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Chinese control Conference

作者： Liuwen Li Wenlin Zou Shumin Fei Yushun Tan Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing School of Automation Southeast University Nanjing

This paper studies co-design of event generator and synchronous controller for chaotic neural networks with quantization. A quantized event-triggered scheme is presented to reduce the load of network transmission. Sufficient stabilization conditions for synchronization error system are derived on the basis of Lyapunov-Krasovskii functional. Based on the above stability condition, a co-designed parameters of controller and the corresponding event-triggered parameters are obtained. Finally, a numerical example is employed to illustrate the effectiveness of the proposed control method.

关键词： Quantization (signal) Biological neural networks Synchronization Generators Neurons Electronic mail Chaotic communication

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Spherical Formation Enclosing control for Second-Order Agents with An Unknown Target 36

Spherical Formation Enclosing Control for Second-Order Agent...

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第36届中国控制会议

作者： CHEN Yang-Yang DONG Yi LIN Tailai SUN Hao ZHA Junyu School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University School of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538629185

This paper deals with the cooperative control problem for second-order agents formation circling along meridian and parallel on a given sphere centered at a target of interest,where the direction of the target's movement is known to each agent but the target's speed is *** using local measurements of relative position,a novel distributed solution is proposed by separatively designing each agent's control input projected onto the spherical normal vector,the direction of spherical meridian and parallel.A second-order coordinated adaptive upgrade law is given to estimate the given target's speed by using adaptive backstepping and ***,a potential function is introduced to avoid the undefined angle coming from the trajectory between the poles of *** theoretical result is proved by the numerical simulation.

关键词： Spherical Formation Enclosing Coordinated Adaptive Estimation Potential Function

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Evolutionary dynamics of cryptocurrency transaction networks: An empirical study

arXiv

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arXiv 2018年

作者： Liang, Jiaqi Li, Linjing Zeng, Daniel State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China Department of Management of Information Systems University of Arizona TucsonAZ United States

Cryptocurrency is a well-developed blockchain technology application that is currently a heated topic throughout the world. The public availability of transaction histories offers an opportunity to analyze and compare different cryptocurrencies. In this paper, we present a dynamic network analysis of three representative blockchain-based cryptocurrencies: Bitcoin, Ethereum, and Namecoin. By analyzing the accumulated network growth, we find that, unlike most other networks, these cryptocurrency networks do not always densify over time, and they are changing all the time with relatively low node and edge repetition ratios. Therefore, we then construct separate networks on a monthly basis, trace the changes of typical network characteristics (including degree distribution, degree assortativity, clustering coefficient, and the largest connected component) over time, and compare the three. We find that the degree distribution of these monthly transaction networks cannot be well fitted by the famous power-law distribution, at the same time, different currency still has different network properties, e.g., both Bitcoin and Ethereum networks are heavy-tailed with disassortative mixing, however, only the former can be treated as a small world. These network properties reflect the evolutionary characteristics and competitive power of these three cryptocurrencies and provide a foundation for future research. Copyright © 2018, The Authors. All rights reserved.

关键词： Blockchain

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Stable walking of quadruped robot on unknown rough terrain

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Journal of Beijing Institute of Technology 2016年第4期25卷 463-472页

作者：何玉东王军政柯贤锋汪首坤 Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity （COG） height is presented. Simulations demonstrate the effectiveness of the proposed meth- od and the improvement of the adaptation of quadruped robots on rough terrain.

关键词： quadruped robot unknown rough terrain walking gait body posture body center ofgravity （COG）

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Torque Ripple Reduction of a Modular-Stator Outer-Rotor Flux-Switching Permanent-Magnet Motor

Torque Ripple Reduction of a Modular-Stator Outer-Rotor Flux...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Jing Zhao Yun Zheng Congcong Zhu Hao Chen Liu Yang Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China

In order to reduce the permanent magnet (PM) volume and combine the advantages of in-wheel motor, a novel modular-stator outer-rotor flux-switching permanent-magnet motor (MSOR-FSPM) whose PM volume is half of that in conventional outer-rotor flux-switching permanent-magnet (COR-FSPM) motor is proposed. However, cogging torque and torque ripple of MSOR-FSPM motor are especially worse due to the inherent double salient effect and the back-EMF harmonics caused by module stator structure. In this paper, structure and operation principle of MSOR-FSPM motor are described simply. Secondly, cogging torque and torque ripple are reduced by using traditional rotor two-step skewing method, but the result is unsatisfactory. Thirdly, a new rotor two-step skewing method is adopted since the ratio of back-EMF period to cogging torque period is the odd. Compared with traditional rotor step skewing method, the new method eliminates the even harmonics of back-EMF and remains the amplitude of fundamental waveform;the odd harmonics of cogging torque and electromagnetic torque are eliminated. Finally, the results of the new rotor step skewing method is verified by 3D finite element method (FEM) and further improved by embedding non-magnetic blocks in the middle of the stator and rotor.

关键词： Rotors Torque Forging Harmonic analysis Brushless motors Torque measurement AC motors

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Design and analysis of a novel double-sided five-phase modular linear permanent magnet machine

Design and analysis of a novel double-sided five-phase modul...

