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International Workshop on Variable Structure systems, VSS

作者： Jianliang Mao Shihua Li Qi Li Jun Yang Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China

This paper develops a continuous second-order sliding mode control based on finite-time disturbance observer for light of sight (LOS) stabilized loop of inertial stabilized platform. The main purpose of an inertial stabilized platform is to eliminate the various disturbances to make the LOS keep steady in an inertial space. To accomplish the controller design, the equations of motion for a 2-DOF gimbal system driven by permanent synchronous motors are established and the cross coupling torque, mass unbalance torque, uncertain load torque are treated as the lumped disturbances. And to improve the tracking accuracy, a new continuous sliding mode control approach is employed to control the rate loop of the system. The proposed method confirms that the tracking error of LOS rate converges to zero in finite time even in the presence of the disturbances. By using the Lyapunov function technique, a rigorous finite-time convergence proof is given. The comparison simulation results show that the proposed method for LOS stabilized system exhibits a promising control performance in practical engineering.

关键词： Torque Couplings Sliding mode control DC motors Tracking Observers Aerospace electronics

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An Incentive-based Supplier Selection Mechanism to Support Green Supply Chains

An Incentive-based Supplier Selection Mechanism to Support G...

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World Congress on Intelligent control and Automation

作者： Fang Yu Lei Xue Changyin Sun Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

ISBN: (纸本)9781467384155

Supplier selection is an important decision for an enterprise to realize a sustainable production. However, almost all works, which concerned the environmental issues, focused on the supplier selection or evaluation methods, rather than the incentive mechanism urging the participants to improve their decisions (reduce the harm to the environment). In this paper, not only are the commercial factors (price, quantity, and lead time), but also the environment factors (green factors and carbon dioxide emissions) of the suppliers are considered during the selection. The determinations of the green factors and the total carbon dioxide emissions depend on the analysis of the history trade data. An incentive supplier selection mechanism, which urges the agents to improve their decisions to reduce the harm to the environment, is proposed. Numerical calculations are provided to verify the feasibility and the superiority of the proposed model.

关键词： degradation of the environment carbon dioxide emission green LEAD TIME evaluation method numerical calculation Environmental issues HARM Environmental factors incentives

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Design of Low-cost Position Differential Positioning system Based on STM32

Design of Low-cost Position Differential Positioning System ...

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Chinese Automation Congress

作者： Haijun Fu Ming Qiu Xisong Dong Gang Xiong Haonan Xiong Xiang Su Shichao Chen Zhen Shen Xiujiang Guo School of Artificial Intelligence Beijing Union University Beijing China The Cloud Computing Center Chinese Academy of Sciences Dongguan China The Qingdao Academy of Intelligent Industries Macau University of Science and Technology Qingdao China Beijing Union University Beijing China School of Electrical Engineering and Electronic Information Xihua University Chengdu China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China The Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China Department of Computer Science University of Helsinki Fin Finland Measurement Center Station PetroChina Huabei Oilfield Company Renqiu China

There exist some obstacles to realize high-precision positioning with using the position differential technique due to the limiting factors. However, with the advancement of chip performance and the establishment of multiple satellite navigation systems, position differential positioning can be realized to meet the civilian high-precision positioning demand while significantly reducing costs. This paper is to explore the engineering application and propose a new method. Through the experiments and data analysis, we have found the error correlation between two receivers in a small area and designed a set of positioning system, and programmed in the Keil μVision5 in C language. The system consists of the current mainstream low-cost STM32, UBLOX NEO 6M chip, NRF24L01 chip, GPS antenna and power supply module. Each two receivers can form a differential positioning system. At present, the system in the low-speed status is, in the urban environment, basically reaching within 0.5 - 3 m of the positioning error.

关键词： Position differential positioning Low cost Error correlation GPS STM32

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Immune particle swarm optimization of linear frequency modulation in acoustic communication

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Journal of systems Engineering and Electronics 2015年第3期26卷 450-456页

作者： Haipeng Ren Yang Zhao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

With the exploration of the ocean, underwater acoustic communication has attracted more and more attention in recent years. The underwater acoustic channel is considered to be one of the most complicated channels because it suffers from more serious multipath effect, fewer available bandwidths and quite complex noise. Since the signals experience a serious distortion after being transmitted through the underwater acoustic channel, the underwater acoustic communication experiences a high bit error rate （BER）. To solve this problem, carrier waveform inter- displacement （CWlD） modulation is proposed. It has been proved that CWlD modulation is an effective method to decrease BER. The linear frequency modulation （LFM） carrier-waves are used in CWlD modulation. The performance of the communication using CWID modulation is sensitive to the change of the frequency band of LFM carrier-waves. The immune particle swarm optimization （IPSO） is introduced to search for the optimal frequency band of the LFM carrier-waves, due to its excellent performance in solving complicated optimization problems. The multi-objective and multi- peak optimization nature of the IPSO gives a suitable description of the relationship between the upper band and the lower band of the LFM carrier-waves. Simulations verify the improved perfor- mance and effectiveness of the optimization method.

关键词： underwater acoustic communication carrier waveform inter-displacement （CWlD） multi-objective optimization immune particle swarm optimization （IPSO）.

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A Self-correcting Localization Approach for Automobile Robots Based on the Two Dimensional LADAR

A Self-correcting Localization Approach for Automobile Robot...

