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2014 International Conference on Applied Mechanics, Mechatronics and intelligent System, AMMIS 2014

作者： Liu, Yong Kui Zhang, Lin Tao, Fei Wang, Long School of Automation Science and Electrical Engineering Beihang University 100191 Beijing China School of Mechano-electronic Engineering Xidian University 710071 Xi'an China Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

ISBN: (纸本)9783038351757

With the rapid growth of Web services on the Internet, the atomic Web services as nodes and their functionality dependency relationships as edges form a complex Web service network. Various interactions between Web services can occur along the edges, such as collaboration, competition and substitution, etc. So far, however, there lack of an effective and scalable model for generating Web service interaction networks capturing the aforementioned types of interactions, which hinders the relevant researches such as development of new service composition algorithms and the investigation of evolution mechanisms of service networks. In this paper, we propose a model which is able to generate two types of Web service interaction networks, namely complementary Web service interaction network (CWSIN) and similar Web service interaction network (SWSIN). We show that CWSIN exhibits some of the typical characteristics reported in the previous empirical studies. © (2014) Trans Tech Publications, Switzerland.

关键词： complex networks

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Asymptotical stabilization of linear distributed parameter switched systems

Asymptotical stabilization of linear distributed parameter s...

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第26届中国控制与决策会议

作者： Leping Bao Shumin Fei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University

In this paper, the asymptotical stabilization problem for ordinary differential equations switched systems has been extended to distributed parameter switched systems(DPSS) in Hilbert space. Based on semigroup and operator theory, sufficient conditions of asymptotical stabilization for linear DPSS are derived in linear operator inequalities(LOIs)framework. Being applied to three dimensional switched heat propagation equations, we transform the LOIs into the linear matrix inequalities(LMIs), which has the advantage of being numerically well tractable by using matlab software. In particular, the state feedback gain matrices are designed. Two examples are given to illustrate the proposed results.

关键词： Distributed parameter switched system,semigroup,Lyapunov function,asymptotical stabilization,linear operator inequalities.

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Unsupervised robust recursive least-squares algorithm for impulsive noise filtering

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Science China(Information Sciences) 2013年第4期56卷 203-212页

作者： CHEN Jie MA Tao CHEN WenJie PENG ZhiHong School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision(Beijing Institute of Technology) Ministry of Education

A robust recursive least-squares(RLS) adaptive filter against impulsive noise is proposed for the situation of an unknown desired *** minimizing a saturable nonlinear constrained unsupervised cost function instead of the conventional least-squares function,a possible impulse-corrupted signal is prevented from entering the filter’s weight updating ***,a multi-step adaptive filter is devised to reconstruct the observed "impulse-free" noisy sequence,and whenever impulsive noise is detected,the impulse contaminated samples are replaced by predictive *** on simulation and experimental results,the proposed unsupervised robust recursive least-square adaptive filter performs as well as conventional RLS filters in "impulse-free" circumstances,and is effective in restricting large disturbances such as impulsive noise when the RLS and the more recent unsupervised adaptive filter fails.

关键词： unsupervised adaptive filtering impulsive noise suppression recursive least-squares algorithm

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Distributed differential evolution algorithm with adaptive parameters

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Kongzhi yu Juece/control and decision 2014年第4期29卷 701-706页

作者： Zhang, Chun-Mei Chen, Jie Xin, Bin School of Automation Ministry of Education Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China School of Electronic Information Engineering Taiyuan University of Science and Technology Taiyuan 030024 China

An adaptive distributed differential evolution algorithm is proposed based on the change of the individual's fitness value. Firstly, the initial population is divided into several subpopulations. When the migration condition is satisfied, the best individual in each subpopulation will replace the worst individual of its neighbor subpopulations according to the Von Neumann topology. The migration mechanism among subpopulations enables the information to be communicated in the whole population. Meanwhile, the adaptive mechanism of F and CR is presented for assigning different F and CR to each individual according to the individual's fitness. Numerical results show that, the proposed algorithm is beneficial to explore the solution space, which can avoid the premature convergence and search the excellent solutions.

关键词： Optimization

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The Gait Planning Theory and Technology Research on the Wheel-foot Multi-joint Mobile Robot

The Gait Planning Theory and Technology Research on the Whee...

