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32nd Chinese control Conference, CCC 2013

作者： Shen, Wei Wang, Jun-Zheng Jing, Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

The vacuum pumping and liquid injection system is designed to meet the requirement of liquid automatic injection in a closed chamber. It is made up of vacuum pumping subsystem, liquid injection subsystem and control subsystem. The whole system has a high quality in vacuum pumping and liquid injection in a closed chamber. By using hardware filtering and the flow signal processing method based on pulse duty cycle and duration comparison, the injected liquid volume can be measured accurately in various strong interference environments. In order to solve the problem of injection pressure cannot be exactly controlled sometime, the method of pressure feedback control based on PID algorithm is developed. Finally, the quality of liquid injection is improved greatly and the requirements of injection are met very well. © 2013 TCCT, CAA.

关键词： Signal processing

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Modeling, control and software implementation of astronomical tracking of focus cabin suspension of FAST

Modeling, control and software implementation of astronomica...

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IEEE International Conference on Robotics and Biomimetics

作者： Jianlin Hao Fengshui Jing Guodong Yang Zize Liang Lichun Zhu The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China the Measurement and Control group Chinese Academy of Science Bejing China

This article describes the control algorithm and software implementation of astronomical tracking based on the mechanical analysis for Five-hundred-meter Aperture Spherical Telescope(FAST) that is being built in Guizhou province of China, which aims to help astronomers resolve questions in cosmology. On the basis of position and attitude feedback algorithm of cable driven parallel robot, the control of X-Y positioner with feed-forward was introduced and the astronomical tracking experiments were conducted on scale model to verify the validity of control strategy. The future works for focus cabin suspension of FAST are also pointed out.

关键词： Receivers Parallel robots Attitude control Force Software Suspensions Communication cables

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Consensus of Multiple High-order Nonlinear systems with Uncertainty

Consensus of Multiple High-order Nonlinear Systems with Unce...

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第三十二届中国控制会议

作者： Jie Huang Jie Chen Hao Fang Lihua Dou Qingkai Yang School of Automation Beijing Institute of Technology Key Laboratory Intelligent Control and Decision of Complex System Fujian Institute of Education

ISBN: (纸本)9781479900305

This paper focuses on the consensus problem of a class of multiple high-order nonlinear systems with uncertainty under the fixed and undirected communication topology. The distributed virtual control functions of the multi-agent system are constructed by only using their local information in the recursive controller design procedure. A set of distributed cooperative consensus control laws is proposed through combining backstepping and adaptive control techniques. The asymptotic stability of the overall interconnected system is proved relying on Lyapunov stability analysis method. Furthermore, the proposed control scheme can be extended to apply to the condition when the communication graph is directed or time-varying. Finally, simulation is provided to verify the effectiveness of the control algorithms.

关键词： adaptive control, consensus control, backstepping, high-order nonlinear systems, uncertainty, multi-agent

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Ballistic method based on improved particle swarm optimization algorithm

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2013年第SUPPL.I期43卷 215-218页

作者： Cui, Jing Deng, Fang Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

In order to improve real-time performance of the fire control system, a ballistic resolving method based on the improved particle swarm optimization (PSO) algorithm is proposed, which improves the response speed of the system and provides a convenient extension to parallel computing on multicore platforms. First, particles are generated and initialized around the pre-estimated aiming angle. Then each particle is evaluated by an objective function composed of the ballistic differential equation etc. Finally, the position and velocity of particle swarm are updated. In order to accelerate the convergence speed, the correction angle of the global best particle obtained by Zhou's iterative and correction formula is used to guide the update of particle swarm. Experimental results show that the calculation speed is twice that of the iterative and correction method, and the convergence speed of particle swarm is 1.5 times that of the conventional PSO algorithm. Moreover, the proposed method is fully compatible with parallel computing and can further shorten execution time on multicore platforms.

关键词： Ballistics

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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...

