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第37届中国控制会议

作者： Jia-Rong Li Ming-Gang Gan Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

In this paper, we extend perfect tracking control to nonlinear systems, and propose a novel robust perfect tracking control（RPTC） strategy for nonlinear servo tracking systems. The overall control system consists of four parts: a model-based friction compensator, a feedforward perfect tracking controller, an improved internal model controller as the feedback controller,and a disturbance observer for position feedback. First, the friction compensator is introduced to compensate the nonlinear dynamic friction, and the feedforward perfect tracking controller is applied to widen the frequency band. Then, the internal model controller with a differentiator is adopted to yield improved tracking accuracy. Moreover, by utilizing the disturbance observer, the robustness against external disturbances and plant uncertainties is ensured. Finally, high accuracy tracking and ideal robustness are achieved by the RPTC scheme. The stability of the closed loop system is analyzed. Simulation results demonstrate that the proposed RPTC strategy significantly improves the tracking accuracy and enhances the robustness.

关键词： Perfect Tracking control Nonlinear Servo systems Friction Compensation Disturbance Observer Internal Model control

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Stabilization of systems Under Stochastic Clock Offsets

Stabilization of Systems Under Stochastic Clock Offsets

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Haoyuan Sun Jie Chen Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781538670897;9781538670880

This paper is concerned with the stabilization of networked control systems under clock offsets between sensors and controllers where the clock offsets are assumed to be stochastic variables following a certain probability distribution. A linear time-invariant controller is designed to deal with the effects of the stochastic offsets between sensors and controllers clocks, which can guarantee the stochastic stability of the linear systems. Finally, the validity of our results is illustrated using a numerical simulation.

关键词： Clocks Stability analysis Linear matrix inequalities Sensor systems Stochastic processes Linear systems

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A New Stability Criterion of Networked Switched control systems with Unknown Time-Varying Delays

A New Stability Criterion of Networked Switched Control Syst...

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Chinese control Conference (CCC)

作者： Guoliang Chen Jian Sun Zhichuang Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

In this article, the stability of networked switched control systems (NSCSs) with unknown time-varying delays is analyzed. By Taylor series expansion and h-order approximation techniques, NSCSs with unknown time-varying delays is modeled to discrete-time switched polytopic uncertain systems, a new stability criterion is proposed for NSCSs based on a necessary and sufficient nonconservative linear matrix inequalities (LMIs) condition for discrete-time switched polytopic uncertain systems. Finally, a numerical example is presented to show the effectiveness of the proposed method.

关键词： Switches Delays Stability criteria Lyapunov methods Numerical stability Thermal stability

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Target-Focused Video Stabilization for Human Computer Interaction 29

Target-Focused Video Stabilization for Human Computer Intera...

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第29届中国控制与决策会议

作者： Hao Zhu Qing You Wenjie Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781509046584

As an important task of video enhancement,a lot of video stabilization methods have been *** in many real-world applications,especially the systems with human-computer interactions,existing methods only remove camera motion in stabilized frames,the remaining object motion will also lead to deviations in manual *** this paper,we collect practical hand drawn bounding boxes which have been shown to contain serious *** we propose a target-focused video stabilization method consisting of a proposal-based detection component and a trackingbased motion estimation *** experiments demonstrate our method can remove camera jitter and target motion simultaneously,and also offer users a friendly and effective way to draw accurate target regions.

关键词： Video Stabilization Human-computer Interactive Object Proposal

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A survey on Lyapunov-based methods for stability of linear time-delay systems

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Frontiers of Computer Science 2017年第4期11卷 555-567页

作者： Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

Recently, stability analysis of time-delay systems has received much attention. Rich results have been obtained on this topic using various approaches and techniques. Most of those results are based on Lyapunov stability theories. The purpose of this article is to give a broad overview of stabil- ity of linear time-delay systems with emphasis on the more recent progress. Methods and techniques for the choice of an appropriate Lyapunov functional and the estimation of the derivative of the Lyapunov functional are reported in this ar- ticle, and special attention is paid to reduce the conservatism of stability conditions using as few as possible decision vari- ables. Several future research directions on this topic are also discussed.

关键词： time-delay system,ity delay-dependent stability,Lyapunov-Krasovskii functionaldelay-independent stabil-linear matrix inequality,

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3D Semantic Mapping Based on Convolutional Neural Networks

3D Semantic Mapping Based on Convolutional Neural Networks

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Chinese control Conference

作者： Jing Li Yanyu Liu Junzheng Wang Min Yan Yanzhi Yao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing P. R. China

As an important part of environmental perception, maps guarantee the accuracy of intelligent robots in navigation, localization and path planning. The traditional 3D maps mainly focus on the spatial structure of the objects, which lacks the semantic information. A method is proposed in the paper, this method combines convolutional neural networks (CNNs) and Simultaneous Localization and Mapping (SLAM) to create global dense 3D semantic maps for indoor scenes. The deep neural network that includes convolution and deconvolution is designed to predict semantic category of every pixel. RGB-D camera is used to obtain scene information, accomplish localization and build 3D maps simultaneously. The semantic information is integrated into the 3D scene, we present an octree map method to replace traditional point clouds method, which can reduce the error from pose estimation and single frame labeling. By this method, the accuracy of semantic information is greatly improved.

