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第三十二届中国控制会议

作者： WANG Naizhou PEI Hailong WANG Jun Key Laboratory of Autonomous Systems and Networked Control Ministry of Education in South China University of Technology

ISBN: (纸本)9781479900305

In this paper,a static anti-windup synthesis problem is *** original system with amplitude and rate saturation is simplified to the synthesis of a system with only amplitnde *** on the general sector condition, the static anti-windup synthesis is solved by linear matrix inequality(LMI) using Lyapunov's second *** with other approaches,the designed controller need not to be strictly proper and can be applied to both stable and unstable system. Meanwhile,the best performance index can be obtained by solving a convex optimization *** the end of the paper,a simulation example is shown to illustrate the effectiveness of the proposed approaches.

关键词： amplitude and rate saturation static anti-windup compensation linear matrix inequality

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Dynamic Characteristics Analysis of Elastic Missile 7

Dynamic Characteristics Analysis of Elastic Missile

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： XU Zhaoqing Pei Hailong South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467383189

The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this *** aerodynamic force and moment and structure mode are *** unsteady aerodynamics additional caused by vibration is researched through simplified theory;the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory *** elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation *** outputs can provide raw data for stability analysis,precision analysis,control and guidance system *** response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight,but the variation of bank angle will be great,this result is matched with the experiment phenomenon.

关键词： Laplace simulation Dynamic Characteristics Analysis of Elastic Missile

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A Mobile Robot Localization and Map Building Algorithm and Simulation 33

A Mobile Robot Localization and Map Building Algorithm and S...

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第三十三届中国控制会议

作者： ZHANG Qian Pei Hailong ZHANG Cheng Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to realize the localization demand of mobile robot, the motion model and observation model of mobile robot were analyzed, and the mobile robot real-time localization algorithm of given map environment based on extended Kalman filtering was described. Besides, the algorithm was simulated. The landmark model of map was built in the process of simulation,and the landmark that was observed under control action was used to correct the location of mobile robot, by which the positioning of robot was realized. The result of simulation shows that the positional accuracy of this algorithm is very high. In addition, the construction method of real-time map of mobile robot was described on extended Kalman filtering under unknown environment based on this. Experimental result shows that this algorithm can identify the location of landmark accurately so as to give reference for the real-time positioning and mapping construction of mobile robot.

关键词： Mobile Robot,Extended Kalman Filtering,Localization,Map,Simulation

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Adaptive Output Feedback control Using Fault Compensation and Fault Estimation for Linear System with Actuator Failure

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International Journal of Automation and computing 2013年第5期10卷 463-471页

作者： Jun Wang Hai-Long Pei Nai-Zhou Wang Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology College of Automation Science and Engineering South China University of Technology

The problem of linear systems subject to actuator faults（outage,loss of efectiveness and stuck）,parameter uncertainties and external disturbances is *** active fault compensation control law is designed which utilizes compensation in such a way that uncertainties,disturbances and the occurrence of actuator faults are account *** main idea is designing a robust adaptive output feedback controller by automatically compensating the fault dynamics to render the close-loop *** to the information from the adaptive mechanism,the updating control law is derived such that all the parameters of the unknown input signal are ***,a disturbance decoupled fault reconstruction scheme is presented to evaluate the severity of the fault and to indicate how fault accommodation should be *** advantage of fault compensation is that the dynamics caused by faults can be accommodated *** proposed design method is illustrated on a rocket fairing structural-acoustic model.

关键词： Fault compensation fault-tolerant control robust adaptive control fault reconstruction actuator failure

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A Priority-aware Frequency Domain Polling MAC Protocol for OFDMA-based Networks in Cyber-physical systems

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 412-421页

作者： Meng Zheng Junru Lin Wei Liang Haibin Yu Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of Sciences Huawei Technologies Co. Ltd.

Wireless networking in cyber-physical systems (CPSs) is characteristically different from traditional wireless systems due to the harsh radio frequency environment and applications that impose high real-time and reliability constraints. One of the fundamental considerations for enabling CPS networks is the medium access control protocol. To this end, this paper proposes a novel priority-aware frequency domain polling medium access control (MAC) protocol, which takes advantage of an orthogonal frequency-division multiple access (OFDMA) physical layer to achieve instantaneous priority-aware polling. Based on the polling result, the proposed work then optimizes the resource allocation of the OFDMA network to further improve the data reliability. Due to the non-polynomial-complete nature of the OFDMA resource allocation, we propose two heuristic rules, based on which an efficient solution algorithm to the OFDMA resource allocation problem is designed. Simulation results show that the reliability performance of CPS networks is significantly improved because of this work. © 2014 Chinese Association of Automation.

关键词： Access control Embedded systems Frequency domain analysis Medium access control Network layers Orthogonal frequency division multiplexing Polynomials Real time systems Reliability Resource allocation Wireless networks

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In situ analysis of magnesium alloy using a standoff and double-pulse laser-induced breakdown spectroscopy system

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Frontiers of physics 2016年第5期11卷 151-160页

作者： Yong Xin Lan-Xiang Sun Zhi-Jia Vang Peng Zeng Zhi-Bo Cong Li-Feng Qi Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China

