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On Variation of Infinite Horizon Performance of Model Predictive control with Varying Receding Horizon

IFAC Proceedings Volumes 2013年第20期46卷 701-706页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equations (DRE), an upper bound and a lower bound of the ratio between variation of IH performance of MPC and finite horizon (FH) optimal cost are obtained. The result shows the dynamic behavior of IH performance of closed-loop MPC systems as the optimization horizon varies.

关键词： Model predictive control Infinite horizon performance Finite horizon optimal control Optimization horizon

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Based on the multi-scale feature matching algorithm of the coal level detection method

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Meitan Xuebao/Journal of the China Coal Society 2013年第SUPPL.2期38卷 513-517页

作者： Qiao, Tie-Zhu Chen, Xin Wang, Feng Zheng, Bu-Xiang Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan 030024 China School of Information Engineering Taiyuan University of Technology Taiyuan 030024 China Xingjiashe Coal Industry Co. Ltd. Xishan Coal Electricity Group Co. Ltd. Taiyuan 030200 China

Using computer vision technique to detect coal level of coal bin, a kind of non-contact depth measurement method of coal bunker was put forward based on binocular vision and W-SIFT image feature matching algorithm. Through the wavelet compression coding and scale invariant feature transform algorithm, remove all kinds of redundancy in image and keep important information. By adaptive regulating based on template of the changing scale factors and dealing with the coal bit image waiting for the binocular view registration, multi-scale spatial could be created for extracting feature points in coal level image. The left and right view is compared, and extraction feature points for in-depth matching based on the bidirectional registration strategy of binocular view so that we can more accurate restore the 3D information. According to the W-SIFT matching algorithm, prior calibration left and right image so that we can get internal and external parameters of visual sensor, then, determine the coal bunker coal bit depth value based on the coordinate transformation formula. Using the new algorithm to detect coal level, The result is satisfy compared with the traditional SIFT algorithm.

关键词： Coal

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L_2-gain Analysis and Anti-windup Design of Discretetime Switched systems with Actuator Saturation

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International Journal of Automation and computing 2012年第4期9卷 369-377页

作者： Zhang, Xin-Quan Zhao, Jun School of Information and Control Engineering Liaoning Shihua University Fushun 113001 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China

This paper investigates L2-gain analysis and anti-windup compensation gains design for a class of discrete-time switched systems with saturating actuators and L2 bounded disturbances by using the switched Lyapunov function *** a given set of anti-windup compensation gains,we firstly give a sufficient condition on tolerable disturbances under which the state trajectory starting from the origin will remain inside a bounded set for the corresponding closed-loop switched system subject to L2 bounded ***,the upper bound on the restricted L2-gain is obtained over the set of tolerable ***,the antiwindup compensation gains aiming to determine the largest disturbance tolerance level and the smallest upper bound of the restricted L2-gain are presented by solving a convex optimization problem with linear matrix inequality(LMI) constraints.A numerical example is given to illustrate the effectiveness of the proposed design method.

关键词： L2-gain anti-windup switched systems saturating actuators switched Lyapunov function tolerable disturbances.

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Global Inference Preserving Projection for Semi-supervised Discriminant Analysis

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Journal of Donghua University(English Edition) 2012年第2期29卷 144-147页

作者：谷小婧孙韶媛方建安 Key Laboratory of Advanced Control and Optimization for Chemical Process Ministry of EducationEast China University of Science and Technology College of Information Science&Technology Donghua University

Semi-supervised dimensionality reduction is an important research area for data classification. A new linear dimensionality reduction approach, global inference preserving projection （GIPP）, was proposed to perform classification task in semi-supervised case. GIPP provided a global structure that utilized the underlying discriminative knowledge of unlabeled samples. It used path-based dissimilarity measurement to infer the class label information for unlabeled samples and transformd the diseriminant algorithm into a generalized eigenequation problem. Experimental results demonstrate the effectiveness of the proposed approach.

