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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Xuan Xiao Xiang Guo Yuan Liang Chao Shi Songtian Shang Hong Hu School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538604915

Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial Navigation system (SINS)/Global Positioning system (GPS), the model construction is affected by a certain error sources. The most significant one is computational errors, which are caused by improper reference frame and the absence of true values. To solve the problem, this paper presents a modified system model which reduce the impact of computational errors by selecting computational frame as reference coordinate frame and removing all true values. Simulation results have demonstrated that modified system model effectively improves the performance of Kalman filter in SINS/GPS integrated system.

关键词： Kalman filters systems modelling Integrated system strapdown inertial navigation system Error Sources Modified

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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American control Conference (ACC)

作者： Yi Yang Hao Li Hao Zhu Ningyi Lyu Wenjie Song School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing Beijing CN School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Three-dimensional displays Urban areas Laser radar Autonomous vehicles

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Method of Eliminating Velocity Ripples in Brushless DC Motor Based on Internal Model Principle and Sliding Model control 28

Method of Eliminating Velocity Ripples in Brushless DC Motor...

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第28届中国控制与决策会议

作者： He Shuo-yan Li Shi-hua Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781467397155

In the practical application,Brushless DC motor(BLDCM) faces various disturbances including parametric uncertainties,load disturbance and unmodeled *** disturbances can be divided into two types of periodic disturbances(sinusoidal/cosinoidal) and aperiodic(slowly-varying or constant) *** ripples can be seen as the result of a plurality of periodic interference signals of different frequencies acting on the *** the paper we propose a composite control scheme combining integral sliding mode control(ISMC) based on disturbance observer(DO) embedded with the internal model principle to improve the speed performance of *** disturbance observer,such as extended state observer(ESO) can only asymptotically estimate slowly-varying or constant disturbances and is not good at estimating periodic *** we combine internal model of disturbance into disturbance observe for high ***,the estimates are introduced in the feedforward compensation,and a composite speed controller is *** last,experimental comparisons with conventional proportional-integral(PI) and ISMC+ESO,are given to validate the effectiveness of the proposed method.

关键词： Brushless DC Motor Internal model principle Steady-state velocity ripple elimination ESO Integral sliding mode control(ISMC) Disturbance observer

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Hidden Failure Prognosis For Navigation Inertial Platform Using Belief Rule Base Expert system

Hidden Failure Prognosis For Navigation Inertial Platform Us...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Run-Fan Han Gui-Ming Chen Tian-Jun Liao Xiao-Dong Ling Lei-Lei Chang the High-tech Institute of Xi’an the State Key Laboratory of Complex System Simulation Beijing Institute of System Engineering the China Satellite Maritime Tracking and Control Laboratory

The gyro drift is the main factor in affecting the performance of the inertial platform which is an important unit in the navigation *** belief rule base(BRB) is used to construct the failure prognosis model of the inertial platform which holds the following characteristics:(1) the storage lives are long and working lives are short,(2) a lot of testing data can not be obtained,(3) some expert knowledge may be available,and(4) the failure is *** order to solve the problems,two sub-BRBs are used with one employed to capture the relationship between the external stress and hidden failure and the other to construct the forecasting model of hidden *** experimental case study is examined to demonstrate the implementation and potential applications of the proposed failure prognosis model.

关键词： Belief rule base expert system hidden failure prognosis navigation inertial platform

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Joint space compliance control for a hydraulic quadruped robot based on force feedback

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Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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An Adaptive INS/GPS/VPS Federal Kalman Filter for UAV Based on SVM

An Adaptive INS/GPS/VPS Federal Kalman Filter for UAV Based ...

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IEEE International Conference on Automation Science and Engineering

作者： Xuan Xiao Chao Shi Yi Yang Yuan Liang Xiang Guo School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

In this paper, an adaptive modified federal Kalman filter is applied to the autonomous navigation with multi-sensors in condition that Unmanned Aerial Vehicle (UAV) is dynamically tracking Unmanned Ground Vehicle (UGV). To satisfy the autonomous navigation demands such as good accuracy, real time and high reliability for UAV, a new integrated navigation mode, in which Inertial Navigation system (INS) is aided by Global Position system (GPS)/Visual Positioning system (VPS), is proposed. Subsequently, a novel method is introduced which determined the information-sharing factors dynamically based on Singular Value Decomposition (SVD), and it not only solves the blindness of the information distribution factor of the conventional federated filter but also reduces the amount of calculation. According to the analysis of the theory about Support Vector Machine (SVM), an optimal objective kernel function is designed to select the effective source of information, thus it isolates the fault sensor. Simulation results show that the proposed integrated navigation system can provide abundant navigation information with sub-level navigation accuracy and good fault-tolerant performance. UAV can obtain reliable navigation information by this modified federal Kalman filter algorithm even when GPS or VPS is continuously interrupted for a period.

