of handling the constraints and ***,the dependence on the model parameter accuracy is the main barrier for FCS-MPC to be applied to the industry *** order to solve this issue,this paper presents a robust FCS-MPC against parameter *** proposed strategy utilizes the prediction error in the d-and q-axis currents during the past instant to calculate the compensation which should be added to the predicted currents in the next ***,the cost function in the proportional-integral form is designed as ***,the simulation results and experimental results prove the proposed method's effectiveness in suppressing the influence of model parameter mismatch on the control performance of PMSM.

关键词： permanent magnet synchronous motor finite control set model predictive control parameter mismatch

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