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第35届中国控制会议

作者： Jing Li Wenxue Liu Junzheng Wang Jianan Qiao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper,a novel localization approach for autonomous mobile robots is *** can accomplish the all-terrain localization function with the laser radar(LADAR) and the inertial measurement unit(IMU).First of all,for the multiple-input nonlinear localization system,a fuzzy filter is built up to estimate the position of the mobile ***,an efficient evaluation index is raised to determine whether the landmarks extracted from the adjacent data frame are the same,which can help the mobile robot to realize the self-correction *** the final,the experiments in the real world are implemented to show the effectiveness of the proposed approach.

关键词： Localization SLAM Fuzzy filter Self-correcting Obstacle match

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Process Noise Estimator Based on Observation Sequence and its Application on Inertial Navigation system

Process Noise Estimator Based on Observation Sequence and it...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Xiao Xuan Huang Kun Yang Liming Liang Yuan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Kalman filter has been extensively applied in vast areas. However, it is widely acknowledged that the performance of Kalman filter depends on the accuracy of priori information such as model structure, statistics information of process and observation noise. Obtaining the covariance matrix of process noise is difficult in some application *** such background, this paper presents a process noise estimation algorithm based on the noise observation sequence. By constructing a transform matrix and removing the state variables from the observation, the noise observation sequence can be established, through which the covariance matrix of process noise can be estimated. Comparing to conventional adaptive filter, this algorithm needs less calculation. Moreover,the noise estimation process is separated from Kalman filter thus ensures Kalman Filters independence and optimality. The simulation results show that the new algorithm can effectively estimate the process noise covariance, and remain uninfluenced by the initial condition.

关键词： Adapt Kalman filter noise estimate

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Observer-based fault detection for affine nonlinear systems with disturbances and uncertainties 35

Observer-based fault detection for affine nonlinear systems ...

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第35届中国控制会议

作者： HAN Huayun YANG Ying LI Linlin Chen Yu State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University School of Automation and Electrical Engineering University of Science and Technology Beijing the Institute for Automatic Control and Complex Systems (AKS) University of Duisburg-Essen Beijing Institute of Astronautics System Engineering

ISBN: (纸本)9781509009107

This paper is concerned with the integrated design schemes of L observer-based fault detection（FD） systems for affine nonlinear processes with disturbances and uncertainties,*** this end,a so called L observer-based FD scheme is studied ***,the integrated design approaches for nonlinear systems with disturbances and uncertainties are addressed,*** the end,examples are given to illustrate the effectiveness of the proposed approaches.

关键词： Robust Fault Detection Observer Design Affine Nonlinear systems

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Consensus disturbance rejection control for second-order multi-agent systems via nonsingular terminal sliding-mode control

Consensus disturbance rejection control for second-order mul...

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International Workshop on Variable Structure systems, VSS

作者： Xiangyu Wang Shihua Li Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing PR China

In this paper, consensus disturbance rejection control problem for a class of second-order leader-follower multi-agent systems are investigated. Such systems not only contain unmeasurable states but also suffer from mismatched disturbances. By combining integral-type nonsingular terminal sliding-mode control technique and an extended-state observer technique together, finite-time consensus is achieved. Firstly, to obtain accurate information of the unmeasurable states and disturbances, an extended-state observer is designed for each follower. Secondly, the states and disturbances estimates are distributedly employed to design nonlinear terminal sliding-mode surfaces. Finally, based on these sliding-mode surfaces, sliding-mode consensus protocols are designed via output feedback. Simulations illustrate the effectiveness of the proposed distributed control scheme.

关键词： Observers Multi-agent systems Protocols Decentralized control Convergence Laplace equations Topology

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Cooperative robust output regulation for second-order nonlinear multi-agent systems with an unknown exosystem

Cooperative robust output regulation for second-order nonlin...

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IEEE Annual Conference on Decision and control

作者： Yi Dong Jie Chen Jie Huang Department of Automation Chinese University of Hong Kong Shatin N.T. Hong Kong State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

The cooperative robust output regulation problem for a class of second-order nonlinear multi-agent systems with an exactly known exosystem has been studied recently. This paper further studies the same problem for a class of second-order nonlinear multi-agent systems subject to an unknown exosystem. We first show that the problem can be converted into the adaptive stabilization problem for a modified augmented system composed of the given multi-agent system and the distributed internal model. Due to the uncertain parameter in the exosystem, the augmented system is a nonlinear multi-input system with both dynamic and static uncertainties. By combining the adaptive control technique and the robust control technique, we solve our problem by a distributed adaptive robust state feedback controller.

关键词： Multi-agent systems Mathematical model Robustness Robust control Automation Electronic mail Nickel

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Sensor Fault Diagnosis based on On-line Random Forests

Sensor Fault Diagnosis based on On-line Random Forests

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第35届中国控制会议

作者： Li Yang Zhang Jia Deng Fang Chen Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control of Complex System

ISBN: (纸本)9781509009107

In order to reduce the memory requirement,and obtain real-time status of equipment,the paper proposed to use the the on-line random forests(ORFs) algorithm to identify sensor *** sample set is derived from Tennessee Eastman(TE)*** models are updated by a group of sensor data,which are collected in each *** models are real-time and dynamic,the equipment could be tested at any ***,the samples obtained at previous intervals are not need to *** results of experiments show that the accuracies of ORFs and Random Forests(RFs) are similar in sensor fault diagnosis *** in some fast changing process,ORFs distinguishes fault types with higher accuracy,better adaptable and faster than RFs.

关键词： On-line Random Forests Sensor fault Tennessee Eastman process

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