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World Congress on intelligent control and Automation (WCICA)

作者： Dapeng Yang Xiangdong Liu National Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing China School of Automation Beijing Institute of Technology Beijing China

This paper considers the decentralized event-triggered consensus problem for discrete-time linear multi-agent systems. The communication topology among agents is assumed to be a general directed graph containing a spanning tree. We propose an event-based consensus control algorithm rendering the states of agents reach consensus. The triggering condition is decentralized only based on the agent's own information. Compared to the traditional consensus control law which needs communication at every iteration, the proposed event-triggered consensus algorithm in this paper can reduce the communication load greatly. Simulation is given to illustrate the theoretical results.

关键词： Eigenvalues and eigenfunctions Vectors Vehicle dynamics Measurement errors Closed loop systems Multi-agent systems Topology

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The Gait Planning Theory and Technology Research on the Wheel-foot Multi-joint Mobile Robot

The Gait Planning Theory and Technology Research on the Whee...

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第26届中国控制与决策会议

作者： Zhang Yeqing Luo Qingsheng Wang Meiling Wu Fan Wu Di Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology School of Mechanic and Electronic Engineering Beijing Institute of Technology

Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot's body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.

关键词： mechanical structure kinematical formulas workspace of feet walking gaits prototype test

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Stability control for biped walking based on phase modification during double support period

Stability control for biped walking based on phase modificat...

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IEEE International Conference on Robotics and Biomimetics

作者： Tongtong Li Zhangguo Yu Juan Chen Yan Liu Maoxing Zheng Libo Meng Gan Ma Wen Zhang Weimin Zhang Qiang Huang Ministry of Education The Key Laboratory of Intelligent Control and Decision of Complex System Beijing China North Navigation Control Technology Co. Ltd. China

ISBN: (纸本)9781479973989

This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.

关键词： Legged locomotion Foot Stability analysis Planning Humanoid robots Robot kinematics

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Optimal Hierarchical Allocation in Deregulated Electricity Market under PSP Auction Mechanism

Optimal Hierarchical Allocation in Deregulated Electricity M...

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第26届中国控制与决策会议

作者： Zhongjing Ma Yingying Cui School of Automation Beijing Institute of Technology (BIT)and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) School of Automation BIT

ISBN: (纸本)9781479937097

In hierarchical electricity market, the retailers buy electricity from generation provider and then sell it to users. Retailers play an important role in the distribution channel by matching supply and demand, but they also potentially cause inefficiencies in electricity allocation. To induce an efficient allocation of electricity, we propose a novel hierarchical distributed method under PSP auction mechanism. Under this mechanism, each of players, either the generation provider or the retailers, obtains their electricity allocation through the PSP auction method by submitting a multi-dimensional bid profile, instead of telling their private cost or valuation function, then the retailers economically distribute the electricity, acquired in the PSP auction, among users. Moreover, the valuation function of retailers depends on the revenues that they sell the electricity to users. As a main result, in this paper we show that there exists an efficient Nash equilibrium (NE) for the underlying auction games.

关键词： Deregulated electricity market Hierarchical allocation PSP auction mechanism Efficient allocation Nash equilibrium Nash equilibrium Electricity power markets REG1A gene Postsynaptic Potentials BPIFA2 gene RIDA gene cost accounting Hierarchical Consumers

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Slip prevention of a humanoid robot by coordinating acceleration vector

Slip prevention of a humanoid robot by coordinating accelera...

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International Conference on Information and Automation (ICIA)

作者： Zhangguo Yu Jing Li Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Yan Liu Wen Zhang Weimin Zhang Xiaopeng Chen Junyao Gao Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.

关键词： Acceleration Robot kinematics Vectors Humanoid robots Mathematical model Equations

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A universal pattern generator for biped walking on 3D slopes

A universal pattern generator for biped walking on 3D slopes

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IEEE International Conference on Robotics and Biomimetics

作者： Wen Zhang Qiang Huang Zhangguo Yu Xuechao Chen Chenglong Fu Jing Li Gan Ma Libo Meng Ying Wu Weimin Zhang Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Department of Mechanical Engineering Tsinghua University Beijing China

ISBN: (纸本)9781479973989

Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

关键词： Legged locomotion Foot Robot kinematics Three-dimensional displays Trajectory Generators

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Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

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Journal of Beijing Institute of Technology 2013年第4期22卷 497-503页

作者：王立鹏王军政赵江波吴江丰 Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

关键词： line element adaptively segment linear variable differential transformer （LVDT） non-linear compensation correction

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Sequential Fusion and State Estimation for Asynchronous Multirate Multisensor Dynamic Systems

Sequential Fusion and State Estimation for Asynchronous Mult...

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第三十三届中国控制会议

作者： Lu Jiang Liping Yan Bo Xiao Yuanqing Xia Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

A sequential fusion and state estimation algorithm for an asynchronous multirate multisensor dynamic system is presented in this *** dynamic system at the finest scale is *** are multiple sensors observing a single target independently with different sampling rates,and the observations are obtained *** present algorithm is shown to be more effective and efficient than the existed *** on a radar tracking system with three sensors are done and show the effectiveness of the present algorithm.

关键词： state estimation,sequential fusion,asynchronous,multirate multisensor,Kalman filter

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Research on an axial-axial flux compound-structure PMSM with varying air gap to fulfill field-weakening control

Research on an axial-axial flux compound-structure PMSM with...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Jing Zhao Yashuang Yan Zhongxin Gu Zhen Chen Ping Zheng Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China Department of Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479951635

A compound-structure permanent-magnet synchronous machine (CS-PMSM), which integrates two PMSMs, is a hybrid electric vehicle (HEV) power train concept. In order to meet the requirement of wide speed range of HEV, an axialaxial flux CS-PMSM with a new mechanical method of varying air gap to fulfill field-weakening control and to improve the operating speed range is investigated. The field-weakening principle of the axial-axial flux CS-PMSM with varying air gap is analyzed. The electromagnetic performances with air gaps varying are evaluated by 3D finite-element method (FEM). The principle of selecting original air gap is proposed with comprehensive consideration. The field weakening capability by varying air gap is evaluated based on the comparison with two other electric methods.

关键词： Air gaps Couplings Torque Stators Magnetic flux Hybrid electric vehicles Rotors

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The Fusion of Multisensor Images with Multi-resolutions

The Fusion of Multisensor Images with Multi-resolutions

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第三十三届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Meiling Wang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479947249

Images taken by different sensors at different time instant with different resolutions are formulated by state space models, and are fused by use of Multiscale Kalman Filter(MKF). The effectiveness of the presented algorithm is shown by comparing it with the wavelet based method through experiments, where four performance measures are used. The performance evaluation indices are the root mean square errors(RMSE), the information entropy(Entropy), the space frequency(SF) and the space visibility(SV). Theretical analysis and experimental results show the effectiveness of the presented algorithm.

关键词： Image fusion,multiresolution,multiscale Kalman filter,state space model

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