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STATE FEEDBACK STABILIZATION FOR A CLASS OF NONLINEAR TIME-DELAY systemS VIA DYNAMIC LINEAR controlLERS

Journal of systems Science & complexity 2014年第3期27卷 453-462页

作者： CHAI Lin QIAN Chunjiang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioTX 78249USA

The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a class of time-delay systems under a type of nonhomogeneous growth *** the aid of an appropriate Lyapunov-Krasovskii functional and the adaptive strategy used in coordinates,the closed-loop system can be globally asymptotically stabilized by the dynamic linear state feedback *** growth condition in perturbations are more general than that in the existing *** correctness of the theoretical results are illustrated with an academic simulation example.

关键词： Dynamic linear controller global stabilization nonlinear time-delay systems state feed-back control.

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Distributed Detectability and Filter Design in Homogeneous Sensor Networks 33

Distributed Detectability and Filter Design in Homogeneous S...

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第三十三届中国控制会议

作者： ZHANG Ya TIAN Yu-Ping School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filter design are *** converting the stability problem of estimation errors of sensors under time-varying topologies to the robust stability problem of some uncertain system,two sufficient distributed detectability conditions are *** is LMI-based and the other is given by the eigenvalues of the process matrix and Laplacian matrices.A suboptimal algorithm to design the consensus based filter gains is proposed and the convergence of the algorithm is *** examples are given to illustrate the results.

关键词： Distributed filter,Detectability,Consensus,Multi-agent systems,Sensor networks

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Extended State Observer Based Adaptive control Scheme for PMSM system 33

Extended State Observer Based Adaptive Control Scheme for PM...

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第三十三届中国控制会议

作者： Li Xiaodi Li Shihua School of Automation Southeast University Key laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

In this paper, the speed regulation problem for permanent magnet synchronous motor(PMSM) systems under vector control framework is studied. A modified composite control strategy combining model reference adaptive control(MRAC)method and extended state observer(ESO) technology, called MRAC+ESO method, is proposed. controller is designed for the speed loop of the permanent magnet synchronous motor(PMSM) to improve the performance of the system. The stability analysis, simulation and experimental results are presented to show the effectiveness of the proposed control method.

关键词： Model reference adaptive control(MRAC),Permanent magnet synchronous motor(PMSM),Speed regulation system,Extended state observer(ESO),Composite controller

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Adaptive bat algorithm for coverage of wireless sensor network

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International Journal of Wireless and Mobile Computing 2015年第3期8卷 271-276页

作者： Cai, Xingjuan Wang, Lei Kang, Qi Wu, Qidi Department of Control Science and Engineering Tongji University Shanghai201804 China Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Taiyuan030024 China Shanghai Key Laboratory of Financial Information Technology Shanghai200433 China

Bat algorithm is a novel swarm intelligent algorithm inspired by the echolocation behaviour of bats. Pulse rate of emission is one important parameter, which is adjusted in an exponential manner in the standard version, however, this manner provides a fast convergent behaviour in the first several generations. With this manner, the exploitation capability is limited. In this paper, a new linear adjusted manner is employed to enhance the local search capability. To test the performance, it is applied to solve the optimal coverage problem of Wireless Sensor Network (WSN). Simulation results show it is effective when compared with the standard version of bat algorithm. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： Wireless sensor networks

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Research on panoramie vision system of mobile robot

Research on panoramie vision system of mobile robot

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Chinese control and Decision Conference, CCDC

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

This paper presents an imaging method for 360-degree panoramic view based on four wide angle cameras. In 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 toolbox. Then, our approach does not adopt the scheme which stitching all the images to the surrounding view after distortion correction. The 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 image. Finally, panoramic image is composed by image registration and image fusion. Experimental results show that this method is valid.

