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第三十四届中国控制会议

作者： YANG Xiong LIU Derong Wei Qinglai WANG Ding The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467374439

This paper presents a novel adaptive/approximate dynamic programming algorithm to solve the H∞ control problem of constrained-input continuous-time nonlinear systems. The developed algorithm employs a single critic neural network(NN)to derive the approximate solution of the Hamilton-Jacobi-Isaacs equation. With two additional terms introduced, namely, the stabilizing term and the robustifying term to update the critic NN, no initial stabilizing control is required. Meanwhile, the developed critic tuning rule not only ensures that the optimal saddle point can be obtained but also guarantees stability of the closed-loop system. In addition, all signals in the closed-loop system are proved to be uniformly ultimately bounded via Lyapunov's direct method. Finally, an illustrate example is provided to verify the effectiveness of the developed approach.

关键词： Adaptive dynamic programming,Constrained input,H∞ control,Nonlinear systems,Optimal control

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Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism 34

Design and Kinematics Analysis of a 4-DOF Articulated Steeri...

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第三十四届中国控制会议

作者： LIN Hao ZHENG Jingyi LI En LIANG Zize State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467374439

Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM, we design a new structure of such mechanisms. The designed 4-DOF ASM can perform yaw and pitch movement actively while roll movement passively. To work efficiently, the ASM is designed to operate in three different modes: "float" mode, "lock" mode, and "active control" mode. Then we deduce the kinematics of articulated vehicle and analyze the workspace of the front vehicle with respect to the rear vehicle to demonstrate the motion performance of the designed ASM. With the elongation and shortening of hydraulic cylinders, the maximum steer angle is beyond 0.4 rad, the range of the rear pitch angle is(-0.22, 0.27) rad, and the range of the front pitch angle is(-0.45, 0.5) rad.

关键词： Articulated steering mechanism,articulated vehicle,kinematics,workspace

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Robust Stabilization of Discrete-Time Uncertain Nonlinear systems Using Neuro-Optimal control Strategy 34

Robust Stabilization of Discrete-Time Uncertain Nonlinear Sy...

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第三十四届中国控制会议

作者： WANG Ding LIU Derong LI Hongliang YANG Xiong The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467374439

In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an optimal control problem under some proper conditions. Then, in order to deal with the transformed optimal control problem, the discrete-time generalized HamiltonJacobi-Bellman equation is introduced and solved by employing the successive approximation method. The convergence proof of the iterative algorithm and the design procedure of the neural network implementation are developed as well. A numerical simulation is also provided to illustrate the effectiveness of the control strategy.

关键词： Generalized Hamilton-Jacobi-Bellman equation,Neuro-optimal control,Robust control,System uncertainty

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Optimal Self-Learning control Scheme for Discrete-Time Nonlinear systems Using Local Value Iteration

Optimal Self-Learning Control Scheme for Discrete-Time Nonli...

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International Joint Conference on Neural Networks

作者： Qinglai Wei Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781509006212

In this paper, an optimal self-learning control scheme for discrete-time nonlinear systems is developed using a new local value iteration based adaptive dynamic programming (ADP) algorithm. The developed local value iteration algorithm permits an arbitrary positive semi-definite function to initialize the algorithm. In the developed local value iteration algorithm, the iterative value function and iterative control law are updated by a subset of the state space. A new analysis method of the convergence property is presented to show that the iterative value functions will converge to the optimum. The convergence criterion for the local value iteration algorithm is presented. A simulation example is given to demonstrate the validity of the present optimal control scheme.

关键词： state-space methods convergence discrete time systems dynamic programming iterative methods learning systems nonlinear systems optimal control

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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The novel control method for the adit data collection system

The novel control method for the adit data collection system

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IEEE International Conference on Mechatronics and Automation

作者： Lei Yang En Li Zize Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509023974

With the continuous development of modern surveying and mapping technology, robotics has been gradually adopted to achieve the autonomous digital measurements. In this paper, a mobile robot platform is designed and controlled to travel inside the Adit environment to collect data for 3D reconstruction and measurement. In traditional control applications, PID-based methods(PID) are widely used for the motion servo control and present good performance in most cases. However, for some nonlinear systems, especially for the complicated applications in Adit environment, traditional PID-based method cannot get desired results. Meanwhile PID controller with fractional order(FPID) can have better control effect than traditional integer order PID controllers and is addressed in the application for the mobile robot platform inside the Adit. In this paper, a mobile robot platform is designed and the servo control system of the mobile robot platform is designed and analyzed. Meanwhile, a motion controller based on fractional order PID method is designed. With the following simulations, performance of the presented method is compared with that of traditional integer order PID method which shows that the fractional order PID controller is easy to design and has the ability of fast response and robust.

