检索结果-内蒙古大学图书馆

A Framework of Finite-model Kalman Filter with Case Study: MVDP-FMKF Algorithm

Acta Automatica Sinica 2013年第8期39卷 1246-1256页

作者： Bo FENG Hong-Bin MA Meng-Yin FU Shun-Ting WANG School of Automation Beijing Institution of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

Kalman filtering techniques have been widely used in many applications, however, standard Kalman filters for linear Gaussian systems usually cannot work well or even diverge in the presence of large model uncertainty. In practical applications, it is expensive to have large number of high-cost experiments or even impossible to obtain an exact system model. Motivated by our previous pioneering work on finite-model adaptive control, a framework of finite-model Kalman filtering is introduced in this paper. This framework presumes that large model uncertainty may be restricted by a finite set of known models which can be very different from each other. Moreover, the number of known models in the set can be flexibly chosen so that the uncertain model may always be approximated by one of the known models, in other words, the large model uncertainty is “covered” by the “convex hull” of the known models. Within the presented framework according to the idea of adaptive switching via the minimizing vector distance principle, a simple finite-model Kalman filter, MVDP-FMKF, is mathematically formulated and illustrated by extensive simulations. An experiment of MEMS gyroscope drift has verified the effectiveness of the proposed algorithm, indicating that the mechanism of finite-model Kalman filter is useful and efficient in practical applications of Kalman filters, especially in inertial navigation systems.

关键词： Finite-model Kalman filter minimizing vector distance principle adaptive switching MEMS gyroscope de-noising

来源：评论

学校读者我要写书评

暂无评论

Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

引用

Chinese control Conference (CCC)

作者： Renjian Hao Junzheng Wang Jiangbo Zhao Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P. R. China

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process. A torque decoupling approach for electric linear actuator is proposed to achieve respective compensation. To improve the speed of time varying parameters estimating, a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust performance. An adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric uncertainties. The modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded performance. The co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Friction Torque Load modeling Force Mathematical model Robustness Actuators

来源：评论

学校读者我要写书评

暂无评论

Comparison of Several Filtering Methods for Linear Multi-agent Systems with Local Unknown Parametric Couplings

引用

IFAC Proceedings Volumes 2013年第20期46卷 212-217页

作者： Yini Lv Hongbin Ma Chenguang Yang Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China 100081 School of Computing and Mathematics Plymouth University UK PL4 8AA

In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent because of communication limitations existing in the considered multi-agent system. Because of the information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional Kalman filter or other state observers. Noting of the existence of coupling uncertainties in many practical applications, this paper introduces one general framework of decentralized filtering problem of multi-agent systems. For the considered system, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from principles in adaptive control, we introduce several filtering methods to resolve the fundamental problem considered in this paper. By conducting extensive simulations, the consuming time and estimation errors of every method are compared for one typical example, which suggests which method is more precise and faster.

关键词： multi-agent dynamic system Kalman filter parametric coupling uncertainty decentralized filtering centralized filtering

来源：评论

学校读者我要写书评

暂无评论

Low level saliency feature extraction method based on Hessian threshold

Low level saliency feature extraction method based on Hessia...

引用

Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Jiantao Pu Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is introduced firstly. Then the new method of finding low level visual saliency feature based on SURF is deduced. The new method pay attention to Hessian matrix threshold and extract image features through changing the Hessian threshold. The number of saliency feature points change with the change of Hessian threshold. The visual saliency feature points will become sparser when Hessian threshold becomes larger. When some certain extreme thresholds which are defined as Hessian threshold Nodes are reached, the retained feature points are remarkable discriminative and stable feature points which make up the best sparse saliency features set. The feature extraction, matching and object recognition experiments of robot vision are finished to verify the new method. Experiment results show that the method is very effective.

关键词： Feature extraction Visualization Robots Robustness Heuristic algorithms Object recognition Educational institutions

来源：评论

学校读者我要写书评

暂无评论

Robot robust object recognition based on fast SURF feature matching

Robot robust object recognition based on fast SURF feature m...

