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International Conference on Intelligent control and Information Processing (ICICIP)

作者： Guojing Wu Jingchuan Wang Hesheng Wang Le Xie Peng Li Key Laboratory of System Control and Information Processing Ministry of Education of China Institute of Medical Robotics SEIEE School Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (数字)9781728100159

ISBN: (纸本)9781728100166

High-precision localization performance of mobile robots in featureless environments plays an important role in the field of navigation. This paper describes an effective localization solution using a landmark whose surface is covered with two different materials resulting in different laser reflection intensities. Based on the landmark, a feature extraction algorithm is proposed and an improved scan matching method for mobile robot localization in featureless environments is described. Unlike traditional scan matching methods which only use geometric features, the proposed method mixes geometric information extracted from environment and laser reflection intensity extracted from the landmark to achieve accurate pose estimation. Experiments show that our method has higher precision than previous methods.

关键词： Reflection Sensors Feature extraction Data mining Iterative closest point algorithm Surface emitting lasers

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Actuator-Fault-Tolerant Trajectory Tracking control for Multi-Robot system under Directed Network Topologies and Communication Delays 36

Actuator-Fault-Tolerant Trajectory Tracking Control for Mult...

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第36届中国控制会议

作者： Zhe Liu Junguo Lu Hesheng Wang Weidong Chen Yun-Hui Liu Department of Mechanical and Automation Engineering Chinese University of Hong Kong Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781538629185

The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this *** take the communication delays into consideration in system design and do not require that the network topology is symmetric.A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained to guarantee the asymptotic convergence of both the position error and synchronization error of each *** results validate that the proposed approach achieves synchronized trajectory tracking tasks under unidirectional topologies with actuator faults and coupling delays.

关键词： Actuator Faults Communication Delays Multi-robot Network Synchronized Trajectory Tracking

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Stability and Neimark-Sacker bifurcation analysis for single gene discrete system with delay

Stability and Neimark-Sacker bifurcation analysis for single...

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第37届中国控制会议

作者： Feng Liu Qicheng Mei Fenglan Sun Xinmei Wang Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Department of Mechanical Engineering Boston University

The network structure and functional properties of gene regulatory system and their relationships are an important research field in systems *** this paper,a new improved model is proposed based on the study of gene expression *** model takes into account the effect of protein concentration on the gene expression,so as to obtain a new bifurcation point and improve the performance of the *** validity of the model is verified by theoretical analysis and data simulation.

关键词： Stability Neimark-Sacker bifurcation single gene discrete system delay

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Experimental and finite element optimization analysis on hydroforming process of rupture disc

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Procedia Manufacturing 2018年 15卷 892-898页

作者： Xiangwei Kong Jiancong Zhang Xuqing Li Zhibo Jin Hai Zhong Yu Zhan Fengjuan Han School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang 110819 China Capital Aerospace Machinery Company Beijing 100076 China ShenyangAerospace Xinguang Safety System Co. Ltd Shenyang 110000 China

Rupture disc has been one of the most effective equipment to prevent overpressure from explosion for the pressure equipment. The performance of bursting at the predetermined pressure is critical to rupture disc, which was decided directly with the dimensional accuracy of the rupture disc such as thickness, radius value and arch height. In this paper, a hydroforming FEA rupture disc model was established and factors that affect the dimensional accuracy of the rupture disc, which is friction coefficient, loading rate and value of hydraulic pressure, were discussed. It was found that a better rupture disc dimension accuracy can be obtained by changing the friction condition and loading rate. Based on the real hydroforming process, experiment was carried out and FEA results agreed well with experimental process result. Thus, dimensional accuracy of the rupture disc can be ensured through finite element analysis.

关键词： Rupture disc FEA Optimization Thinning ratio Arch height Thickness

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Trajectory Planning of Quadrotor UAV with Suspended Payload Based on Predictive control

Trajectory Planning of Quadrotor UAV with Suspended Payload ...

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第37届中国控制会议

作者： Binghan Sun Chaofang Hu Lei Cao Na Wang Yimin Zhou School of Electrical and Information Engineering Tianjin University Key Laboratory of Micro Opto-electro Mechanical System Technology Tianjin UniversityMinistry of Education Key Laboratory of System Control and Information Processing Ministry of Education School Engineering and Automation Tianjin Polytechnic University Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

In the work of data collection,express transportation and rescue by UAV,we generally use UAVs to move the suspended payload in flight *** is fully necessary to study how to effectively suppress the swing of the suspended load and avoid known *** this paper,the kinematic equations of the quadrotor UAV and suspended payload in the three-dimensional space are analyzed.A trajectory planning method based on predictive control is proposed,and the cost function considering load swing angle and the distance between obstacle and UAV is designed and generate an optimal trajectory that meets the *** simulation results show that the proposed method can achieve the purpose of minimizing the swing angle and avoid the obstacles at the level of trajectory planning.

