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第三十二届中国控制会议

作者： Yao Zhao Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

In this paper,a time-varying sliding model control(TVSMC) based guidance law against nonmaneuvering targets is proposed with impact angle *** algorithm is first designed for constant-speed interceptors to attack stationary and constant-velocity targets,and the global robustness of the system is ***,an adaptation strategy,adaptive time-varying sliding model control(ATVSMC),is adopted to deal with unknown but bounded disturbances by adjusting the switching gain *** analysis of the closed loop system is obtained through Lyapunov ***,numerical simulation results are presented to verify the effectiveness and robustness of the proposed guidance law.

关键词： Guidance Impact angle Time-varying sliding model control Robustness Adaptive

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controlling mobile Spykee robot using Emotiv Neuro Headset

Controlling mobile Spykee robot using Emotiv Neuro Headset

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第三十二届中国控制会议

作者： Simon Grude Matthew Freeland Chenguang Yang Hongbin Ma School of Computing and Mathematics University of Plymouth Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479900305

This paper investigates controlling the commercialized Spykee mobile robot,using only brain electroencephalography (EEG) signals transmitted by the Emotiv Epoc Neuro *** Spykee robot is equipped with a wireless communication protocol to control *** visualization and motor control methods have been carried out and analyzed in order to control the robot with *** the fourteen channels on the Emotiv headset have been utilized and the pattern recognition has been done by the echo state network(ESN).Four different actions(moving forward/backward and turning left/right) have been achieved to control the robot reaching an arbitrary target on the floor.

关键词： electroencephalography(EEG) Emotiv Epoc Neuro Headset Spykee Echo State Network(ESN)

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Stability analysis of networked control systems with aperiodic sampling

Stability analysis of networked control systems with aperiod...

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第三十二届中国控制会议

作者： Jian Sun Jie Chen Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

This paper is concerned with stability analysis of networked control systems with aperiodic sampling and time-varying delay. The sampling times are assumed to vary within a known interval. The network-induced delay is assumed to belong to a given interval. The closed-loop system is modeled as a system with two time-delays and normbounded uncertainties coming from variations of sampling intervals. Using common Lyapunov function approach, a sufficient stability condition for the closed-loop system is derived and presented in terms of linear matrix inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Networked control system, Sampled-data system, Aperiodic sampling, Stability

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Distributed Efficient Charging Coordinations for Electric Vehicles under Progressive Second Price Auction Mechanism

Distributed Efficient Charging Coordinations for Electric Ve...

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IEEE Annual Conference on decision and control

作者： Suli Zou Zhongjing Ma Xiangdong Liu School of Automation BIT Beijing China School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781467357159

We designed a distributed charging coordination method for electric vehicles over a multi-time interval with the so-called progressive second price (PSP) auction mechanism which was proposed by Lasar and Semret in order to efficiently allocate the divisible resources among multi agents. The incentive compatibility holds for the auction games under the PSP mechanism. However due to the cross-elastic correlation among the different charging instants, the marginal valuation of an individual agent at each instant is determined by both the demand at this instant and the total demand at the whole interval. This phenomena makes the underlying auction games distinct from those studied in the literature. As a main contribution of the paper, we showed that the efficient bid profile over the multi-time interval is a Nash equilibrium of the auction systems.

关键词： Plug-in electric vehicles Efficient charging coordinations Auction Progressive second price auction Mechanism Game theory Nash equilibrium

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A novel sparse auto-encoder for deep unsupervised learning

A novel sparse auto-encoder for deep unsupervised learning

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Xiaojuan Jiang Yinghua Zhang Wensheng Zhang Xian Xiao State Key Laboratory of Intelligent Control and Management of Complex System at Institute of Automation Chinese Academy of Sciences Beijing

This paper proposes a novel sparse variant of auto-encoders as a building block to pre-train deep neural networks. Compared with sparse auto-encoders through KL-divergence, our method requires fewer hyper-parameters and the sparsity level of the hidden units can be learnt automatically. We have compared our method with several other unsupervised leaning algorithms on the benchmark databases. The satisfactory classification accuracy (97.92% on MNIST and 87.29% on NORB) can be achieved by a 2-hidden-layer neural network pre-trained using our algorithm, and the whole training procedure (including pre-training and fine-tuning) takes far less time than the state-of-art results.

关键词： Training Classification algorithms Data models Principal component analysis Lead

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Comparison of Several Filtering Methods for Linear Multi-agent systems with Local Unknown Parametric Couplings

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IFAC Proceedings Volumes 2013年第20期46卷 212-217页

作者： Yini Lv Hongbin Ma Chenguang Yang Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China 100081 School of Computing and Mathematics Plymouth University UK PL4 8AA

In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent because of communication limitations existing in the considered multi-agent system. Because of the information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional Kalman filter or other state observers. Noting of the existence of coupling uncertainties in many practical applications, this paper introduces one general framework of decentralized filtering problem of multi-agent systems. For the considered system, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from principles in adaptive control, we introduce several filtering methods to resolve the fundamental problem considered in this paper. By conducting extensive simulations, the consuming time and estimation errors of every method are compared for one typical example, which suggests which method is more precise and faster.

关键词： multi-agent dynamic system Kalman filter parametric coupling uncertainty decentralized filtering centralized filtering

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Variable Support-Weight Approach for Correspondence Search Based on Modified Census Transform

Variable Support-Weight Approach for Correspondence Search B...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Huajian Zhu Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781467321969

The computation of stereo depth is a very important field of computer vision. Aiming at solving the problem of low accuracy of traditional Census-based stereo matching algorithm, a variable support-weight approach for visual correspondence search based on modified Census transform is proposed in this paper. On the basis of analyzing defects of the traditional Census transform, a modified Census transform algorithm using average value of minimum evenness sub-area as a reference instead of the center pixel intensity as a reference is raised which enhances robustness of the algorithm. The matching accuracy is improved by weighting the average value and the standard deviation of Hamming distances in a block. The experiment results indicate that the proposed approach works better than traditional ones. Accurate disparities can be obtained even in the depth discontinuities regions.

关键词： stereo matching variable support-weight modified Census transform minimum evenness sub-area

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The Modeling and Estimation of Asynchronous Multirate Multisensor Dynamic systems

The Modeling and Estimation of Asynchronous Multirate Multis...

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第三十二届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479900305

This paper is concerned with the state estimation of a linear dynamic system and the fusion of asynchronous multirate multisensor *** dynamic system is described at the finest scale with multiple sensors observing a single target independently at different scales with different sampling *** main result is that the multiscale measurements are properly formulated,and an optimal recursive fusion algorithm is presented.A numerical example is given to show the feasibility and efficiency of the algorithm.

关键词： state estimation recursive fusion asynchronous multirate multiscale Kalman filter

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Multirate Multisensor Distributed Data Fusion Algorithm for State Estimation with Cross-Correlated Noises

Multirate Multisensor Distributed Data Fusion Algorithm for ...

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第三十二届中国控制会议

作者： Yulei Liu Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479900305

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is three times as much as the other'*** noises of different sensors are cross-correlated and are also coupled with the system noise of the previous step. By use of the projection theorem and induction hypothesis repeatedly,a distributed fusion estimation algorithm is *** algorithm is proven to be distributed optimal in the sense of Linear Minimum Mean Square Error(LMMSE) and can effectively reduces the oscillation existed in the sequential ***,a numerical example is shown to illustrate the effectiveness of the proposed algorithm.

关键词： State estimation Distributed data fusion Cross-correlated noises Multirate

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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

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The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

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