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第25届中国控制与决策会议

作者： Xinyu Wang Mengyin Fu Yi Yang Hongbin Ma School of Automation Beijing Institution of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781467355322

Autonomous vehicles have attracted considerable attention in the research community and industry due to their potential benefits to unmanned driving and assisted driving. This paper addresses the problem of designing lateral control law and the strategy of determining the giving speed for autonomous vehicles. An improved method of calculating lateral offset and angle error based on multiple look-ahead distances is proposed to reduce the impact of noise in reference path data on the lateral control system. Multiple fuzzy inference engines are used to design the steering controller and determine the given driving speed including forward and backward to deal with both simple and complex reference paths. Satisfactory simulation and experimental results have been obtained for different reference paths including a path with U-turn task in which backward driving is needed.

关键词： Autonomous Vehicle, Lateral control, Multiple Look-ahead Distances, Given Driving Speed, Fuzzy Logic

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A New Method Based on Polytopic Linear Inclusion for Nonlinear filter with Non-Gaussian Noise

A New Method Based on Polytopic Linear Inclusion for Nonline...

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第25届中国控制与决策会议

作者： Bing Liu Zhen Chen Xiangdong Liu Fan Yang School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355322

This paper presents a new method based on the polytopic linear differential inclusion and the robust mixed H2/∞ filtering for the design of the nonlinear filter with non-Gaussian noises. The main goal is to solve the problems of the complexity and large calculation number in the general nonlinear filter and the filtering design problem for systems with the non-Gaussian noises. The noises considered in the paper involve two different kinds of noises: white noises and energy bounded noises. Differing from the linearization in most nonlinear filters, the estimation error system for the nonlinear system is represented by an uncertain polytopic linear model, based on which, the rectification equations for the predicted errors are designed following the robust mixed H2/∞ filtering. The state estimates for the nonlinear system are given through updating the predictions by the rectified quantities, where, the state predicted quantities of the nonlinear system are gained by the prediction equation of the EKF. The evident advantage of the new filter is the filter coefficients of the rectification equation are constant, without the need to evaluate the Jacobian matrixes. As a result, the calculation number for the new filter is decreased much and the real-time performance of the new filter is much better than the EKF, though the accuracy is a little decline. Its effectiveness is demonstrated by using an example and the statistics result of the calculation number for the filters in the example.

关键词： nonlinear filter polytopic linear inclusion non-Gaussian noise

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Global MPPT for PV systems under partially shaded conditions based on voltage band

Global MPPT for PV systems under partially shaded conditions...

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Chinese control Conference (CCC)

作者： Fan Xinyu Fang Deng Fengmei Li Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing P. R. China School of Automation Beijing Institute of Technology Beijing P. R. China Beijing Institute of Technology Beijing Beijing CN

This paper presents a novel maximum power point (MPP) tracking (MPPT) method to increase photovoltaic (PV) system performance during partially shaded conditions (PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak fast. Simulation results shows the good performance of proposed method.

关键词： Maximum power point trackers Photovoltaic systems Arrays Solar energy Mathematical model Equations

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SDRE based Optimal Time-Varying Sliding Mode control for Re-entry Vehicle

SDRE based Optimal Time-Varying Sliding Mode Control for Re-...

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第25届中国控制与决策会议

作者： Liang Wang Yongzhi Sheng Xiangdong Liu Jie Geng School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

An optimal time-varying sliding mode controller based on SDRE approach is proposed in this paper for re-entry vehicle attitude control in the presence of parametric uncertainties and external disturbances. Firstly, an optimal time-varying sliding surface is obtained through the minimization of a given performance index function and the philosophy of time-varying sliding mode control. Subsequently, a discontinuous control law is designed for guaranteeing the existence of the sliding mode throughout the entire response of the system. Therefore, the global robustness can be ensured. Simulation example is finally given to illustrate the effectiveness of the proposed controller.

关键词： Re-entry vehicle Attitude control SDRE Optimal time-varying sliding mode control

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Chaotic Particle Swarm Optimization Algorithm Parametric Identification of Bouc-Wen hysteresis Model for Piezoelectric Ceramic Actuator

Chaotic Particle Swarm Optimization Algorithm Parametric Ide...