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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

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Identifying peer influence in online social networks using transfer entropy

Identifying peer influence in online social networks using t...

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Pacific Asia Workshop on Intelligence and Security Informatics, PAISI 2013

作者： He, Saike Zheng, Xiaolong Zeng, Daniel Cui, Kainan Zhang, Zhu Luo, Chuan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Management Information System University of Arizona Tucson AZ 85719 United States School of Electronic and Information Engineering Xi'an Jiaotong University Xi'an China

ISBN: (纸本)9783642396922

The past few years have witnessed the rapid growth of online social networks, which have become important hubs of social activity and conduits of information. Identifying social influence in these newly emerging platforms can provide us with significant insights to better understand the interaction behaviors among online users. However, it is difficult for us to measure the influence quantitatively among user peers, since many key factors such as homophily and heterogeneity, can not be observed in our real world conveniently. More recent work mainly focuses on developing theoretical models based on explicit causal knowledge. Nevertheless, such knowledge is usually not available and often needs to be discovered. In this paper, we introduce a model free approach to formulate causal inferences of behaviors among user peers. Experimental results show that influence measured by our approach could successfully reconstruct the underlying networks structure. Furthermore, two additional case studies based on this approach reveal that influentials wield power through specific venues, which constitute a comparatively small portion of the whole channels. © 2013 Springer-Verlag.

关键词： Social networking (online)

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Development of a three degree-of-freedom testbed for an unmanned helicopter and attitude control design

Development of a three degree-of-freedom testbed for an unma...

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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail Process control Educational institutions control design

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Autonomous hovering control for a quadrotor unmanned aerial vehicle

Autonomous hovering control for a quadrotor unmanned aerial ...

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Chinese control Conference (CCC)

作者： Fu Wang Bin Xian Guoping Huang Bo Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

In this paper, an autopilot system for the quadrotor unmanned aerial vehicle (UAV) is developed by utilizing a digital signal processor (DSP) as the on-board micro-control unit (MCU). The hardware setup and the software are also developed for the autonomous flight control of the UAV. The main design procedure includes the controller board design, brushless DC motor driver design, sensor data processing software design, and flight control algorithm design. The control algorithm is developed based on the inner loop and outer loop control method. Proportional Derivative (PD) controllers are proposed for the attitude dynamics (inner loop) and position dynamics (outer loop) respectively. Autonomous hovering control is achieved via the control of roll angle, pitch angle, yaw angle and altitude of the UAV. Experiments results are included to demonstrate the hovering control performance.

关键词： Digital signal processing Pulse width modulation Electronic mail Unmanned aerial vehicles Educational institutions Digital signal processors Heuristic algorithms

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What is the uniqueness of growth pattern in human flesh search organization?

What is the uniqueness of growth pattern in human flesh sear...

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Pacific Asia Workshop on Intelligence and Security Informatics, PAISI 2013

作者： Wang, Tao Zhang, Qingpeng Fu, Julei Wang, Xiao Zheng, Suncong College of Information System and Management National University of Defense Technology Changsha 410073 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Systems and Industrial Engineering University of Arizona Tucson AZ United States

ISBN: (纸本)9783642396922

Human Flesh Search is an explosive Web phenomenon these years in China, especially when new media, such as Weibo, appeared. In this research, we present the empirical studies about growing patterns of participated Human Flesh Search user, and unveiled one unique growing property. Based on the empirical findings, we compare it with two others results, one is the common Weibo's growth pattern, and the other is the popularity growth pattern of photo in Flickr. Some differences are proposed and analyzed briefly. © 2013 Springer-Verlag.

关键词： Social networking (online)

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Differential Evolution Based Receding Horizon controlfor UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期 107-114页

作者： ZHANG Xing BAI YongQiang XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Decision and Cognitive Sciences Research Centre Manchester Business SchoolUniversity of Manchester

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词： unmanned aerial vehicle motion planning receding horizon control differential evolution

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