检索结果-内蒙古大学图书馆

Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

来源：评论

学校读者我要写书评

暂无评论

Cloud control Systems

引用

IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 134-142页

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

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future. © 2014 Chinese Association of Automation.

关键词： Big data Cloud computing Computation theory control systems control theory controllers Data handling Distributed computer systems Embedded systems Internet of things

来源：评论

学校读者我要写书评

暂无评论

Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

引用

2016 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

来源：评论

学校读者我要写书评

暂无评论

Modified EKF-based Nonlinear Filtering over Wireless Channels with Transmission Failure and Fading

Modified EKF-based Nonlinear Filtering over Wireless Channel...

引用

第35届中国控制会议

作者： Luyu Li Zhen Li Xiangdong Liu Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper addresses the stochastic stability problem of a modified extended Kalman filter(MEKF), targeted at the state estimation of the nonlinear system through wireless channel, where both transmission failure and channel fading are practically under consideration. For a class of nonlinear systems whose observation's Jacobi Matrix is always invertible, the sufficient conditions of the error covariance matrices are accordingly established. Moreover, the conditions for the stochastic stability of the estimation error are also derived, which is tighter than the conditions of boundedness of the error ***, a numerical example is given to demonstrate the feasibility of the proposed method.

关键词： Extended Kalman filter stochastic stability transmission failure fading

来源：评论

学校读者我要写书评

暂无评论

H∞ Polytopic Filter Design for Nonlinear Systems

H∞ Polytopic Filter Design for Nonlinear Systems

引用

第35届中国控制会议

作者： Yin Yu Zhen Li Jian Li Luyu Li Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper proposes an H polytopic lter design for a nonlinear system. Based on the polytopic approximation of the nonlinear system, the polytopic lter design is converted into a group of linear matrix inequalities（LMIs） so that the polytopic lter parameters can be effectively acquired by numerical convex optimization algorithms. At this stage, the tensor product（TP） model transformation is utilized to compute the polytopic approximation of the nonlinear system. Particularly, a new recti cation procedure is further developed to obtain a specific polytopic approximation with all the vertex systems being stable, which premises the solvability of the LMIs. The method is much easier to be implemented than traditional approaches such as the Hamilton-Jacobi inequality（HJI）-based methods. Simulation demonstrates the method is much less conservative than the existing method and has good estimation performance.

关键词： H_∞ lter nonlinear systems polytopic model tensor product model transformation

来源：评论

学校读者我要写书评

暂无评论

PSO-based design of PID controller with notch filter for flexible structures 7

PSO-based design of PID controller with notch filter for fle...

引用

7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

来源：评论

学校读者我要写书评

暂无评论

Application of fuzzy cognitive map in information intelligent push

引用

Journal of Beijing Institute of Technology 2015年第4期24卷 553-557页

作者：张佳徐胜利邓方 School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Since computer system functions are becoming increasingly complex, the user has to spend much more time on the process of seeking information, instead of utilizing the required infor- mation. Information intelligent push technology could replace the traditional method to speed up the information retrieval process. The fuzzy cognitive map has strong knowledge representation ability and reasoning capability. Information intelligent push with the basis on fuzzy cognitive map could ab- stract the computer user＇ s operations to a fuzzy cognitive map, and infer the user＇ s operating inten- tions. The reasoning results will be translated into operational events, and drive the computer system to push appropriate information to the user.

关键词： fuzzy cognitive map artificial intelligence information intelligent push

来源：评论

学校读者我要写书评

暂无评论

Attitude Calculating for a New Strap-down Inertial Navigation System Based on Angular Accelerometers

Attitude Calculating for a New Strap-down Inertial Navigatio...

引用

IEEE International Conference on Information and Automation

作者： Meiling Wang Xin Zheng Tong Liu Tonglei Wang Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Institute of Automatic Control Equipment Beijing China

ISBN: (纸本)9781509041039

This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this new structure of GFINS, a new mathematical model is developed to determine the general three-dimensional motion of body segments. The mathematical model is mainly based on the direction cosine matrix. A second-order differential equation which is represented by angular acceleration should be calculated to solve this problem using the fourth order Runge-Kutta method combining with the interpolation method. Furthermore, the final result of this approach is shown by applying the mathematical model to some simulation data generated by the trajectory generator. The simulation results indicate that the mathematical model has a good performance.

关键词： angular accelerometer attitude updating direction cosine matrix GFINS

来源：评论

学校读者我要写书评

暂无评论

Optimal FPGA Implementation of High Speed Scale Space Generator 34

Optimal FPGA Implementation of High Speed Scale Space Genera...

引用

第三十四届中国控制会议

作者： LI Nan WANG Junzheng Key laboratory of intelligent control and decision of complex systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Scale space generation is a fundamental problem in almost all feature extraction algorithms. Often, it is a critical prior step of most image/video analytic applications that are based on the invariance or co-invariance of local features, such as SIFT based recognition, matching, and tracking applications. However, it is still quite a challenging problem to enable real-time applications of the extraction of local features due to the fact that scale space generation has a rather large computational complexity. This paper proposes the optimal FPGA design for acceleration of scale space generation. First, in order to derive the mathematical model for scale space generation that fits best in with the FPGA, we have discarded the conventional template convolution based Gaussian filtering scheme and adopted a novel IIR filter based recursive Gaussian blurring algorithm. Then, an approach based on the Retiming technique, which could find the minimal operational period for any given IIR filter, is used to finalize the overall design. For 1024×768 video, the proposed design is able to generate scale spaces at almost 400 fps, which is fast enough to support most real-time applications like object recognition, object matching, and 3D reconstruction.

关键词： Feature Extraction,Scale Space Generation,Recursive Gaussian Blurring,Retiming,FPGA Implementation

来源：评论

学校读者我要写书评

暂无评论

The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system

The Application of Square-Root Cubature Kalman Filter in the...

引用

2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Dongyang Zhang Zhihong Deng Bo Wang Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Nanjing University of Science and Technology

ISBN: (纸本)9781467383196

The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix,which will affect the accuracy and numerical stability of the system *** in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation *** simulation results show that the position,velocity and attitude errors are reduced effectively compared with the EKF *** SCKF method is more suitable for the state estimation problems in integrated navigation system.

关键词： The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system Kalman CNS Filter

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：