关键词： quadrotor UAV suspended load predictive control trajectory planning

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Stability and Stabilization Analysis of Fractional-Order Linear systems Subject to Actuator Saturation and Disturbance

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IFAC-PapersOnLine 2017年第1期50卷 9718-9723页

作者： LI C. CHEN K. LU J. TANG R. School of Mechanical and Electrical Engineering Hainan University Haikou 570228 China Department of Automation Shanghai JiaoTong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

This paper focuses on the fractional order linear systems subject to actuator saturation and external disturbance, and proposes method to estimate the domain of attraction. The quadratic Lyapunov functions are adopted to obtain the invariance of considered systems. The convex combination form of quadratic Lyapunov function is utilized to obtain a large domain of attraction. A continuous feedback law is derived to achieve disturbance rejection for closed-loop systems. Numerical example is provided to illustrate the effectiveness of the developed method. © 2017

关键词： Disturbance Domain of Attraction Fractioanl-Order systems LMI Saturation Stability

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Stability and Neimark-Sacker bifurcation analysis for single gene discrete system with delay

Stability and Neimark-Sacker bifurcation analysis for single...

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Chinese control Conference

作者： Feng Liu Qicheng Mei Fenglan Sun Xinmei Wang Hua O. Wang Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing China Department of Mechanical Engineering Boston University Boston MA USA

The network structure and functional properties of gene regulatory system and their relationships arc an important research field in systems biology. In this paper, a new improved model is proposed based on the study of gene expression process. The model takes into account the effect of protein concentration on the gene expression, so as to obtain a new bifurcation point and improve the performance of the system. The validity of the model is verified by theoretical analysis and data simulation.

关键词： Mathematical model Proteins Stability analysis Bifurcation Biological system modeling Delays RNA

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Task-space cooperative tracking control of multi-robot systems with unknown parameters and time delays

Task-space cooperative tracking control of multi-robot syste...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Xinwu Liang Hesheng Wang Yun-Hui Liu Weidong Chen Le Xie The School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China National Digital Manufacturing Technology Center Shanghai Jiao Tong University Shanghai China

In this paper, the task-space cooperative tracking control problem of multi-robot systems on strongly connected digraphs is studied. To solve such synchronization problem, a novel adaptive control approach is proposed by introducing task-space synchronization errors between neighboring robotic systems into the task-space reference velocity/acceleration. To cope with unknown kinematic and dynamic parameters, adaptive laws are developed without explicitly incorporating synchronization terms. Lyapunov stability theory is used to rigorously prove asymptotical convergence of the task-space synchronization and tracking errors by fully considering the time delays. Finally, simulation results are given to illustrate the performance of the proposed task-space cooperative tracking control approach.

关键词： Task analysis Robot kinematics Kinematics Multi-robot systems Synchronization Aerospace electronics

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State-of-charge estimation for li-ion batteries based on multi-strategy probabilities fusion

State-of-charge estimation for li-ion batteries based on mul...

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2017 Chinese automation Congress, CAC 2017

作者： Xiong, Fei Yang, Bo Gao, Yizhao Yang, Jun Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781538635247

The estimation of state-of-charge (SOC) is the fundamental technology to improve battery working status and life. But severe external environment, dynamic nonlinearity of battery model, and measurement errors make SOC estimation challengable. In this paper, a multi-strategy probabilities based fusion method is proposed. It can combine the dynamic tracking capability of Proportional-Integral Observer (PIO) and noise tolerance capability of extend Kalman filter (EKF). The different abnormal issues, such as internal resistance change, capacity attenuation, data saturation and initialization error, may have a serious impact on the estimates. While the proposed method can guarantee high accuracy estimation and robustness under these issues. It tracks the changes of residual sequence dynamically, and the weighting coefficient can be real-time adjusted according to Bayesian analysis. In simulation, we test the algorithm performance under a variety of current load conditions and abnormal issues. Compared to other model-based methods, the proposed approach performs higher accuracy and robustness with moderate computational complexity. © 2017 IEEE.

关键词： Lithium-ion batteries

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Bifurcation analysis and control of quorum sensing network model 5

Bifurcation analysis and control of quorum sensing network m...

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5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017

作者： Mei, Qicheng Liu, Feng Ren, Jie Sun, Fenglan Wang, Hua School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing400065 China Department of Mechanical Engineering Boston University BostonMA02215 United States

In this paper, a model is constructed to investigate the mechanism induced quorum sensing (QS) by coexisting of small RNA and signal molecule. The QS network model regulated by small RNAs is studied. The condition of the stability of the QS network is considered by using Routh-Hurwitz stability criterion. The conditions for the existence of Hopf bifurcation are obtained. Then, a linear feedback control is designed to make the system asymptotically stable. The numerical simulation is used to verify the results of theoretical analysis.

关键词： Hopf bifurcation

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