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UKACC International Conference on control (control)

作者： Binglong Cong Xiangdong Liu Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467315593

This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control (B-ASMC) design is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Compared to current adaptive sliding mode control (ASMC) design, the B-ASMC design has two advantages. Theoretically, the asymptotical stability of the attitude states rather than the sliding function is guaranteed. Practically, the over-adaptation problem in current ASMC design is alleviated and the system performance is improved. Detailed design principle and rigorous closed-loop system stability analysis are provided. A large angle attitude maneuver is employed in the numerical simulation to verify the effectiveness of the proposed algorithm.

关键词： Uncertainty Attitude control Algorithm design and analysis Switches Materials requirements planning Backstepping Space vehicles

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Design of networked air defense fire control simulation system based on BOM

Design of networked air defense fire control simulation syst...

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World Congress on intelligent control and Automation (WCICA)

作者： Shi-jun Chen Juan Zhang Chen Chen Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing China

Networked air defense fire control simulation system featured with complicated interactions, varied system structure etc, and is usually faced with some difficulties in its development, such as the low capability of model reuse, the lack of regulations for model development and inflexible modification of federation. To overcome the difficulties, a framework in hierarchy of networked air defense fire control simulation system is constructed according to BOM development standard, and the component method for designing the basic model, compound model and federate is proposed, which effectively improved the efficiency of system development and the capability of model reuse. This method is not only applicable to the design of networked air defense fire control system, but also to the design of other simulation system with polytropic structure.

关键词： Atmospheric modeling Bills of materials Object oriented modeling Fires Analytical models Compounds Computational modeling

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Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent systems

Distributed Quadratic Stabilization of Uncertain Linear Mult...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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A new discrete-time guidance law base on trajectory learning and prediction

A new discrete-time guidance law base on trajectory learning...

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AIAA Guidance, Navigation, and control Conference 2012

作者： Ma, Hong Bin Wang, Ming Zhe Fu, Meng Yin Yang, Chen Guang Beijing Institute of Technology Beijing China University of Plymouth Plymouth United Kingdom Key Laboratory of Intelligent Control Decision of Complex Systems Beijing 100081 China School of Computing and Mathematics Plymouth PL4 8AA United Kingdom

ISBN: (数字)9781600869389

ISBN: (纸本)9781600869389

A new data-driven predictive discrete-time guidance law is presented for an interceptor pursuing a target which can perform arbitrary maneuver. The designed guidance law is driven by observed data of certain steps, which record previous positions of the target and make it feasible to estimate the behavior of the target and hence design the guidance command at each step by solving an time-dependent optimization problem, and this feature distinguishes the proposed guidance law from those traditional guidance laws which are usually described by an ordinary differential equations and use only the measurement at current time instant. To verify the performance of the new guidance law proposed, extensive simulations were carried out to compare it with some typical existing guidance laws like pursuit guidance (PG), beamer rider (BR) guidance, constant bearing (CB) guidance and proportional navigation (PN) law. The simulation studies show that the new predictive guidance law (abbreviated as LP) can provide comparative performance in all the cases studied, and it can even outperform other guidance laws when the target performs random maneuver, which show that the proposed guidance scheme exhibits certain robustness and adaptation. © 2012 by Hongbin Ma, on behalf of Beijing Institute of Technology.

关键词： Ordinary differential equations

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Two-stage ARMAX parameter identification based on bias-eliminated least squares estimation and Durban's method

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Zidonghua Xuebao/Acta Automatica Sinica 2012年第3期38卷 491-496页

作者： Xin, Bin Bai, Yong-Qiang Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School The University of Manchester Manchester M15 6PB United Kingdom

This paper proposes a two-stage identification approach for the parameter identification of autoregressive moving average with exogenous variable (ARMAX) model. First, a bias-eliminated least squares method is employed to identify the autoregressive part with exogenous variable (ARX). Then, the Durbin's method is employed to transform the parameter identification of the moving average (MA) part into that of a long autoregressive (AR) model. The MA parameters are derived directly from the parameter relationship between the MA part and its equivalent long AR model. Finally, the noise variance can be computed by using the identified MA parameters. The performance comparison against the extended least-squares method in numerical simulations validates the effectiveness of the two-stage identification approach. Copyright © 2012 Acta Automatica Sinica. All rights reserved.

