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American control Conference

作者： Yao Zhang Bin Xian Bo Zhao Xiang Liu Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.

关键词： Radio frequency Nonlinear dynamical systems Stability analysis Trajectory Tracking loops control design Equations

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Stability Analysis of Nonlinear Self-excited Vibration in Cold Rolling Main Drive system

Stability Analysis of Nonlinear Self-excited Vibration in Co...

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第26届中国控制与决策会议

作者： Yang Xu Li Qing Peng Kaixiang Tong Chaonan Ding Dawei Key Laboratory of Advanced Control of Iron and Steel Process School of Automation and Electrical EngineeringUniversity of Science and Technology Beijing State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

A nonlinear self-excited vibration model of main drive system in cold rolling is established. The mechanism of torsional vibration in main drive system stability is discussed within multiple scale method as well as Hopf bifurcation theorem. Then, the periodic solutions and condition of Hopf bifurcation are derived and the influence by subcritical/supercritical bifurcation is analyzed. Based on the simulation experiments with actual industrial data, the previous theoretical analysis and nonlinear model have been testified.

关键词： Nonlinear Modeling,Self-excited Vibration,Stability Analysis,Main Drive system,Cold Rolling process

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A secure distributed consensus scheme for wireless sensor networks against data falsification

A secure distributed consensus scheme for wireless sensor ne...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shichao Mi Hui Han Shanying Zhu Cailian Chen Bo Yang Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China The State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System(CEMEE) Luoyang P. R. China

This paper focuses on the problem of secure distributed consensus to defend covert misbehavior in wireless sensor networks (WSNs). Distributed consensus is a promising method to improve the efficiency and precision of consensus results in WSNs, but it introduces new security issues that malicious nodes may manipulate false sensing data to degrade the sensing result of the whole network. A data falsification attack, i.e., the attacker injects random values into its neighboring nodes at each time-step of consensus process, is considered. This kind of attack cannot be defended against by most of existing detection mechanisms. We present a distributed detection mechanism with adaptive local threshold to isolate the abnormal nodes. A Weighted Averaging-based Consensus Scheme (WACS) is proposed to decrease the negative impact of the attack and make the network converge to a consensus value. It is proved that convergence property can be guaranteed by the relationship between weighted average of the noise and stochastic approximation. Simulation results are presented to show the effectiveness of the proposed secure scheme.

关键词： Sensors Wireless sensor networks Detection algorithms Distributed databases Convergence Vectors Approximation methods

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The vibration control of flexible manipulators based on model predictive control method

The vibration control of flexible manipulators based on mode...

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Chinese control Conference (CCC)

作者： Xiaoying Zhang Dewei Li Yugeng Xi Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Jiao Tong University Shanghai China

This paper proposes a hierarchical control structure based on model predictive control to address the vibration suppression of flexible manipulators under the dynamic constraints. Due to the coupling relationship between the trajectory and the flexible vibration, it provides a solution to vibration reduction if the trajectory can be rationally planned. In the decision layer, an optimal reference trajectory is planned with consideration of the dynamic constraints to ensure the manipulator to locate at the desired position as soon as possible and the reduced flexible vibration is suppressed during the movement. In the execution layer, the tracking controller is designed to minimize a quadratic performance index of the prediction error. Simulations for a single-link flexible manipulator are performed to validate the proposed controllers.

关键词： Manipulator dynamics Vibrations Trajectory Torque Predictive models Vectors

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Joint Optimization of the Wind-Pumped Storage system

Joint Optimization of the Wind-Pumped Storage System

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The 2012 International Conference on Advanced Material and Manufacturing Science(ICAMMS 2012)

作者： Mingguang Zhang Yun Hu Key Laboratory of Gansu Advanced Control for Industrial Process School of Electrical And Information EngineeringLanzhou University of Technology School of Electrical And Information Engineering Lanzhou University of Technology

To improve the connected-grid wind power quality as well as profit,the pumped storage station is used to configure the wind farmThe economical benefit and deviation models are built as objective functions,the united operation is based on fuzzy multi-objective evolutionary algorithm(FMOEA)In order to outstand method advantages,the results are compared with the consequences from each objective function that are optimized respectivelyThe analysis shows that a wind farm with a pumped storage station is as a combined system and uses FMOEA,not only improving profit,but also paying attention to reduce deviation so that can achieve the total net profit increase

关键词： Wind Power Pumped Storage Deviation Economical Benefit Fuzzy Multi-objective

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Feedback structure based entropy approach for multiple-model estimation

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Chinese Journal of Aeronautics 2013年第6期26卷 1506-1516页

作者： Shen-tu Han Xue Anke Guo Yunfei State Key Laboratory of Industrial Control Technology Institute of Cyber-System and Control Zhejiang University Institution of Information and Control Hangzhou Dianzi University Institution of Information and Control Hangzhou Dianzi University