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Annual Conference of Industrial Electronics Society

作者： keyu Guo Jing Zhao Xiangdong Liu Liu Yang Hao Chen Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, in order to replace a conventional electric linear actuator which is consist of rotary PM machine and ball screw, a novel double-sided five-phase modular linear permanent magnet synchronous machine (MLPMSM) is proposed and designed with the same volume. The basic structure of the machine is firstly described and the major dimensions of one module are then optimized to acquire the largest thrust force. Through these methods, the average force of the MLPMSM reaches 206N, which is 58.4% larger than the conventional linear actuator. After that, the 5 th order harmonic in thrust ripple is analyzed and diminished by adjusting the distance between slot openings of the module. As the result the 5 th order harmonic is diminished greatly by 57%.

关键词： Force Optimization Stator cores Actuators Harmonic analysis Iron

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M4CD: A robust change detection method for intelligent visual surveillance

arXiv

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arXiv 2018年

作者： Wang, Kunfeng Gou, Chao Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Innovation Center for Parallel Vision Qingdao Academy of Intelligent Industries Qingdao266000 China Research Center for Computational Experiments Parallel Systems Technology National University of Defense Technology Changsha410073 China

In this paper, we propose a robust change detection method for intelligent visual surveillance. This method, named M4CD, includes three major steps. Firstly, a sample-based background model that integrates color and texture cues is built and updated over time. Secondly, multiple heterogeneous features (including brightness variation, chromaticity variation, and texture variation) are extracted by comparing the input frame with the background model, and a multi-source learning strategy is designed to online estimate the probability distributions for both foreground and background. The three features are approximately conditionally independent, making multi-source learning feasible. Pixel-wise foreground posteriors are then estimated with Bayes rule. Finally, the Markov random field (MRF) optimization and heuristic post-processing techniques are used sequentially to improve accuracy. In particular, a two-layer MRF model is constructed to represent pixel-based and superpixel-based contextual constraints compactly. Experimental results on the CDnet dataset indicate that M4CD is robust under complex environments and ranks among the top methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Pixels

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Event-triggered consensus for linear continuous-time multi-agent systems based on a predictor

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Information Sciences 2018年 459卷 278-289页

作者： Jian Sun Qiuling Yang Xiaoyu Liu Jie Chen School of Automation Beijing Institute of Technology Beijing 100081 PR China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China China North Industrial Group Corporation Limited China Ordnance Industry Navigation and Control Technology Institute Beijing 100089 PR China

In this paper, the problem of an event-triggered consensus for a linear continuous-time multi-agent system is investigated. A new event-triggered consensus protocol based on a predictor is proposed to achieve consensus while not requiring continuous communication among agents. The predictor utilizes an artificial closed-loop system to predict the future state of each agent. With the proposed consensus protocol, each agent only needs to monitor its own states to determine its event-triggered instants. When an event of an agent is triggered, the agent immediately updates its consensus protocol and sends its state information to its neighbors. When an agent receives state information from its neighbors, the agent immediately updates its consensus protocol and predictor. A necessary and sufficient condition that solves the consensus problem is derived. Moreover, it is proved that Zeno behaviors are excluded. Finally, some numerical examples are given to illustrate that, with the proposed protocol, a multi-agent system can achieve consensus while greatly reducing event-triggered times.

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Adaptive optimal control for a class of uncertain systems with saturating actuators and external disturbance using integral reinforcement learning

Adaptive optimal control for a class of uncertain systems wi...

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Asian control Conference

作者： Jingang Zhao Minggang Gan Jie Chen Dongyang Hou Meng Zhang Yongqiang Bai State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing

ISBN: (纸本)9781509015740;9781509015733

The problem of adaptive optimal control for a class of nonlinear uncertain systems with saturating actuators and external disturbance is investigated in this paper. Considering the saturating actuators, a non-quadratic cost function is adopted. The key of this optimal control problem is to find the solution to the Hamilton Jacobi Bellman equation (HJB). An online intergral reinforcement learning (IRL) algorithm based-Neural Network (NN) is given to approximate the solution. Unlike traditional integral reinforcement learning algorithms, data onto a period of time stored together with current data are used to update the neural network weights in place of persistence of excitation (PE) condition. This method overcomes the shortcomings of the PE condition which is not easy to be checked online. Finally, numerical examples are given to show the effectiveness of the proposed methods.

关键词： Optimal control Actuators Nonlinear systems Approximation algorithms Artificial neural networks System dynamics

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Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model

Adaptive robust controller for electric cylinder with fast p...

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第36届中国控制会议

作者： Duo yang Li Jun Zheng Wang Ren Jian Hao Shou Kun Wang Wei Shen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In this paper,the adaptive robust control（ARC） algorithm is proposed for tracking control of the electric cylinder *** to the analysis of the working principle of the electric cylinder servo system,the model of the system is established on the modified Lugre friction model,and single observer is designed for calculating friction as *** the ARC controller and adaptive law are designed for on-line parameters estimation,frictional compensation and the suppression external *** the Lyapunov approach,the stability of this system can be obtained in this *** simulation result shows that ARC can suppresses external disturbances effectively and realize real-time online parameter estimation.

关键词： adaptive robust control Lugre model parameter estimation

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