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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Optimal Tuning of Plant-Friendly PID controllers

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Journal of Beijing Institute of Technology 2010年第3期19卷 331-336页

作者：史大威王军政马立玲 Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

A plant-friendly proportional-integral-derivative （PID） controller optimization framework is proposed to make tradeoffs among set-point response,controller output variations and *** objective function is chosen as the weighted sum of the integral of squared time-weighted error and the integral of squared timeweighted derivative of the control variable with respect to set-point response,while the robustness of the system is guaranteed by constraints on gain and phase *** to the complex structure of the constraints,the problem is solved by genetic *** analysis show the proposed method could efficiently reduce the controller output variations while maintaining a short settling *** on the simulation results,iterative tuning rules for the weighting factor in the objective function are obtained,which allows efficient simple proportional-integral（PI） tuning formulae to be derived.

关键词： PID control plant-friendliness genetic algorithm constrained optimization

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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Deep Multimodal Learning and Fusion Based intelligent Fault Diagnosis Approach

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Journal of Beijing Institute of Technology 2021年第2期30卷 172-185页

作者： Huifang Li Jianghang Huang Jingwei Huang Senchun Chai Leilei Zhao Yuanqing Xia Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

Industrial Internet of Things(IoT)connecting society and industrial systems represents a tremendous and promising paradigm *** IoT,multimodal and heterogeneous data from industrial devices can be easily collected,and further analyzed to discover device maintenance and health related potential knowledge *** data-based fault diagnosis for industrial devices is very helpful to the sustainability and applicability of an IoT *** how to efficiently use and fuse this multimodal heterogeneous data to realize intelligent fault diagnosis is still a *** this paper,a novel Deep Multimodal Learning and Fusion(DMLF)based fault diagnosis method is proposed for addressing heterogeneous data from IoT environments where industrial devices ***,a DMLF model is designed by combining a Convolution Neural Network(CNN)and Stacked Denoising Autoencoder(SDAE)together to capture more comprehensive fault knowledge and extract features from different modal ***,these multimodal features are seamlessly integrated at a fusion layer and the resulting fused features are further used to train a classifier for recognizing potential ***,a two-stage training algorithm is proposed by combining supervised pre-training and fine-tuning to simplify the training process for deep structure models.A series of experiments are conducted over multimodal heterogeneous data from a gear device to verify our proposed fault diagnosis *** experimental results show that our method outperforms the benchmarking ones in fault diagnosis accuracy.

关键词： fault diagnosis deep learning multimodal heterogeneous data multimodal fused features

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Stability Analysis of Networked control systems with Aperiodic Sampling and Time-Varying Delay

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IEEE Transactions on Cybernetics 2017年第8期47卷 2312-2320页

作者： Chen, Jie Meng, Su Sun, Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

This paper addresses the stability of networked control systems with aperiodic sampling and time-varying network-induced delay. The sampling intervals are assumed to vary within a known interval. The transmission delay is assumed to belong to a given interval. The closed-loop system is first converted to a discrete-time system with multiple time-varying delays and norm-bounded uncertainties resulting from the variation of the sampling intervals. And then, it is transformed into a delay-free system being form of an interconnection of two subsystems. By utilizing scaled small gain theorem, an asymptotic stability criterion for the closed-loop system is proposed in terms of linear matrix inequality. Finally, numerical examples demonstrate the effectiveness of the proposed method and its advantages over existing methods. © 2013 IEEE.

关键词： Networked control systems

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Optimal Switching Integrity Attacks on Sensors in Industrial control systems

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Journal of systems Science and complexity 2019年第5期32卷 1290-1305页

作者： Wu, Guangyu Sun, Jian The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

In this article, an optimal switching integrity attack problem is investigated to study the response of feedback control systems under attack. The authors model the malicious attacks on sensors as additive norm bounded signals. The authors consider an attacker who is only capable of launching attacks to limited number of sensors once a time and changing the combinations of attacked sensors all over the time. The objective of this paper is to find the optimal switching sequence of these combinations and the optimal attack input. The authors solve this problem by transforming it into a traditional optimal control problem with new control variables vary continuously in the range [0, 1]. The optimal solutions of the new control variables are of bang-bang-type. Therefore, an algebraic switching condition and an optimal attack input can be obtained. Finally, numerical results are provided to illustrate the effectiveness of the methods. © 2019, The Editorial Office of JSSC & Springer-Verlag GmbH Germany.

关键词： Adaptive control systems

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Moving object detection in framework of compressive sampling

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Journal of systems Engineering and Electronics 2010年第5期21卷 740-745页

作者： Jing Li JunzhengWang Wei Shen Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 P. R. China

Compressive sensing is a revolutionary idea proposed recently to achieve much lower sampling rate for *** the image application with limited resources the camera data can be stored and processed in compressed *** algorithm for moving object and region detection in video using a compressive sampling is *** algorithm estimates motion information of the moving object and regions in the video from the compressive measurements of the current image and background *** algorithm does not perform inverse compressive operation to obtain the actual pixels of the current image nor the estimated *** leads to a computationally efficient method and a system compared with the existing motion estimation *** experimental results show that the sampling rate can reduce to 25% without sacrificing performance.

关键词： compressive sampling compressive measurements moving object detection.

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Positioning accuracy of IGPS

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Journal of Harbin Institute of Technology(New Series) 2010年第2期17卷 219-224页

作者：于淼陈杰窦丽华甘明刚 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

The positioning accuracy of a short-haul target-locating system,the inverse-GPS(IGPS) ,was analyzed in detail. The relationship between IGPS and the positioning error was discussed. The multiplicative error minimal bound of the geometric dilution of precision (GDOP) about the four-base-station IGPS was also investigated. In order to clarify the practical implementation of IGPS,the multiplicative and additive error factors which affect the positioning accuracy and theoretical estimation of positioning accuracy were presented. By analyzing the experiments of locating a target's position in virtual three-dimensional areas,the positioning performance of IGPS was illustrated. The results show that the multiplicative and additive error factors should be eliminated in IGPS to improve the positioning accuracy.

关键词： inverse-GPS(IGPS) GDOP positioning accuracy

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Distributed stereoscopic rotating formation control of networks of second-order agents

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Journal of systems Engineering and Electronics 2013年第3期24卷 480-487页

作者： Li Song Qinghe Wu Di Yu Yinqiu Wang Key Laboratory of Complex System Intelligent Control and Decision(Ministry of Education) School of AutomationBeijing Institute of Technology School of Automation Beijing Institute of Technology

Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.

关键词： multi-agent system collective motion stereoscopic rotating formation control.

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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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