关键词： UGV UAV provide abundant

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Dynamic Output Feedback control of Networked control systems with Aperiodic Sampling and Time-Varying Delays

Dynamic Output Feedback Control of Networked Control Systems...

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Asian control Conference

作者： Su Meng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781509015740;9781509015733

This paper investigates the stability and stabilization issues for networked control systems with both aperiodic sampling and time-varying transmission delays in a general case. The delays vary within a given interval which could be larger than the sampling interval. By applying model transformation methods of aperiodic sampling and time-varying delays as well as the lifting method, the discretized closed-loop system with time-varying delays is converted to a discrete-time system with time-varying delays and norm-bounded uncertainties coming from aperiodic sampling, and is then modeled as an interconnected system of which the forward channel is delay-free. An asymptotic stability condition for the closed-loop system is derived, and a dynamic output feedback controller design method is also proposed. A numerical example is finally provided to illustrate the effectiveness of the proposed method.

关键词： Delays Time-varying systems Closed loop systems Output feedback Stability analysis Asymptotic stability Uncertainty

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Covert Attacks against Output Tracking control of Cyber-Physical systems

Covert Attacks against Output Tracking Control of Cyber-Phys...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Fangyuan Hou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper is concerned with the problem of designing successful covert attacks against output tracking control of cyber-physical systems from the covert agent's angle. Based on the perfect model knowledge and no model knowledge, the covert agent designs two kinds of covert attacks which can compromise the output tracking control system without being detected. Two sufficient conditions under which the covert agent can successfully compromise the output tracking control system are proposed. The designed covert attacks are illustrated through two numerical examples.

关键词： control systems Numerical models Kalman filters system dynamics State estimation Cyber-physical systems system performance

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Distributed Localization in Sensor Networks with Communication and measurement Noises

Distributed Localization in Sensor Networks with Communicati...

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Asian control Conference

作者： Fei Wu Yu-Ping Tian Bo Wang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781509015740;9781509015733

The localization problem for sensor networks with communication and measurement noises is studied in this paper. A robust distributed iterative algorithm called ECHO-CMN is presented based on the signed barycentric coordinate representation, which can be calculated only by relative distance measurements. In the algorithm, a dither is added to the sensor states before quantization to randomize the quantization error. To attenuate the communication noise, a gain parameter which decays to zero is used. An unbiased distance estimator is constructed, and nodes can take advantage of the estimator to update the distance estimation before each localization iteration. It can be proved that ECHO-CMN converges to the exact location of each sensor almost surely under some mild assumptions on the noise. Numerical studies illustrate the proposed localization algorithm.

关键词： Noise measurement Quantization (signal) Distance measurement Robustness Convergence Nickel Mathematical model

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Comparative study of VSP binning methods for estimating fuel consumptions of LDVs on urban roads

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AIP Conference Proceedings 2019年第1期2066卷

作者： Qi Zhao Qi Chen Guohua Song Lei Yu 1Beijing Key Laboratory of Urban Intelligent Traffic Control Technology North China University of Technology Beijing 100144 China 2MOE Key Laboratory for Urban Transportation Complex System Theory and Technology Beijing Jiaotong University Beijing 100044 China 3College of Science and Technology Texas Southern University Houston Texas 77004 United States

The micro-scale fuel consumption model is a tool commonly used to evaluate the effect of traffic flow conditions on vehicle fuel consumptions, which is an essential step in developing traffic management strategies for saving fuels. In developing any micro-scale fuel consumption model, the Vehicle Specific Power (VSP) binning method has been widely adopted in recent years as a fundamental approach. Existing studies have shown that the high distribution frequency when VSP=0 contributes to high fuel consumptions, so a question quickly emerged about whether VSP=0 should be designed as an independent VSP bin in the VSP binning method. This paper strives to compare different VSP binning methods for Light-Duty Vehicles (LDVs) on urban roads in Beijing in terms of their effects on the estimation of fuel consumptions. After collecting and processing field vehicle activity data and fuel consumption data, three VSP binning methods are proposed for the study. Then, total fuel consumptions and fuel consumption factors are calculated by using the proposed VSP binning methods as well as the second-by-second and average travel speed data. Finally, the estimation accuracy of total fuel consumptions and fuel consumption factors based on the three different VSP binning methods are compared for LDVs on urban roads. The study proves that an independent VSP bin at VSP=0 is indeed necessary, which can improve the estimation accuracy on both total fuel consumptions and fuel consumption factors.

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