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第36届中国控制会议

作者： Ganghui Shen Yuanqing Xia Dailiang Ma Jinhui Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles,which inevitably degrades the performance of entry guidance *** paper presents a backstepping sliding mode controller for drag tracking in Mars entry guidance,which can guarantee the tracking error with finite-time ***,the drag can track the reference trajectory under the virtual control law by introducing a sliding manifold,and the extended state observer（ESO） is used to estimate and counteract the ***,the finite-time convergence of drag tracking error can be achieved under the proposed backstepping sliding mode guidance *** addition,the rigorous proof of tracking error convergence is ***,numerical simulation results are presented to demonstrate the effectiveness of the proposed guidance law.

关键词： Backstepping Sliding mode control Finite time Mars entry

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Steady Walking of Wheel-quadrupled Robot over Unknown Rough Terrain Based on Basic Static Gait 36

Steady Walking of Wheel-quadrupled Robot over Unknown Rough ...

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第36届中国控制会议

作者： Shoukun Wang Fei Guo Xiaolong Du Key Laboratory of Intelligent Control and Decision of Complex System Academy of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking pattern of robot is determined,and the attitude angles and the position of COG（center of gravity） are adjusted to enhance the stability and ability of robot to traverse the rough *** order to simplify and establish model for rough terrain,we propose an estimation method of terrain based on the position of stance phase and the body attitude,as well as calculate the target attitude angle of the trunk in this *** then the smooth transition of foot-laying positions is guaranteed by planning the adjustment ***,the simulation results illustrate that the proposed method is able to adapt robot to different types of unknown rough terrains.

关键词： wheel-quadruped robot unknown rough terrain basic static waling pattern attitude adjustment gait planning

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Fractional-Order Impedance control for a Wheel-Legged Robot 29

Fractional-Order Impedance Control for a Wheel-Legged Robot

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第29届中国控制与决策会议

作者： Yinghui Chen Jiangbo Zhao Junzheng Wang Duoyang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.

关键词： wheel-legged robot legged locomotion impedance control fractional-order

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Adaptive Optimal control Based on Parameter Estimation for Servomechanisms

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IFAC-PapersOnLine 2017年第1期50卷 7064-7069页

作者： Zhang C. Gan M. Chen J. Chen C. Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, an adaptive optimal control scheme based on parameter estimation is proposed for optimal control problem of servomechanisms with unknown parameters. Parameters of the servomechanism dynamics are identified online first. Based on parameter estimation, the optimal control policy is achieved through adaptive dynamic *** estimation removes an approximation structure from the original method. Therefore the number of unknown weights in approximation structures, to be calculated, is reduced. The analysis for convergence is presented to prove the validity. Finally, simulation results demonstrate that the scheme can approximate the optimal control policy rapidly and effectively. © 2017

关键词： adaptive dynamic programming optimal control,parameter estimation servomechanism

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Multi-delay network based IEEE 802.15.4 for low delay deterministic networked control systems 36

Multi-delay network based IEEE 802.15.4 for low delay determ...

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第36届中国控制会议

作者： Aopeng Song Yuanqing Xia Yufeng Zhan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wireless networked control systems have gained significant popularity due to commissioning and maintenance *** 802.15.4 standard is one of wireless communication protocol for low delay deterministic *** automation,not only needs low delay but also requires the network that should has the capacity of various delay *** this paper,we propose a scheme,satisfying the muli-delay network in the networked control *** are using TI SmartRF04 EB evaluation boards with CC2530 SoC and TIMAC software stack CC2530 boards,as well as dc servo motors for a speed tracking control problem.

关键词： wireless communication IEEE 802.15.4 control system multi-delay

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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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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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Stabilization of a class of fractional order chaotic systems by nonlinear sliding mode

Stabilization of a class of fractional order chaotic systems...

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第37届中国控制会议

作者： Lijun Lin Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper investigates the stabilization problem of a class of fractional order chaotic systems with unknown modeling uncertainties and external perturbations. A fractional nonlinear sliding surface is proposed, and a reaching control law is obtained to guarantee the stability of the fractional chaotic system in finite time with just a single control input. And the simulation results are given to demonstrate the efficacy of the proposed nonlinear sliding mode control method.

关键词： Fractional order Chaotic system Nonlinear sliding mode Stabilization

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Secure analysis of dynamic networks under pinning attacks against synchronization

arXiv

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arXiv 2019年

作者： Li, Yuzhe Shi, Dawei Chen, Tongwen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

In this paper, we first consider a pinning node selection and control gain co-design problem for complex networks. A necessary and sufficient condition for the synchronization of the pinning controlled networks at a homogeneous state is provided. A quantitative model is built to describe the pinning costs and to formulate the pinning node selection and control gain design problem for different scenarios into the corresponding optimization problems. Algorithms to solve these problems efficiently are presented. Based on the developed results, we take the existence of a malicious attacker into consideration and a resource allocation model for the defender and the malicious attacker is described. We set up a leader-follower Stackelberg game framework to study the behaviour of both sides and the equilibrium of this security game is investigated. Numerical examples and simulations are presented to demonstrate the main results. Copyright © 2019, The Authors. All rights reserved.

关键词： complex networks

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Stability analysis of nonlinear switched systems with sampled-data inputs

Stability analysis of nonlinear switched systems with sample...

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Chinese control Conference (CCC)

作者： Zhichuang Wang Jian Sun Guoliang Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper addresses the uniform global asymptotical stability (UGAS) problem for a class of nonlinear switched systems with sampled-data inputs. By employing the multiple Lyapunov functions (MLFs) and input delay method, some new stability conditions are explicitly established for nonlinear switched systems with sampled-data controls. Besides, the sufficient conditions are derived in terms of an upper bound on the dwell time and the maximal sampling interval. Finally, some numerical examples illustrate the advantages of the proposed results.

关键词： Switched systems Switches Stability analysis Delays Lyapunov methods Asymptotic stability

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