关键词： semi-supervised learning dimensionality reduction manifoM structure

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Visual Servo control of Cable-driven Soft Robotic Manipulator

Visual Servo Control of Cable-driven Soft Robotic Manipulato...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hesheng Wang Weidong Chen Xiaojin Yu Tao Deng Xiaozhou Wang Rolf Pfeifer Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China hanghai Chest Hospital Shanghai Jiao Tong University Shanghai china. Artificial Intelligence Laboratory Department of Informatics University of Zurich Andreasstrasse 15 (Office 2.32) 8050 Zurich Switzerland

ISBN: (纸本)9781467363563

Aim at enhancing dexterous and safe operation in unstructured environment, a cable-driven soft robotic manipulator is designed in this paper. Due to soft material it made of and nearly infinite degree of freedom it owns, the soft robotic manipulator has higher security and dexterity than traditional rigid-link manipulator, which make it suitable to perform tasks in complex environments that is narrow, confined and unstructured. Though the soft robotic manipulator possesses advantages above, it is not an easy thing for it to achieve precise position control. In order to solve this problem, a kinematic model based on piecewise constant curvature hypothesis is proposed. Through building up three spaces and two mappings, the relationship between the length variables of 4 cables and the position and orientation of the soft robotic manipulator end-effector is obtained. Afterwards, a depth-independent image Jacobian matrix is introduced and an image-based visual servo controller is presented. Applied by adaptive algorithm, the controller could estimate unknown position of the feature point online, and then Lyapunov theory is used to prove the stability of the proposed controller. At last, experiments are conducted to demonstrate rationality and validity of the kinematic model and adaptive visual servo controller.

关键词： Visual Servo control adaptive visual servo controller kinematic model kinematics Visual servo control Degree of freedom Position control Robot Manipulator Visual servoing controllers Servo control FLEXIBLE MATERIALS servo controller

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Research on feasibility of missile attitude control based on laser gyroscope

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Journal of Harbin Institute of Technology(New Series) 2012年第4期19卷 110-117页

作者：程耀强徐德民万彦辉刘明雍 School of Marine Engineering Northwestern Polytechnical University National Key Laboratory for Underwater Information Process & Control Northwestern Polytechnical University The 16th Institute Chinese Aerospace Science and Technology Corporation

According to the disadvantages of traditional mechanical gyro inertial measurement unit('IMU') for steering system not being available for missile attitude control, a concept based on laser gyro IMU is proposed to realize navigation & positioning and attitude control. The concept will save three single-axis rate gyros compared with traditional missile attitude control system, and is available both for strapdown and platform inertial navigation systems. Firstly, this article analyzes the selection requirements of sensitive device for missile attitude control system, and then analyzes the feasibility of missile attitude control based on laser gyro theoretically, on this basis, from four aspects of error characteristics, anti-vibration characteristics, temperature characteristics and dynamic characteristics, validate the feasibility of the concept practically. Secondly according to the strict requirements of dynamic characteristics on attitude control system, a special design is made for gyro signal filtering used for attitude control. By changing the traditional high order FIR filter to adaptive filter and low order FIR filter, laser gyro's signal phase delay is reduced. The delay time of theoretical design is 1.5 ms. Lastly, this design is validated through an angle vibration test, and test curve indicates that the dynamic characteristics of laser gyro completely meets the requirements of the attitude control system, and the maximum delay time is 1.6144 ms, which satisfies with the attitude update rate of 2 ms per frame. This concept can simplify the missile guidance system design, at the same time, it does not reduce missile guidance accuracy, and also provides reference for the broadening of the application of laser gyro.

关键词： laser gyro attitude control dynamic characteristics adaptive filtering

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Dynamic characteristics and predictive control for Organic Rankine Cycle

Dynamic characteristics and predictive control for Organic R...

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2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012

作者： Zhang, Jianhua Li, Ying Wang, Zhuofei Hou, Guolian Beijing Key Laboratory of Industrial Process Measurement and Control New Technology and System North China Electric Power University NCEPU Beijing China

ISBN: (纸本)9781457721175

Organic Rankine Cycle (ORC) is particularly suitable for the recovery of energy from low-quality heat sources. In this paper, a generalized predictive controller is proposed for a low-quality heat recovery process operating on an Organic Rankine Cycle. The simulation results show that the proposed control strategy can achieve good transient and steady response along with decoupling performance. © 2012 IEEE.

