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Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

Journal of Beijing Institute of Technology 2014年第3期23卷 358-367页

作者：郝仁剑王军政赵江波汪首坤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

关键词： adaptive robust electrical cylinder friction compensation LuGre model

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An Adaptive Method based on QRCP Decomposition for Single Sample Problem 33

An Adaptive Method based on QRCP Decomposition for Single Sa...

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第三十三届中国控制会议

作者： HU Changhui LU Xiaobo DU Yijun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781479947249

In this paper,an adaptive approximation image reconstruction method based on orthogonal triangular with column pivoting(QRCP) decomposition algorithm is proposed for single sample problem in face *** using QRCP the single sample and its transpose are decomposed to two sets of basis *** an adaptive approximation image reconstruction method is proposed to reconstruct two approximation images from the two basis image sets *** single training sample and its two approximation images of each object form a new training set,which can make the fisher linear discriminant analysis(FLDA) be applied to single sample problem in face *** performance of the proposed method is verified on Yale,FERET,and ORL face *** experimental results indicate that the proposed method is efficient and outperforms some existing methods which are proposed to overcome the single sample problem.

关键词： Face recognition,single sample problem,orthogonal triangular decomposition with column pivoting,adaptive approximation image reconstruction method

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Consensus and Obstacle Avoidance of Partially-informed Multi-agent system

Consensus and Obstacle Avoidance of Partially-informed Multi...

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2015 2nd International Conference on Civil,Materials and Environmental Sciences(CMES 2015)

作者： Jiaojie Li Wei Zhang Yupu Yang Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Measurement and Control Technology Shanghai Dian Ji University

In this paper, we study the collective obstacle avoidance problem when only part of agents is informed of obstacle information. The control protocol is proposed to lead second order agents trend to state consensus in the existence of smooth convex obstacles. Both the position and velocity of agents will trend to the same. The moving obstacles which have varying acceleration can also be avoid, even without acceleration sensor. We prove the convergence and collision avoidance of multi-agent system. A simulation demonstrates the effect of the proposed control protocol.

关键词： collective movement partial informed obstacle avoidance consensus multi-agent system

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Solving multi-objective multi-stage weapon target assignment problem via adaptive NSGA-II and adaptive MOEA/D: A comparison study

Solving multi-objective multi-stage weapon target assignment...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin LiHua Dou School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R. China

ISBN: (纸本)9781479974931

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research, and the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the consideration of resource constraints, feasibility constraints and fire transfer constraints. In order to tackle the two challenges, two types of multi-objective optimizers: NSGA-II (domination-based) and MOEA/D (decomposition-based) enhanced with an adaptive mechanism are adopted to achieve efficient problem solving. Then a comparison study between adaptive NSGA-II (ANSGA-II) and adaptive MOEA/D (AMOEA/D) on solving instances of three scales MWTA problems is done, and four performance metrics are used to evaluate each algorithm. Numerical results show that ANSGA-II outperforms AMOEA/D on solving multi-objective MWTA problems discussed in this paper, and the adaptive mechanism definitely enhances performances of both algorithms.

关键词： Weapons Fires Discrete wavelet transforms Optimization Sociology Statistics Genetics

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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Robust tracking control design for a flexible air-breathing hypersonic vehicle

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Journal of Central South University 2014年第1期21卷 130-139页

作者：张垚鲜斌刁琛赵勃郭建川 Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying *** longitudinal dynamic model for the flexible AHV was used for the control ***-gain observers were designed to compensate for the system uncertainties and additive *** gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop *** uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive ***/Simulink simulation results were provided to validate the robustness of the proposed control *** simulation results demonstrate that the tracking errors stay in a small region around zero.

关键词： hypersonic vehicles nonlinear robust control flexible mode small gain theorem Lyapunov

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Global finite-time stabilization of second-order systems subject to mismatched disturbances with application to consensus

Global finite-time stabilization of second-order systems sub...

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第三十四届中国控制会议

作者： Xiangyu Wang Shihua Li Haibo Du School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Electrical Engineering and Automation Hefei University of Technology

ISBN: (纸本)9781467374439

In this paper, the finite-time stabilization problem for second-order systems subject to mismatched disturbances is studied. By integrating the homogeneous control technique and the finite-time disturbance observer together, a kind of feedforwardfeedback composite controllers are proposed. These controllers globally finite-time stabilize the disturbed systems. Moveover,the composite control method is also used to solve the finite-time consensus problem of leaderless second-order systems with mismatched disturbances. Simulations demonstrate the effectiveness of the proposed control algorithms.

关键词： Mismatched disturbances,finite-time control,homogeneous theory,finite-time disturbance observer,consensus

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Author Correction: The power of genetic diversity in genome-wide association studies of lipids

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Nature 2023年第7965期618卷 E19-E20页