To monitor the components of molten magnesium alloy during the smelting process in real time and online, we designed a standoff double-pulse laser-induced breakdown spectroscopy （LIBS） analysis system that can perform focusing, collecting and imaging of long-range samples. First, we tested the system on solid standard magnesium alloy samples in the laboratory to establish a basis for the online monitoring of the components of molten magnesium alloy in the future. The experimental results show that the diameters of the focus spots are approximately 1 mm at a range of 3 m, the ablation depth of the double-pulse mode is much deeper than that of the single-pulse mode, the optimum interpulse delay of the double pulse is inconsistent at different ranges, and the spectral intensity decays rapidly as the range increases. In addition, the enhancement effect of the double pulse at 1.89 m is greater than that at 2.97 m, the maximum enhancement is 7.1-fold for the Y（I）550.35-nm line at 1.89 m, and the calibration results at 1.89 m are better than those at 2.97 m. At 1.89 m, the determination coefficients （R2） of the calibration curves are approximately 99% for Y, Pr, and Zr; the relative standard deviations （RSDs） are less than 10% for Y, Pr, and Zr; the root mean square errors （RMSEs） are less than 0.037% for Pr and Zr; the limits of detection （LODs） are less than 1000 ppm for Y, Pr, and Zr; and the LODs of Y, Pr, and Zr at 2.97 m are higher than those at 1.89 m. Additionally, we tested the system on molten magnesium alloy in a magnesium alloy plant. The calibration results of the liquid magnesium alloy are not as favorable as those of the sampling solid magnesium alloys. In particular, the RSDs of the liquid magnesium alloy are approximately 20% for Pr and La. However, with future improvements in the experimental conditions, the developed system is promising for the in situ analysis of molten magnesium alloy.

关键词： laser-induced breakdown spectroscopy standoff double-pulse online magnesium alloy

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Parameter Identification of JONSWAP Spectrum Acquired by Airborne LIDAR

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Journal of Ocean University of China 2017年第6期16卷 998-1002页

作者： YU Yang PEI Hailong XU Chengzhong Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology LAGEP Batiment CPEUniversité Claude Bernard Lyon 1

In this study, we developed the first linear Joint North Sea Wave Project(JONSWAP) spectrum(JS), which involves a transformation from the JS solution to the natural logarithmic scale. This transformation is convenient for defining the least squares function in terms of the scale and shape parameters. We identified these two wind-dependent parameters to better understand the wind effect on surface waves. Due to its efficiency and high-resolution, we employed the airborne Light Detection and Ranging(LIDAR) system for our measurements. Due to the lack of actual data, we simulated ocean waves in the MATLAB environment, which can be easily translated into industrial programming language. We utilized the Longuet-Higgin(LH) random-phase method to generate the time series of wave records and used the fast Fourier transform(FFT) technique to compute the power spectra density. After validating these procedures, we identified the JS parameters by minimizing the mean-square error of the target spectrum to that of the estimated spectrum obtained by FFT. We determined that the estimation error is relative to the amount of available wave record data. Finally, we found the inverse computation of wind factors(wind speed and wind fetch length) to be robust and sufficiently precise for wave forecasting.

关键词： JONSWAP spectrum parameter identification least square method airborne LIDAR

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Self-adaptive resolution method for multiple industrial communication protocols 11

Self-adaptive resolution method for multiple industrial comm...

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11th IEEE Annual International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2021

作者： Meng, Fanyu Liu, Mingzhe Xu, Aidong Jin, Ni Wang, Jingran Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9781665425278

Industrial communication faults may appear at all layers of the communication network with the industrial field environment becoming more and more complex. Protocol analysis is an important way to evaluate the quality of industrial communication and locate industrial communication faults. Nowadays, the parsing of industrial communication protocols (ICP) usually relies on certain specific methods or software. When users need to modify existing protocols or add new protocols, it is difficult to extend based on the existing parsing software because of different protocol formats and methods. This paper proposes a more general protocol description method, which is suitable for describing a variety of ICP, and realizes the self-adaptation resolution of different ICP. © 2021 IEEE.

关键词： Quality control

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A Target-coupled Multiagent Reinforcement Learning Approach for Teams of Mobile Sensing Robots 3

A Target-coupled Multiagent Reinforcement Learning Approach ...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Wang, Xin Zang, Chuanzhi Xu, Shuqing Zeng, Peng Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9781665435178

A mobile sensing robot team (MSRT) is a typical application of multiagent system, which faces the huge challenge of environment dynamism that the change of action selection of one robot may influence behaviors of the other robots. In this paper, we investigate reinforcement learning methods for MSRT problem. A target-coupled multiagent reinforcement learning approach is proposed to solve the MSRT problem by taking advantage of both the knowledge of each agent and the local environment information sensed by the agent for achieving a shared goal in a common environment. We show the strength of our approach compared to the existed decentralized Q-learning in MSRT problem, where sensing robots are able to meet targets coverage requirement by discovering a coordinated strategy. © 2021 IEEE.

关键词： Robots

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Design and Implementation of Functional Safety Fieldbus Communication Protocol 5

Design and Implementation of Functional Safety Fieldbus Comm...

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5th IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2021

作者： Zhou, Xiufang Xu, Aidong Yan, Bingjun Sun, Yue Han, Xiaojia Wang, Jingran Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China

ISBN: (纸本)9781728180281

Based on the requirements of safety communication in the safety instrumented system (SIS), a fieldbus functional safety communication protocol is proposed in this paper. According to the reasons of communication failure, several safety measures are used implicitly or explicitly to detect the error in the transmission. They include connection authentication, time stamp, sequence number and cyclic redundancy check (CRC). The communication architecture of full redundancy is structured to improve the reliability of communication system. Finally, the calculation results of the residual error rate show that the proposed functional safety fieldbus communication protocol meets the requirements of the safety integrity level (SIL) 3. © 2021 IEEE.

关键词： Redundancy

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