The variable-structure multiple-model（VSMM）approach,one of the multiple-model（MM）methods,is a popular and effective approach in handling problems with mode *** model sequence set adaptation（MSA）is the key to design a better ***,MSA methods in the literature have big room to improve both theoretically and *** this end,we propose a feedback structure based entropy approach that could fnd the model sequence sets with the smallest size under certain *** fltered data are fed back in real time and can be used by the minimum entropy（ME）based VSMM algorithms,i.e.,***,the full Markov chains are used to achieve optimal ***,the myopic method together with particle flter（PF）and the challenge match algorithm are also used to achieve sub-optimal solutions,a trade-off between practicability and *** numerical results show that the proposed algorithm provides not only refned model sets but also a good robustness margin and very high accuracy.

关键词： Feed back Maneuvering tracking Minimum entropy Model sequence set adaptation Multiple-model estimation

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A molecular cryptography model based on structures of DNA self-assembly

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Chinese Science Bulletin 2014年第11期59卷 1192-1198页

作者： Yang, Jing Ma, Jingjing Liu, Shi Zhang, Cheng Beijing Key Laboratory of New Technology and System on Measuring and Control for Industrial Process School of Control and Computer Engineering North China Electric Power University Beijing China Key Laboratory of High Confidence Software Technologies Ministry of Education Institute of Software School of Electronics Engineering and Computer Science Peking University Beijing China

With the progress of DNA computing, DNA-based cryptography becomes an emerging interdisciplinary research field. In this paper, we present a novel DNA cryptography that takes advantage of DNA self-assembled structure. Making use of the toehold strands recognition and strand displacement, the bit-wise exclusive-or (XOR) operation is carried out to fulfill the information encryption and decryption in the form of a one-time-pad. The security of this system mainly comes from the physical isolation and specificity of DNA molecules. The system is constructed by using complex DNA self-assembly, in which technique of fluorescent detection is utilized to implement the signal processing. In the proposed DNA cryptography, the XOR operation at each bit is carried out individually, thus the encryption and decryption process could be conducted in a massive, parallel way. This work may demonstrate that DNA cryptography has the great potential applications in the field of information security.

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Trajectory Tracking of Hard Rock Tunnel Boring Machine with Cascade control Structure

Trajectory Tracking of Hard Rock Tunnel Boring Machine with ...

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2014中国制导、导航与控制学术会议

作者： Huajiang Liu Jingcheng Wang Langwen Zhang Guanglei Zhao Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240

ISBN: (纸本)9781479946983

In this paper,trajectory tracking control of hard rock Tunnel Boring Machine (TBM) is studied with a cascade control *** TBM thrust hydraulic system can adjust position and orientation during tunnel *** model of thrust hydraulic system and the compound control technique of thrust hydraulic system are *** order to realize trajectory tracking control,the dynamic model of TBM has been *** model provides a foundation for the trajectory tracking control of TBM *** and orientation controller of TBM have been designed and the controller calculates the force of thrust hydraulic *** compound controller of thrust hydraulic system produces the designed *** effectiveness of the proposed methods is shown by illustrative example.

关键词： boring machines cascade control construction equipment control system synthesis force control trajectory control TBM orientation TBM position TBM thrust hydraulic system cascade control structure compound control technique controller design hard rock tunnel boring machine trajectory tracking Equations Force Mathematical model Rocks Trajectory Valves

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Torque constraints for hexapod robot slope walking

Torque constraints for hexapod robot slope walking

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Tianle Ge Hesheng Wang Weidong Chen Bowen Gui Ministry of Education of China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China

This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.

关键词： Robot kinematics Legged locomotion Stability analysis Torque Angular velocity Force

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Constrained Distributed MPC for LPV systems with Actuator Saturation and State Delay

Constrained Distributed MPC for LPV Systems with Actuator Sa...

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American control Conference

作者： Langwen Zhang Jingcheng Wang Yang Ge Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240

ISBN: (纸本)9781479932757

In this work, a new approach to design constrained distributed MPC is proposed for linear parameter varying (LPV) systems subject to saturating actuator and state delay. Polytopic type uncertainty and only one state delay are considered in this paper. The algorithm requires decomposing the whole system into M subsystems and solving M linear matrix inequality (LMI) optimization problems for each subsystem. An iterative online algorithm for constrained distributed MPC is developed to coordinate the distributed controllers. The algorithm is a flexible structure of robust control, which allows the independent computation of the state feedback laws for the subsystems. A numerical example is simulated to show the effectiveness of the constrained distributed MPC algorithm.

关键词： Distribute Flexible structures SUB-system Robust control actuators

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