关键词： Machine vision Mobile robots

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Road detection via unsupervised feature learning

Road detection via unsupervised feature learning

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International Conference on Image and Vision Computing New Zealand, IVCNZ

作者： Siyu Xia Junkang Zhang Kaiyue Lu A. K. Qin Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing China College of Engineering and Computer Science Australian National University Canberra ACT Australia School of Computer Science and Information Technology RMIT University Melbourne Victoria Australia

ISBN: (纸本)9781509003587

Computer vision based road detection is an indispensable and challenging task in many real-world applications such as obstacle detection in autonomous driving. Low-level image features (e.g., color and texture) and pre-trained models are commonly used for this task. In this paper, we propose a simple yet effective approach to detect roads from a single image, which avoids the supervised model training that typically relies on a considerable number of labeled images. The key idea is to leverage unsupervised feature learning to obtain good road representations. Specifically, we first represent an input road image as a set of image patches. The K-means clustering algorithm is then applied to these image patches (after pre-processing) to generate K cluster centroids. Thus obtained centroids will be used together with a nonlinear mapping function and a bag-of-words projection to derive the image's feature representation in pixel and region levels respectively. All pixels (of the input image) using the former mapping will be clustered by Density Peaks algorithm into several regions, and the regions represented by the latter feature will be grouped by a graph cut method into two classes: road and non-road. Experimental results on several complicated road images demonstrate the effectiveness of our proposed method.

关键词： Roads Feature extraction Training Image color analysis Clustering algorithms Testing Image segmentation

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A Multi-dimensional Taylor Network (MTN)-Based Approach for Nonlinear Stochastic systems Tracking control

A Multi-dimensional Taylor Network (MTN)-Based Approach for ...

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International Conference on control, Automation and systems

作者： Yu-Qun Han Hong-Sen Yan School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479999767

The problem of tracking control for stochastic nonlinear systems is investigated in this paper. Because of the randomness and nonlinearity of stochastic nonlinear systems, the existing methods are sometimes difficult to achieve the desired tracking performance. In this paper, a new network controller (multi-dimensional Taylor network) is proposed, which only relies on the output of system. Firstly we give the structure of multi-dimensional Taylor network (MTN), and then prove the MTN has a good approximation performance. Secondly, Design a MTN control strategy relying on the system output, which will guarantee the tracking of system output to desired output. An example is given to illustrate the effectiveness of the proposed design approach.

关键词： Multi-dimensional Taylor network Stochastic nonlinear systems Stochastic stability Tracking control

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Optimal Tracking control of MISO Nonlinear systems Based on Multi-dimensional Taylor Network Only by Output Feedback

Optimal Tracking Control of MISO Nonlinear Systems Based on ...

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International Conference on control, Automation and systems

作者： Qi-Ming Sun Hong-Sen Yan School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479999767

The control input item is added to constitute the nonlinear dynamic model, on the basis of the original multi-dimensional Taylor network in this paper. And this nonlinear dynamic model is used to optimally control MISO nonlinear system only by output feedback without the disturbance estimation of the system or needing the state observer. The back-propagation algorithm is used to train the parameters of the multi-dimensional network with the control input item. Through the simulation, it is demonstrated the multi-dimensional Taylor network used as the optimal MISO nonlinear system tracking controller is effective.

关键词： Nonlinear systems Multi-dimensional Taylor Network Optimal Track control Parameter Learning

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Hovering control of a Nano Quadrotor Unmanned Aerial Vehicle Using Optical Flow 33

Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle...

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第三十三届中国控制会议

作者： XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479947249

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV,Optical Flow,Autonomous control

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Self-evolution of an assembly workshop in knowledgeable manufacturing environment

Self-evolution of an assembly workshop in knowledgeable manu...

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2nd International Conference on Precision Mechanical Instruments and measurement Technology, ICPMIMT 2014

作者： Jiang, Tian-Hua Yan, Hong-Sen School of Automation MOE Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9783038351948

In this study, the self-evolution problem of knowledgeable manufacturing systems is studied by taking an assembly workshop as an example. The rolling horizon procedure (RHP) is adopted to implement the self-evolution process of the workshop. The whole dynamic self-evolution process is decomposed into several static decision processes. At each decision point, a static decision sub-problem needs to be solved. A general mathematical model of these sub-problems is built, and a bi-level genetic algorithm (BiGA) is designed. Simulation results show that the model and algorithm are feasible and effective. By comparison, the system with self-evolution operations has a better production performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Genetic algorithms

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