关键词： Waste heat

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Multiple Anti-windup Loops under Multiple Activations:Dynamic Case to Enlarge Domain of Attraction

Multiple Anti-windup Loops under Multiple Activations:Dynami...

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第三十二届中国控制会议

作者： Xiongjun Wu Ziyang Meng The 802 Institute of Shanghai Academy of Space Flight Technology The Eighth Academy of China Aerospace Science and Technology Corporation Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China ACCESS Linnaeus Centre School of Electrical EngineeringRoyal Institute of Technology

ISBN: (纸本)9781479900305

A multiple anti-windup loops under multiple dynamic activations strategy is proposed to enlarge the domain of attraction. This work is parallel to the multiple activation case with static *** traditional anti-windup compensator is activated immediately as the saturation *** was shown recently that,by delaying the activation of the anti-windup mechanism to a certain level,the performance can be improved for the closed-loop *** was further shown that better performance can be obtained by activating an anti-windup mechanism in anticipation of actuator saturation,in comparison with the delayed activation *** paper considers the anti-windup design problem of enlarging domain of attraction under a dynamic multiple activation *** this multiple activation scheme,the anticipatory,delayed and immediate activation mechanism is incorporated in the same framework simultaneously.A furthermore significant performance improvements over both the immediate and delayed activation schemes can be *** proposed dynamic multiple activation scheme established a unified anti-windup framework and can be readily extended to the traditional immediate,delayed and anticipatory activation anti-windup mechanisms.

关键词： Anti-windup dynamic compensator domain of attraction multiple activations

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Looper-Tension Sliding Mode control for Hot Strip Finishing Mills

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Journal of Iron and Steel Research International 2012年第1期19卷 23-30页

作者： ZHONG Zhao-zhun WANG Jing-cheng ZHANG Jian-min LI Jia-bo Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiaotong University Shanghai 200240 China Baosteel Research Institute Baoshan Iron and Steel Co Ltd Shanghai 201900 China

An innovative sliding mode controller for looper and tension control in hot strip finishing mills was developed based on approximately linearized model. Firstly, a fictitious controller of the reduced order subsystem was designed according to desired dynamics, by which, the angle and tension loops were decoupled on the sliding manifold. Then, a sliding mode controller was used to validate finite time convergence of the state vector to the manifold which guaranteed the stability and performances of the overall system. This solution was considered owing to its well- known robustness and simplicity characteristics concerning disturbances and unmodelled dynamics. Simulation results showed the effectiveness of the proposed controller compared with conventional ones.

关键词： sliding mode control looper control tension control hot strip finishing mill

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Urban traffic flow prediction based on road network model

Urban traffic flow prediction based on road network model

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2012 9th IEEE International Conference on Networking, Sensing and control, ICNSC 2012

作者： Xu, Yanyan Kong, Qing-Jie Lin, Shu Liu, Yuncai Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai 200240 China

ISBN: (纸本)9781467303880

This paper addresses an issue of short-term traffic flow prediction in urban traffic networks with traffic signals in intersections. An effective spatial prediction approach is proposed based on a macroscopic urban traffic network model. In contrast with other time series based or spatio-temporal correlation methods, this research focuses on the substantial mechanism of vehicles transmission on road segments and the spatial model of the entire urban network. Furthermore, this approach employs a simple speed-density model based on the macroscopic fundamental diagram (MFD) to obtain a more accurate vehicle travel time on the link. Finally, the microscopic traffic simulation software, CORSIM, is adopted to simulate the real urban traffic, and the proposed method is used to predict the traffic flows generated by CORSIM. The simulation results illustrate that our approach performs effective prediction timely in the rush hours, as well as the suddenly changed traffic states. © 2012 IEEE.

关键词： Vehicle transmissions

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