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arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

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Robust alignment of multi-exposed images with saturated regions

arXiv

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arXiv 2020年

作者： Jiang, Jun Li, Zhengguo Xie, Shoulie Wu, Shiqian Zeng, Liangcai Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan China Institute for Infocomm Research Singapore Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

It is challenging to align multi-exposed images due to large illumination variations, especially in presence of saturated regions. In this paper, a novel image alignment algorithm is proposed to cope with the multi-exposed images with saturated regions. Specifically, the multi-exposed images are first normalized by using intensity mapping functions (IMFs) in consideration of saturated pixels. Then, the normalized images are coded by using the local binary pattern (LBP). Finally, the coded images are aligned by formulating an optimization problem by using a differentiable Hamming distance. Experimental results show that the proposed algorithm outperforms state-of-the-art alignment methods for multi-exposed images in terms of alignment accuracy and robustness to exposure *** Codes CS © 2020, CC0.

关键词： Hamming distance

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A DDOS Attack Traffic Classification Model for Industrial Internet Based on CNN-LSTM

A DDOS Attack Traffic Classification Model for Industrial In...

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Chinese Automation Congress (CAC)

作者： Weixuan Wei Xianda Liu Chuan Sheng Ansong Feng Shenyang Institute of Automation Chinese Academy of Sciences. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences College of Information Engineering. Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang University of Chemical Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Information Engineering. Shenyang University of Chemical Technology Shenyang China

With the continuous development and application of industrial Internet, the weakness of the security defense capability of industrial Internet has become increasingly prominent. This paper presents an end-to-end classification model combining Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) network for DDoS attacks over industrial Internet. By self-learning the spatial and temporal characteristics of the original attack traffic, the model can avoid subjective errors that may occur due to manual selection of features. This method is a feasible means, with an accuracy rate of 99%.

关键词： Automation Neural networks Manuals Denial-of-service attack Internet Convolutional neural networks Security

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Intention-Aware Planner for Robust and Safe Aerial Tracking

Intention-Aware Planner for Robust and Safe Aerial Tracking

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Qiuyu Ren Huan Yu Jiajun Dai Zhi Zheng Jun Meng Li Xu Chao Xu Fei Gao Yanjun Cao The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China The Robotics Institute of Zhejiang University Yuyao China Huzhou Institute Zhejiang University Huzhou China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou China College of Electrical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the widely used constant velocity or constant rotation assumption can not fully capture the dynamics of the target. The tracker may fail when the target happens to move aggressively, such as sudden turn or deceleration. In this paper, we propose an intention-aware planner by additionally considering the intention of the target to enhance safety and robustness in aerial tracking applications. Firstly, a designated intention prediction method is proposed, which combines a user-defined potential assessment function and a state observation function. A reachable region is generated to speci cally evaluate the turning intentions. Then we design an intention-driven hybrid A* method to predict the future possible positions for the target. Finally, an intention-aware optimization approach is designed to generate a spatial-temporal optimal trajectory, allowing the tracker to perceive unexpected situations from the target. Benchmark comparisons and real-world experiments are conducted to validate the performance of our method.

关键词： Target tracking Semantics Prediction methods Turning Prediction algorithms Robustness Safety Planning Trajectory optimization Quadrotors

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An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

An Easy-implemented Optimization Method of Trajectory Planni...

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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

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A Novel Fractional Order Impedance control and Its Performance Analysis

A Novel Fractional Order Impedance Control and Its Performan...

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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Deployment Schemes of In-Band Management Mode Based on Industrial SDN Network

Deployment Schemes of In-Band Management Mode Based on Indus...

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6G Communications and IoT Technologies (6GIoTT), International Conference on

作者： Jinnan Piao Dong Li Ming Yang Jindi Liu Xueting Yu Zhibo Li Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

When software defined network (SDN) is used to deploy the industrial control network, the deployment schemes are different in actual according to the different industrial production business, environment and capital cost. In this paper, we use the in-band management mode to deploy the SDN network in an industrial environment. We design four deployment schemes of the in-band management mode for the industrial SDN network according to the specific requirements of industrial environment and propose an algorithm for controller location selection in the in-band management network. For the four schemes and the algorithm, we use the controller and switches to build a simulation environment according to different schemes and compare the performance between the in-band management and out-of-band management, which shows that the in-band management mode can set up a normal SDN industrial network with applicable network scale and throughput.

关键词： 6G mobile communication Costs Industrial control Production Throughput control systems Internet of Things

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A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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