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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai 200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast BT7 1NN United Kingdom

ISBN: (纸本)9783902823458

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. Copyright © 2013 IFAC.

关键词： Model predictive control

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Multi spatio-temporal co-occurrence measures for human action classification 13th

Multi spatio-temporal co-occurrence measures for human actio...

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13th IAPR International Conference on Machine Vision Applications, MVA 2013

作者： Md Sabri, A.Q. Boonaert, J. Lecoeuche, S. Mouaddib, E. Mines Douai Computer Science and Automatic Control Research Unit 764 Boulevard Lahure Douai France Universite de Picardie Jules Verne Modeling Info rmation and System Laboratory Faculty of Science 33 rue Saint Leu Amiens Cedex 180039 France

ISBN: (纸本)9784901122139

This paper deals with human action classification by utilizing spatio-temporal (ST) co-occurrences between labels of video-words that are stored within ST correlo-grams. Mutual information based clustering method is employed to reduce the size of the vocabulary created from local descriptors. Multiple characterizations for human actions in videos are extracted from the correl-ograms that are used for human action classification. These include a highly discriminative co-occurrence vector and a Haralick texture vector. The proposed method is implemented using a SVM classification technique. For evaluation purposes, the KTH and UCF Sports action recognition datasets, are used as they are the most well known and challenging datasets. The proposed method succeed in classifying different action classes, and improves the classification rate obtained by standard bag-of-video-words approach. © 2013;MVA Organization. All rights reserved.

关键词： Textures

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Full-State Feedback Linearization and Backstepping control of Nonlinear Markovian Jump systems

Full-State Feedback Linearization and Backstepping Control o...

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第三十二届中国控制会议

作者： Zhongwei Lin Jizhen Liu Yuguang Niu Wei Wang State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Control and Computer EngineeringNorth China Electric Power University

ISBN: (纸本)9781479900305

This paper investigates the full-state feedback lineaxization and backstepping control design problems for a class of nonlinear Markovian jump *** to the proposed relative degree set definition,the system can be transformed into the canonical form through the appropriate coordinate changes following with the Markovian switchings,i.e.,the system can be full-state feedback linearized in every jnmp mode with respect to the relative degree set {n,...,n}.Then,a stabilizing control is designed through applying the backstepping technique,which guarantees the asymptotically stability of nonlinear Markovian jump systems.

关键词： Markovian jump system Nonlinear system Stabilization Backstepping control

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Sensor data quality assessment for building simulation model calibration based on automatic differentiation

Sensor data quality assessment for building simulation model...

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2013 IEEE International Conference on Automation Science and Engineering, CASE 2013

作者： Li, Sisi Song, Zhen Zhou, Mengchu Lu, Yan Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07013 United States Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Automation and Control Siemens Corporation Corporate Technology Princeton NJ 08540 United States

ISBN: (纸本)9781479915156

Building simulation models play a vital role in optimal building climate control, energy audit, fault detection and diagnosis, continuous commissioning, and planning. Real system parameters are often unknown or partially unknown and need to be identified through historical data, which are currently acquired by heuristically designed experiments. Without quality sensor data, model calibration is prone to fail, even if the calibration algorithm is appropriate. In this paper, we propose a Fisher-information-matrix (FIM)-based metric to examine the sensor data measurements and how their quality is related to the model calibration quality. It aims to provide quantitative guidance in the calibration cycle of a whole building model that takes as many variables as possible into consideration for the sake of accuracy. Our concerned model is based on well-known physical laws and tries to avoid simplification, thereby leading to a highly discontinuous system with model switches due to the seasonal or daily variation and other reasons. Such a model is implemented in the form of a software package. Hence, no explicit mathematical expression can be given. A key technical challenge is that the complexity of the model prohibits the analytical derivation of FIM, while the numeric calculation is sensitive to sensor noise and model switches. We, hence, propose to adopt an automatic differentiation method, which exploits the operator overload feature of object oriented programming language, for robust numerical FIM calculation. © 2013 IEEE.

关键词： Numerical methods

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An open-source development and simulation platform for smart wheelchairs

An open-source development and simulation platform for smart...

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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Gain-scheduling Distributed MPC for Polytopic Uncertain systems subject to Actuator Saturation

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IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

An improved parameterized approach for real time optimal mot...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Wenhao Luo Jun Peng Jing Wang Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method.

关键词： Trajectory Planning Vehicle dynamics Dynamics Collision avoidance Kinematics Optimization

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Global Leader-Following Consensus of a Group of Multiple Integrator Agents Using Bounded controls

Global Leader-Following Consensus of a Group of Multiple Int...

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第三十二届中国控制会议

作者： Zhiyun Zhao Zongli Lin Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479900305

This paper studies the global leader-following consensus problem for a multi-agent system using bounded controls. Both the agents and the leader are described by a chain of integrators of arbitrary length. A saturated linear feedback control law is constructed for each system in the group. These feedback laws use a multi-hop relay protocol, in which each agent obtains the information of other agents through multi-hop paths in the communication network, and the feedback gains are constructed from the adjacency matrix of the communication network. It is shown that global leader-following consensus is achieved under the feedback control laws we have constructed when the communication topology among follower agents is a strongly connected and detailed balanced directed graph and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.

关键词： Multi-agent systems, leader-following consensus, bounded control, actuator saturation

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic （SDOF） system Energy harvesting Finite element analysis（FEA）

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