关键词： Parameter estimation

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Adaptive exponential time-varying sliding mode control for hypersonic cruise vehicles

Adaptive exponential time-varying sliding mode control for h...

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Chinese control Conference (CCC)

作者： Liang Wang Xiangdong Liu Binglong Cong Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China Beijing Institute of Technology Beijing Beijing CN

ISBN: (纸本)9781467325813

This paper describes the design of an adaptive exponential time-varying sliding mode control (AETVSMC) with strong robustness for hypersonic cruise vehicles subject to parametric uncertainties on the inertial and aerodynamic coefficients. An adaptation scheme is adopted to deal with unknown but bounded system uncertainties. Thus, the selection of switching gains can be obtained on-line and the upper bounds of the model uncertainties are not required to be known in advance. Stability analysis of the closed-loop system is derived based on the Lyapunov theory. Finally, simulation results demonstrate the effectiveness and robustness of the proposed approach.

关键词： Uncertainty Vehicles Adaptation models Switches Robustness Aerodynamics

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Biped robot push detection and recovery

Biped robot push detection and recovery

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International Conference on Information and Automation (ICIA)

作者： Awais Yasin Qiang Huang Qian Xu Weimin Zhang Key Laboratory of Biomimetic Robots and Systems Key Laboratory of Intelligent Control & Decision of Complex Systems Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology Beijing P.R. China

This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference system (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.

关键词： Trajectory Legged locomotion Robot sensing systems Foot Robot kinematics Current measurement

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A Two-stage ARMAX Identification Approach Based on Bias-eliminated Least Squares and Parameter Relationship between MA Process and Its Inverse

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Acta Automatica Sinica 2012年第3期38卷 491-496页

作者： Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School University of Manchester M15 6PB Manchester UK

In this paper, a two-stage approach is proposed for the parameter identification of autoregressive moving average with exogenous (ARMAX) variable model. The proposed approach identifies the autoregressive part with exogenous variable (ARX) by a bias-eliminated least squares method, and the moving average (MA) part by utilizing the parameter relationship between MA process and its inverse. Finally, the noise variance can be computed by using the identified MA parameters. Numerical simulations validate the effectiveness of the proposed approach.

关键词： Autoregressive moving average with exogenous (ARMAX) model parameter identification inverse model least-squares method bias compensation

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Low frequency positive real control for delta operator systems

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Automatica 2012年第8期48卷 1791-1795页

作者： Hongjiu Yang Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 China

A strictly positive real control problem for delta operator systems in a low frequency range is presented by using the generalized Kalman–Yakubovic˘–Popov lemma. The objective of the strictly positive real control problem is to design a controller such that the transfer function is strictly positive real and the resulting closed-loop system is stable. Sufficient conditions for the low frequency strictly positive real controller of the closed-loop delta operator systems are presented in terms of solutions to a set of linear matrix inequalities. A numerical example is given to illustrate the effectiveness and potential for the developed techniques.

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A Quantitative Performance Evaluation Index for Image Fusion: Normalized Perception Mutual Information

A Quantitative Performance Evaluation Index for Image Fusion...

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Chinese control Conference

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

ISBN: (纸本)9781467325813

Information entropy based criteria are analyzed and the Normalized Mutual Information(NMI) that is presented in the field of image registration is revised to Normalized Mutual Information Entropy (NMIE) to meet the need of the evaluation of image fusion algorithms, Then, through analysis to NMIE and some human perception based criteria, and by analyzing the essence of image fusion techniques systematically, a new index, Normalized Perception Mutual Information (NPMI), is defined in view of information transmission as well as edge preservation, and is used to evaluate the performance of image fusion algorithms, The experiments are done to three groups of images, namely, the remote sensing images corrupted by noises, the multifocus images and the medical images obtained by CT and MRI, respectively. Compared with other indices including the root mean square error (RMSE), space frequncy (SF), space visibility (SV), entropy, the collective cross entropy (CCE), information deviation (ID), and the edge information preservation value (EIPV), etc., NPMI is shown to be the only one that is effective in all the eases in the evaluation of the performances of the fused images or the image fusion algorithms, which illustrates the feasibility and effectiveness of the presented algorithm.

关键词： Image fusion Performance evaluation Mutual information Human perception Normalized perception mutual intonation

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