引用

Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Xusheng Chen Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant features SURF (Speeded Up Robust Features) is introduced into the robot visual recognition field to solve scale changes, rotation, perspective changes, changes in illumination and other problems. A Speeded up SURF (SSURF) algorithm is proposed to meet the needs of robot visual identification. In SSURF algorithms, the main direction determination step of SURF algorithm is modified which make the search scope of the main direction becomes {-α, +α} (0 ≤ α ≤ 30°) from the original scope 360 According to compressed sensing ideas and interest points distribution histogram, the main scale search space is selected to improve the interest points searching step of SURF algorithm, so the interest points searching time-consuming is reduced. Matching the sample object and the scene using SSURF descriptor, and positioning the target position in the scene and giving ROI(region of interest). Experimental results in the autonomous mobile robot platform show that the proposed method significantly improves the speed of the robot to identify the target object, and proved robust to the scale changes, rotation, perspective changes, changes in illumination.

关键词： Feature extraction Robots Object recognition Robustness Vectors Image recognition Visualization

来源：评论

学校读者我要写书评

暂无评论

The Modeling and Estimation of Asynchronous Multirate Multisensor Dynamic Systems

The Modeling and Estimation of Asynchronous Multirate Multis...

引用

第三十二届中国控制会议

作者： 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

ISBN: (纸本)9781479900305

This paper is concerned with the state estimation of a linear dynamic system and the fusion of asynchronous multirate multisensor *** dynamic system is described at the finest scale with multiple sensors observing a single target independently at different scales with different sampling *** main result is that the multiscale measurements are properly formulated,and an optimal recursive fusion algorithm is presented.A numerical example is given to show the feasibility and efficiency of the algorithm.

关键词： state estimation recursive fusion asynchronous multirate multiscale Kalman filter

来源：评论

学校读者我要写书评

暂无评论

Distributed Flocking of Second-order Multi-agent Systems with Global Connectivity Maintenance

Distributed Flocking of Second-order Multi-agent Systems wit...

引用

American control Conference

作者： Yutian Mao Lihua Dou Hao Fang Jie Chen Tao Cai School of Automation and Key Laboratory of Complex System Intelligent Control and Decision (Ministry of Education) Beijing Institute of Technology Beijing 100081 P.R.China

ISBN: (纸本)9781479901777

This paper investigates the problem of connectivity-preserving flocking of multiple autonomous agents with second-order dynamics. First, the inverse power iteration algorithm is formulated in a completely distributed manner to estimate the algebraic connectivity, i.e., the second smallest eigenvalue of the group Laplacian, as well as the corresponding eigenvector. Furthermore, distributed gradient-based flocking algorithms that exploit decentralized eigenvalue/eigenvector estimation are developed both to steer the agent group to the desired flocking motion and to maintain the global connectivity of the underlying network during maneuvers. Different from the common potential/tension function method which keeps certain fixed edges all the time, the algorithm proposed in this paper guarantees the global connectivity which allows any existing edge to be broken, thus gives more freedom of motions for the agents. Finally, nontrivial simulations are performed to demonstrate the correctness and effectiveness of the theoretical results.

关键词： underlying desired agents

来源：评论

学校读者我要写书评

暂无评论

Multirate Multisensor Distributed Data Fusion Algorithm for State Estimation with Cross-Correlated Noises

Multirate Multisensor Distributed Data Fusion Algorithm for ...

引用

第三十二届中国控制会议

作者： Yulei Liu Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao 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)9781479900305

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is three times as much as the other'*** noises of different sensors are cross-correlated and are also coupled with the system noise of the previous step. By use of the projection theorem and induction hypothesis repeatedly,a distributed fusion estimation algorithm is *** algorithm is proven to be distributed optimal in the sense of Linear Minimum Mean Square Error(LMMSE) and can effectively reduces the oscillation existed in the sequential ***,a numerical example is shown to illustrate the effectiveness of the proposed algorithm.

关键词： State estimation Distributed data fusion Cross-correlated noises Multirate

来源：评论

学校读者我要写书评

暂无评论

The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

引用

The Second International Conference on Micro Nano Devices,Structure and Computing Systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

来源：评论

学校读者我要写书评

暂无评论

Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

引用

2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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：