关键词： Three-dimensional displays Semantics Cameras Simultaneous localization and mapping Octrees Feature extraction

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Generalization of integral inequalities and (c_1,c_1) stability of neutral differential equations with time-varying delays

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Journal of systems Engineering and Electronics 2017年第2期28卷 347-360页

作者： Shuli Guo Lina Han Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematics Institute Oxford University Department of Cardiovascular Internal Medicine Nanlou Branch of Chinese PLA General Hospital

A uniform stability analysis is developed for a type of neutral delays differential equations which depend on more general nonlinear integral inequalities. Many original investigations and results are obtained. Firstly, generations of two integral nonlinear inequalities are presented, which are very effective in dealing with the complicated integro-differential inequalities whose variable exponents are greater than zero. Compared with existed integral inequalities, those proposed here can be applied to more complicated differential equations, such as time-varying delay neutral differential equations. Secondly, the notions of (ω, Ω) uniform stable and (ω, Ω) uniform asymptotically stable, especially (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable, are presented. Sufficient conditions on about (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable of time-varying delay neutral differential equations are established by the proposed integral inequalities. Finally, a complex numerical example is presented to illustrate the main results effectively. The above work allows to provide further applications on the proposed stability analysis and control system design for different nonlinear systems. © 2017 Beijing Institute of Aerospace Information.

关键词： control system stability Differential equations Nonlinear equations Time delay Time varying control systems

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Approach and landing guidance design for reusable launch vehicle using multiple sliding surfaces technique

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Chinese Journal of Aeronautics 2017年第4期30卷 1582-1591页

作者： Xiangdong LIU Fengdi ZHANG Zhen LI Yao ZHAO School of Automation Beijing Institute of Technology Beijing 100081 China National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China China Academy of Launch Vehicle Technology Beijing 100076 China

An autonomous approach and landing（A＆L） guidance law is presented in this paper for landing an unpowered reusable launch vehicle（RLV） at the designated runway touchdown. Considering the full nonlinear point-mass dynamics, a guidance scheme is developed in threedimensional space. In order to guarantee a successful A＆L movement, the multiple sliding surfaces guidance（MSSG） technique is applied to derive the closed-loop guidance law, which stems from higher order sliding mode control theory and has advantage in the finite time reaching *** global stability of the proposed guidance approach is proved by the Lyapunov-based *** designed guidance law can generate new trajectories on-line without any specific requirement on off-line analysis except for the information on the boundary conditions of the A＆L phase and instantaneous states of the RLV. Therefore, the designed guidance law is flexible enough to target different touchdown points on the runway and is capable of dealing with large initial condition errors resulted from the previous flight phase. Finally, simulation results show the effectiveness of the proposed guidance law in different scenarios.

关键词： Finite time control Landing guidance Lyapunov stability Reusable launch vehicle Sliding mode control

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Modeling and simulation of MHD melt convection and heat transfer in CZ crystal growth

Modeling and simulation of MHD melt convection and heat tran...

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Chinese Automation Congress

作者： Ni Zhang Ding Liu Weichao Huang National and Local Joint Engineering Shaanxi key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China

This paper presents an axisymmetric swirl incompressible thermal lattice Boltzmann model to study the magnetohydrodynamics (MHD) melt flow and heat transfer at high Grashof number and high Reynolds number under external magnetic field in Czochralski (CZ) crystal growth process. The model is built based on the double distribution function lattice Boltzmann equation (DDF-LBE) and is verified by benchmark problem. By using the proposed model, the evolution relationship of melt flow, temperature is constructed under the combined effects of Lorenz force, rotating inertia force and thermal buoyancy force. Furthermore, the flow patterns and the temperature distribution of silicon melt under different magnetic field strengths are simulated. The simulation results show that with the increase of magnetic field strength, the melt velocity is reduced, which suppresses the melt convection and is beneficial for suppressing the fluctuation of melt. And the temperature gradient below the crystal growth interface increases in the case of crystal rotation, which is helpful to increase the crystallization rate. The combination of Cusp magnetic field, crucible rotation and crystal rotation can be used as an effective method in the production of high-quality crystal.

关键词： Modeling Computer simulation Crystal growth Lattice boltzmann method

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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