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第26届中国控制与决策会议

作者： Zhang Yeqing Luo Qingsheng Wang Meiling Wu Fan Wu Di Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology School of Mechanic and Electronic Engineering Beijing Institute of Technology

Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot's body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.

关键词： mechanical structure kinematical formulas workspace of feet walking gaits prototype test

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Slip prevention of a humanoid robot by coordinating acceleration vector

Slip prevention of a humanoid robot by coordinating accelera...

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International Conference on Information and automation (ICIA)

作者： Zhangguo Yu Jing Li Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Yan Liu Wen Zhang Weimin Zhang Xiaopeng Chen Junyao Gao Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.

关键词： Acceleration Robot kinematics Vectors Humanoid robots Mathematical model Equations

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Sensitivity Analysis of Optimal control Problems for Switched systems

Sensitivity Analysis of Optimal Control Problems for Switche...

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第26届中国控制与决策会议

作者： Jinjin Liu Kanjian Zhang Xiaomei Liu Haikun Wei School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781479937097

This paper investigates the problem of sensitivity analysis for switched autonomous systems involving uncertain parameters. The aim is to find switching instants which minimizes the cost function, and meanwhile makes it robust to the variation of the original objective with respect to unknown parameters. We focus on the fixed switching mode sequences and convert the sensitivity problem into a conventional optimal switched control problem, which can be solved directly using the gradient descent algorithm. The efficacy of the proposed method is illustrated via numerical example.

关键词： Switched systems,Sensitivity analysis,Optimal control,Parameter variation

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A Model-based Demand-balance control for complex Urban traffic Networks

A Model-based Demand-balance Control for Complex Urban traff...

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Shu Lin Qing-Jie Kong School of Computer and Control Engineering University of Chinese Academy of Sciences Qingdao Academy of Intelligent Industries the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

Traffic control is an effective and efficient method for the problem of traffic *** complex urban traffic networks,it is necessary to design a high-level controller to regulate the traffic *** the parallel control framework for complex traffic networks,we design a demand-balance MPC controller based on the MFD-based multi-subnetwork model,which can optimize the network traffic mobility and the network traffic throughput by regulating the input traffic flows of the *** transferring traffic flows among subnetworks are indirectly controlled by the demand-balance MPC controller,and a global optimality can be achieved for the entire traffic *** simulation results show the effectiveness of the proposed controller in improving the network traffic throughput.

关键词： A Model-based Demand-balance control for complex Urban traffic Networks MFD Model

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SDRE based Adaptive Optimal Sliding Mode control for Re-entry Vehicle

SDRE based Adaptive Optimal Sliding Mode Control for Re-entr...

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第三十二届中国控制会议

作者： WANG Liang SHENG Yongzhi LIU Xiangdong School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

This paper considers the robust attitude control problem of re-entry vehicle in the presence of the parametric uncertainties and external *** on SDRE method,an optimal sliding surface is first obtained through the minimization of a selected performance index ***,an adaptive sliding mode controller is designed to guarantee the reachability condition of the related optimal sliding *** switching gains are obtained on-line through an adaptation scheme,which eliminates the requirement of a priori knowledge of the upper bound on the lumped *** effectiveness of the proposed strategy is verified by both theoretical analysis and simulation results.

关键词： Re-entry vehicle Attitude control SDRE Adaptive optimal sliding mode control

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Robust control of Spacecraft Eigenaxis Maneuver via Integral Sliding Mode

Robust Control of Spacecraft Eigenaxis Maneuver via Integral...

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第25届中国控制与决策会议

作者： Zhen Chen Binglong Cong Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

The control problem of spacecraft eigenaxis maneuver in the presence of parametric uncertainty and external disturbance is addressed in this paper. Modified Rodrigues parameters （MRPs） are utilized as the attitude parameters for the non-redundancy. An eigenaxis maneuver control law with feedback and feed-forward terms is presented for the nominal system. The transient response of close loop system can be adjusted according to an approximate second order system. To improve the robustness, integral sliding mode （ISM） technique is adopted to reject undesirable effects and track nominal trajectory. The resulting controller can perform the eigenaxis maneuver in the presence of parametric uncertainty and external disturbance while possess good system performance. The effectiveness of the proposed method is demonstrated by simulation results.

关键词： Rigid Spacecraft Attitude control Eigenaxis Rotation Integral Sliding Mode MRPs

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