关键词： Mobile robots Tuning Servosystems Cameras Fractional calculus Automation

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Steps toward Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 345-348页

作者： Fei-Yue Wang Xiao Wang Lingxi Li Li Li IEEE State Key Laboratory of Management and Control for Complex Systems (SKL-MCCS) Institute of AutomationChinese Academy of Sciences (CASIA) Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Qingdao Academy of Intelligent Industries (QAII) QingdaoShandongChinaand SKL-MCCSCASIA Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis Department of Automation Tsinghua University Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies

The origin of artificial intelligence is investigated, based on which the concepts of hybrid intelligence and parallel intelligence are presented. The paradigm shift in Intelligence indicates the ''new normal'' of cyber-social-physical systems (CPSS), in which the system behaviors are guided by Merton's Laws. Thus, the ACP-based parallel intelligence consisting of Artificial societies, Computational experiments and Parallel execution are introduced to bridge the big modeling gap in CPSS. © 2014 Chinese Association of Automation.

关键词： control systems Electrical engineering

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Generalized Policy Iteration Adaptive Dynamic Programming Algorithm for Optimal Tracking control of a Class of Nonlinear systems

Generalized Policy Iteration Adaptive Dynamic Programming Al...

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第28届中国控制与决策会议

作者： Qiao Lin Qinglai Wei Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781467397155

This paper deals with optimal tracking control problems for a class of discrete-time nonlinear systems using a generalized policy iteration adaptive dynamic programming(ADP) ***,by system transformation,the optimal tracking control problem is transformed into an optimal regulation *** the generalized policy iteration ADP algorithm is employed to obtain the optimal tracking controller with convergence and optimality *** developed algorithm uses the idea of two iteration procedures to obtain the iterative tracking control laws and the iterative value *** neural networks,including model network,critic network and action network,are used to implement the developed *** last,an simulation example is given to demonstrate the effectiveness of the developed method.

关键词： adaptive dynamic programming affine nonlinear systems discrete-time generalized policy iteration neural network tracking control

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Data-Based Self-Learning Optimal control for Continuous-Time Unknown Nonlinear systems With Disturbance

Data-Based Self-Learning Optimal Control for Continuous-Time...

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第28届中国控制与决策会议

作者： Qinglai Wei Derong Liu Ruizhuo Song Pengfei Yan The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781467397155

In this paper,a new data-based self-learning control scheme is developed to solve infinite horizon optimal control problems for continuous-time nonlinear *** developed optimal control scheme can be implement without knowing the mathematical model of the *** to the input-output data of the nonlinear systems,a recurrent neural network(RNN) is employed to reconstruct the dynamics of the nonlinear *** to the RNN model of the system,a new two-person zero-sum adaptive dynamic programming(ADP) algorithm is developed to obtain the optimal control,where the reconstruction error and the system disturbance are considered the control input of the ***-layer neural networks are used to construct the critic and action networks,which are presented to approximate the performance index function and the control law,***,simulation results will show the effectiveness of the developed data-based ADP methods.

关键词： Adaptive critic designs Adaptive dynamic programming Approximate dynamic programming Neurodynamic programming Recurrent neural network Data-based control Optimal control

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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World Congress on Intelligent control and Automation

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi Yisheng Lv State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries

ISBN: (纸本)9781467384155

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system, especially the similar cases recommendation. It can not only save the patients' waiting time, but also make use of the historical resources, for many cases with the same purpose have been solved perfectly. However, because of the diversity and non-standard of the patients' descriptions, the inquiry platform cannot find the cases with similar semantic easily. Most traditional retrieval methods require the overlap of two sentences, and this is not suitable with the diversity and non-standard descriptions. In this paper, we try to utilize the sentences' semantic representation in a continuous space to understand the cases, and then recommend the similar cases. We also incorporate it into query likelihood language models, trying to get better results. Our experimental data are all collected from a real internet inquiry platform, and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： Semantics Internet Medical services Context MONOS devices Optimization Information retrieval

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