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第25届中国控制与决策会议

作者： Ning Dong Hongjuan Li Xiangdong Liu Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467355339

A chaotic particle swarm optimization (CPSO) algorithm is proposed by introducing chaos state into the original Particle Swarm Optimization (PSO) which aims to solving the flaws of easy plunging into local optimum and losing search ability in the last period for the fast particle velocity decrease. CPSO algorithm takes advantage of the ergodicity, randomicity, and regularity of chaos to make chaotic searching for the global extremun at the same time with the particle swarm optimization. This algorithm synthesizes the high efficiency of global optimization of PSO algorithm and the ergodicity and randomicity of local search of chaotic algorithm. This paper utilizes aforementioned algorithm to identify the Bouc-Wen hysteresis model for piezoelectric ceramic actuators (PCA). The experimental results show that the model identified by CPSO algorithm has better performance than that by PSO algorithm.

关键词： Chaotic Particle Swarm Optimization Bouc-Wen Identification Piezoelectric Ceramic Actuator

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Observer-based fuzzy control for nonlinear fractional-order systems via fuzzy T-S models: The 1 < α < 2 case

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IFAC Proceedings Volumes 2014年第3期47卷 6086-6091页

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang 110036 P. R. China School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 P. R. China

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 < α < 2 via fuzzy T-S models. Using the properties of the Kronecker product and LMI approach, the feedback and observer gain matrices are designed. By this method, the state of nonlinear system described as the fuzzy T-S model is convergent to the equilibrium and the observer error is convergent to zero. Finally, the simulation result of a numerical example is given to illustrate the effectiveness of this method.

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A universal pattern generator for biped walking on 3D slopes

A universal pattern generator for biped walking on 3D slopes

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IEEE International Conference on Robotics and Biomimetics

作者： Wen Zhang Qiang Huang Zhangguo Yu Xuechao Chen Chenglong Fu Jing Li Gan Ma Libo Meng Ying Wu Weimin Zhang Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Department of Mechanical Engineering Tsinghua University Beijing China

ISBN: (纸本)9781479973989

Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

关键词： Legged locomotion Foot Robot kinematics Three-dimensional displays Trajectory Generators

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Active disturbance rejection control for synchronization of different fractional-order chaotic systems

Active disturbance rejection control for synchronization of ...

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World Congress on intelligent control and automation (WCICA)

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang Liaoning Province China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

This paper investigates the fractional-order active disturbance rejection control for the synchronization of two different fractional-order chaotic systems. By the fractional-order extended state observers, the nonlinear dynamics in the synchronization error equations for each subsystems are estimated in real time. Compensating the nonlinear estimations into controllers, the active disturbance rejection controllers are designed to achieve the synchronization. Finally, two examples of synchronization issues on different fractional-order chaotic systems are provided to verify that the fractional-order ADRC is irrelevant with the nonlinear dynamics in the fractional-order chaotic systems. The proposed controllers can achieve the synchronization and estimate the nonlinear dynamics effectively for different fractional-order chaotic systems.

关键词： Synchronization Nonlinear dynamical systems Chaos Equations Noise Observers

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Decentralized Filtering a Multi-Agent System with Local Parametric Couplings Based On Kalman Filter

Decentralized Filtering a Multi-Agent System with Local Para...

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第25届中国控制与决策会议

作者： Yini Lv Hongbin Ma Mengyin Fu Chenguang Yang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institution of Technology School of Computing and Mathematics Plymouth University

ISBN: (纸本)9781467355339

In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discrete-time stochastic linear time-varying dynamics, and every agent can be locally influenced by its neighbor agents. Therefore the states evolution of each agent is not only related with its previous states but also related with its neighbors' previous states in the linear dynamic system. Communication limitations existing in the considered multi-agent system restrict that each agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent. Because of communication limitations and information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional kalman filter or other state observers, which were extensively discussed in the literature. In this preliminary study, for the considered coupled linear discrete-time multiagent system with uncertain linear local couplings, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from the area of adaptive control, we propose an efficient decentralized kalman filtering scheme, for each agent, to simultaneously estimate the unknown states and coupling parameters, and extensive simulations are conducted, which have clearly verified the effectiveness of the proposed decentralized filtering scheme.

关键词： multi-agent system, kalman filter, parametric couplings, parameter estimation, states estimation, decentralized filtering

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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