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Chinese control Conference (CCC)

作者： Chenguang Yang Hongbin Ma Mengyin Fu Alex M. Smith School of Computing and Mathematics University of Plymouth Plymouth UK Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology BIT Beijing China

ISBN: (纸本)9781467325813

In this paper, we study motion control of general n degrees of freedom (DOFs) rigid robot arms. Aiming at shaping the controlled closed-loop dynamics to be of minimized motion tracking errors and as well as angular accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive control is then developed to ensure that the reference model can be matched in finite time, in the presence of various uncertainties. The stability and optimal tracking performance have been rigorously established by theoretic analysis.

关键词： Adaptation models Tracking Impedance Manipulators Adaptive control Force

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and control Engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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Three-dimensional multi-constraint route planning of unmanned aerial vehicle low-altitude penetration based on coevolutionary multi-agent genetic algorithm

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Journal of Central South University 2011年第5期18卷 1502-1508页

作者：彭志红吴金平陈杰 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology

To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was *** and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route ***,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning *** and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing *** addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.

关键词： unmanned aerial vehicle （UAV） low-altitude penetration three-dimensional （3D） route planning coevolutionary multiagent genetic algorithm （CE-MAGA）

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New stability criteria for linear systems with time-varying interval delay

New stability criteria for linear systems with time-varying ...

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2012 UKACC International Conference on control, control 2012

作者： Sun, Jian Chen, Jie Liu, G.P. School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom CTGT Center Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467315609

This paper is concerned with the problem of stability of systems with time-varying delay in a given interval. A novel Lyapunov-Krasovskii functional is proposed to obtain new stability conditions. Some triple integral terms are introduced in the Lyapunov-Krasovskii functional and the information on the lower bound on the delay are sufficiently used. New delay-dependent stability criteria are derived using integral inequalities and formulated in terms of linear matrix inequality (LMI). Comparing numerical examples show that the proposed criteria yield a larger upper bound on the delay for a given lower bound on the delay than existing results. © 2012 IEEE.

关键词： Stability criteria

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Fuzzy emotion modeling for human behavior simulation in stressful situation

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2012年第7期6卷 312-320页

作者： Cai, Linqin Zhang, Zhenhua Pan, Yuyou Xiong X., Juan Key Laboratory of Network control and Intelligent Instrument Chongqing University of Posts and Telecommunications Ministry of Education Chongqing 400065 China Research Center on Complex System Analysis and Control Chongqing University of Posts and Telecommunications Chongqing 400065 China

Emotion modeling is a vital part of human behavior simulation in stressful situation. Based on OCC appraisal theories, a fuzzy emotion model was proposed to simulate mine worker's emotional behavior response to underground hazardous events. Using fuzzy inference process, the proposed emotion model evaluates perceived event's impact on goal attainment and goal importance to generate emotion states for virtual miners. Moreover, mine worker's personality straits were taken into account in the intensity threshold of emotions, emotion's decay, and motivation update process according to OCEAN personality scales. And then, virtual miner's behaviors were implemented based on current motivation needs and emotion states. Finally, a hazards spotting case was reconstructed to validate the proposed model. Simulated results show virtual miner's fuzzy emotion model can assist in constructing more believable virtual coalmine environment, which helps train miner's decision-making ability when faced with occasional or emergency situations in underground coalmine.

关键词： Motivation

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Stability Analysis for High Frequency Networked control systems

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IEEE Transactions on Automatic control 2012年第10期57卷 2694-2700页

作者： Hongjiu Yang Yuanqing Xia Peng Shi Mengyin Fu Institute of Electrical Engineering Yanshan University Qinhuangdao China School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China School of Engineering and Science Victoria University Melbourne VIC Australia Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd UK

This note generalizes the stability analysis for a high frequency networked control system. The high-frequency networked control system is described by a delta operator system with a high frequency constraint. Stability conditions are given for the high frequency delta operator system. Furthermore, by developing the generalized Kalman-Yakubovic-Popov lemma, improved stability conditions are also presented in terms of linear matrix inequalities. Some experiment results are presented to illustrate the effectiveness of the developed techniques.

关键词： Stability analysis Delay Linear matrix inequalities Frequency control Educational institutions Power system stability Numerical stability

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New stability criteria for linear systems with time-varying interval delay

New stability criteria for linear systems with time-varying ...

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UKACC International Conference on control (control)

作者： Jian Sun Jie Chen G.P. Liu School of Automation Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China CTGT Center Harbin Institute of Technology Harbin China Faculty of Advanced Technology University of Glamorgan Pontypridd UK

关键词： Delay Stability criteria Time varying systems Linear matrix inequalities Numerical stability Linear systems

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Task allocation of multiple UAVs and targets using improved genetic algorithm

Task allocation of multiple UAVs and targets using improved ...

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International Conference on intelligent control and Information Processing

作者： Zuo, Yong Peng, Zhihong Liu, Xin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology China

ISBN: (纸本)9781457708145

In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model, which just take the values of targets, UAVs and weapons into account, the fuel consumption is added into consideration to make the model much more practical. An improved genetic algorithm is proposed for such a multi-UAVs multi-targets task allocation. Simulation results show that the algorithm is significantly effective and the allocation result is reasonable. © 2011 IEEE.

关键词： Genetic algorithms

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Consensus control of linear multi-agent systems with distributed adaptive protocols

Consensus control of linear multi-agent systems with distrib...

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American control Conference (ACC)

作者： Zhongkui Li Xiangdong Liu Wei Ren Lihua Xie Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Electrical Engineering University of California Riverside CA USA School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781457710957

This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear time-invariant dynamics. Based on the relative output information of neighboring agents, two distributed adaptive dynamic consensus protocols are proposed, namely, the edge-based adaptive protocol which assigns a time-varying coupling weight to each edge in the communication graph and the node-based adaptive protocol which uses a time-varying coupling weight for each node. These two adaptive protocols are designed to ensure that consensus is reached in a fully distributed fashion for any undirected connected communication graphs without using any global information. A sufficient condition for the existence of these adaptive protocols is that each agent is stabilizable and detectable. The case with switching communication graphs is also studied.

关键词： Protocols Eigenvalues and eigenfunctions Couplings Switches Linear matrix inequalities Laplace equations Lyapunov methods

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Modeling of GPS Code and Carrier Tracking Error in Multipath

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电子学报(英文版) 2012年第1期21卷

作者： CHEN Jie CHENG Lan GAN Minggang Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

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