作者： Sarah E Graham Shoa L Clarke Kuan-Han H Wu Stavroula Kanoni Greg J M Zajac Shweta Ramdas Ida Surakka Ioanna Ntalla Sailaja Vedantam Thomas W Winkler Adam E Locke Eirini Marouli Mi Yeong Hwang Sohee Han Akira Narita Ananyo Choudhury Amy R Bentley Kenneth Ekoru Anurag Verma Bhavi Trivedi Hilary C Martin Karen A Hunt Qin Hui Derek Klarin Xiang Zhu Gudmar Thorleifsson Anna Helgadottir Daniel F Gudbjartsson Hilma Holm Isleifur Olafsson Masato Akiyama Saori Sakaue Chikashi Terao Masahiro Kanai Wei Zhou Ben M Brumpton Humaira Rasheed Sanni E Ruotsalainen Aki S Havulinna Yogasudha Veturi QiPing Feng Elisabeth A Rosenthal Todd Lingren Jennifer Allen Pacheco Sarah A Pendergrass Jeffrey Haessler Franco Giulianini Yuki Bradford Jason E Miller Archie Campbell Kuang Lin Iona Y Millwood George Hindy Asif Rasheed Jessica D Faul Wei Zhao David R Weir Constance Turman Hongyan Huang Mariaelisa Graff Anubha Mahajan Michael R Brown Weihua Zhang Ketian Yu Ellen M Schmidt Anita Pandit Stefan Gustafsson Xianyong Yin Jian'an Luan Jing-Hua Zhao Fumihiko Matsuda Hye-Mi Jang Kyungheon Yoon Carolina Medina-Gomez Achilleas Pitsillides Jouke Jan Hottenga Gonneke Willemsen Andrew R Wood Yingji Ji Zishan Gao Simon Haworth Ruth E Mitchell Jin Fang Chai Mette Aadahl Jie Yao Ani Manichaikul Helen R Warren Julia Ramirez Jette Bork-Jensen Line L Kårhus Anuj Goel Maria Sabater-Lleal Raymond Noordam Carlo Sidore Edoardo Fiorillo Aaron F McDaid Pedro Marques-Vidal Matthias Wielscher Stella Trompet Naveed Sattar Line T Møllehave Betina H Thuesen Matthias Munz Lingyao Zeng Jianfeng Huang Bin Yang Alaitz Poveda Azra Kurbasic Claudia Lamina Lukas Forer Markus Scholz Tessel E Galesloot Jonathan P Bradfield E Warwick Daw Joseph M Zmuda Jonathan S Mitchell Christian Fuchsberger Henry Christensen Jennifer A Brody Mary F Feitosa Mary K Wojczynski Michael Preuss Massimo Mangino Paraskevi Christofidou Niek Verweij Jan W Benjamins Jorgen Engmann Rachel L Kember Roderick C Slieker Ken Sin Lo Nuno R Zilhao Phuong Le Marcus E Kleber Graciela E Delgado Shaofeng Huo Dai Department of Internal Medicine Division of Cardiology University of Michigan Ann Arbor MI USA. VA Palo Alto Health Care System Palo Alto CA USA. Department of Medicine Division of Cardiovascular Medicine Stanford University School of Medicine Stanford CA USA. Department of Computational Medicine and Bioinformatics University of Michigan Ann Arbor MI USA. William Harvey Research Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London London UK. Department of Biostatistics and Center for Statistics Genetics University of Michigan Ann Arbor MI USA. Department of Genetics Perelman School of Medicine University of Pennsylvania Philadelphia PA USA. Clinical Pharmacology William Harvey Research Institute Barts and The London School of Medicine and Dentistry Queen Mary University of London London UK. Endocrinology Boston Children's Hospital Boston MA USA. Medical and Population Genetics Broad Institute Cambridge MA USA. Department of Genetic Epidemiology University of Regensburg Regensburg Germany. McDonnell Genome Institute and Department of Medicine Washington University St Louis MO USA. Department of Precision Medicine Division of Genome Science National Institute of Health Cheongju-si South Korea. Tohoku Medical Megabank Organization Tohoku University Sendai Japan. Sydney Brenner Institute for Molecular Bioscience Faculty of Health Sciences University of the Witwatersrand Johannesburg South Africa. Center for Research on Genomics and Global Health National Human Genome Research Institute National Institutes of Health Bethesda MD USA. Blizard Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London London UK. Wellcome Sanger Institute Hinxton UK. Department of Epidemiology Emory University Rollins School of Public Health Atlanta GA USA. Atlanta VA Health Care System Decatur GA USA. Malcolm Randall VA Medical Center Gainesville FL USA. Division of Vascular Sur

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Research on Panoramic Vision system of Mobile Robot

Research on Panoramic Vision System of Mobile Robot

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第27届中国控制与决策会议

作者： Qiaobing Yao Hualong Yu Wankou Yang Changyin Sun School of Autmation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University Key Laboratory of Child Development and Learning Science of Ministry of Education Southeast University

ISBN: (纸本)9781479970186

This paper presents an imaging method for 360-degree panoramic view based on four wide angle *** order to complete the image mosaic,all the parameters such as focal length,principal point and distortion coefficients,etc are calibrated by our proposed calibration ***,our approach does not adopt the scheme which stitching all the images to the surrounding view after distortion *** proposed method directly calculates the mapping relationship between the wide-angle lens images and cylindrical projection images to generate lookup tables which can greatly simplifies the computation and reduces the loss of information in each ***,panoramic image is composed by image registration and image *** results show that this method is valid.

关键词： Image mosaic Camera calibration Cylindrical projection LUTs

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K-Means Clustering Based on Density for Scene Image Classification

K-Means Clustering Based on Density for Scene Image Classifi...

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2015年中国智能自动化学术会议

作者： Ke Xie Jin Wu Wankou Yang Changyin Sun School of Autmation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Key Laboratory of Child Development and Learning Science of Ministry of Education Southeast University

K-means clustering has been extremely popular in scene image classification. However, due to the random selection of initial cluster centers, the algorithm cannot always provide the most optimal results. In this paper, we develop a density-based k-means clustering. First, we calculate the density and distance for each feature vector. Then choose those features with high density and large distance as initial cluster centers. The remaining steps are the same with k-means. In order to evaluate our proposed algorithm, we have conducted several experiments on twoscene image datasets: Fifteen Scene Categories dataset and UIUC Sports Event dataset. The results show that our proposed method has good repeatability. Compared with the traditional k-means clustering, it can achieve higher classification accuracy when applied in multiclass scene image classification.

关键词： K-means Density Scene image classification

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