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48th IEEE Conference on decision and control held jointly with 2009 28th Chinese control Conference, CDC/CCC 2009

作者： Zhang, Jinhui Shi, Peng Xia, Yuanqing Fu, Mengyin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom School of Engineering and Science Victoria University Australia

ISBN: (纸本)9781424438716

This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of linear matrix inequalities, by which the corresponding adaptive reaching motion controller is also designed. Simulation studies show the effectiveness of the control scheme. ©2009 IEEE.

关键词： Linear matrix inequalities

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A New Modeling Reference Direct Adaptive Sliding Mode control for Electromechanical Actuator

A New Modeling Reference Direct Adaptive Sliding Mode Contro...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Hao Li Lihua Dou Zhong Su Jie Chen School of Automation and the Key Laboratory of Complex System Intelligent Control and DecisionMinistry of EducationBeijing Institute of Technology School of Automation Beijing Information Science & Technology University

A new model reference direct adaptive sliding mode control(MRDASMC) approach for electromechanical actuator(EMA) is *** with parameter variation,external load disturbance,nonlinear structure and unmodelled dynamics in the system are treated as a lumped *** lumped uncertainty is estimated without the bounds known in advance.A switching function is employed to compensate for the estimated error of the lumped *** the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption *** adaption law contains a fading factor which can prevent saturation of the control *** stability of the control system is guaranteed by Lyapunov *** results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

关键词： Model reference adaptive sliding mode control Electromechanical actuator Fading factor Saturation Chattering.

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Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees Optimization for Weapon Network System

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Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

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Nonlinear Observer Design for Discrete MIMO systems with Unknown Time Delay

Nonlinear Observer Design for Discrete MIMO Systems with Unk...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Jing Na Guido Herrmann Xuemei Ren Phil Barber Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology IEEE Department of Mechanical Engineering University of Bristol

This paper proposes an adaptive observer for discrete MIMO systems with unknown dynamics and *** case that the system output equation has time-delay and nonlinearities is also *** delayed states in the system are with a nonlinear form and only the estimated delay is *** using a high-order neural network(HONN),the precise system model,and the Lipschitz or norm-boundedness assumption of unknown nonlinearities are not required.A novel converse Lyapunov Lemma is also developed to prove the uniform ultimate boundedness(UUB) of the proposed *** of the presented scheme is verified by simulation.

关键词： Lyapunov Nonlinear Observer Design for Discrete MIMO systems with Unknown Time Delay Observer

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Modified Particle Filter for Object Tracking in Low Frame Rate Video

Modified Particle Filter for Object Tracking in Low Frame Ra...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Tao Zhang Shumin Fei Hong Lu Xiaodong Li the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationInstitute of AutomationSoutheast University the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Institute of AutomationSoutheast University School of Automation Nanjing Institute of Technology

Object tracking algorithm using modified Particle filter in low frame rate(LFR) video is proposed in this paper,which the object moving significantly and randomly between consecutive frames in the low frame rate ***,Particle filtering use motion transitions to model the movement of the ***,in object tracking with low frame rate sequences,it is very difficult to model significant random jumps of *** key notion of our solution is that using the object detection and extraction to locate the tracked object,while not using the dynamical *** propagate the sample set around the detected regions,which the samples are assumed to be uniformly distributed in the neighborhoods of the detected *** is similar to the general particle filter to propagate *** we compute the likelihood between the target model and the candidate regions,which are based on color histogram *** extensive experiments show that the proposed algorithm performs robustly in a large variety of tracking scenarios.

关键词： frame filter Modified Particle Filter for Object Tracking in Low Frame Rate Video Object Filter

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Scene specified control for internet-based mobile robot operation

Scene specified control for internet-based mobile robot oper...

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IEEE International Conference on Mechatronics and automation

作者： Xudong Ma Xianzhong Dai Fang Fang Ningting Cheng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South East University Nanjing China

A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information. Therefore it must be tolerate of the significant and unpredicted time latency that might mislead the robot for time and scene-dependent operations. A series of strategies are presented in this paper to decrease the latency impact and implement scene specified control of a Internet-based mobile robot. Time stamps are attached to each communication packet of scene video, audio and environment information from the robot to remote operator's computer for display, which then sends back control decision or command of the right time stamps with the scene when needed. By allocating a memory buffer for current display and recent status even including video frames the robot recalls the environment with the event time stamps as searching index, which helps to estimate the exact robot position or operation. Reverse position and motion are conducted according to estimation from the memorized information. The strategies have been introduced to improve a practical networked mobile robot control platform with experiment validity given in detail.

关键词： Layout Internet Mobile robots Computer displays Delay Communication system control Auditory displays IP networks Supervisory control Feedback

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General Distributed Protocols for Finite-Time Consensus of Multi-Agent systems

General Distributed Protocols for Finite-Time Consensus of M...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Feng Xiao Long Wang Jie Chen School of Automation Beijing Institute of Technology Intelligent Control Laboratory Center for Systems and ControlCollege of Engineeringand Key Laboratory of Machine Perception (Ministry of Education)Peking University

This paper develops finite-time consensus theory for multi-agent systems and presents the design and analysis results of distributed consensus protocols,which are continuous state *** distributed algorithms are in general form and have their wide range of applications,including fast consensus,saturation control,and network connectivity *** employing the tools of finite-time Lyapunov theory and algebraic graph theory,we present the relaxable interaction-topology conditions that can guarantee the solvability of finite-time consensus *** examples are given to demonstrate the applications of our theoretical results.

关键词： agent Laplacian General Distributed Protocols for Finite-Time Consensus of Multi-Agent systems Agent

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Velocity-Consensus control for Networks of Multiple Double-Integrators

Velocity-Consensus Control for Networks of Multiple Double-I...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Jie Chen Long Wang Feng Xiao School of Automation Beijing Institute of Technology Intelligent Control Laboratory Center for Systems and ControlCollege of Engineeringand Key Laboratory of Machine Perception (Ministry of Education)Peking University

This paper studies the velocity-consensus problem of multi-agent systems with second-order agent dynamics and proposes an asynchronous distributed consensus protocol allowing for switching interaction topology, time-varying delays and intermittent information transmission. Unlike the existing works, the agreement of position-like states is not required in this paper. Velocity consensus is a prerequisite of the popular Vicsek model and can find its broad applications in congestion control for internet, distributed task management, distributed estimation for sensor networks, etc. We first give an approach to approximating velocities based on delayed position-like information and then provide the design and analysis results for the velocity-consensus control. We show that if the union of the interaction topology across the time interval with some given length always contains a spanning tree, then the proposed asynchronous protocol will solve the velocity-consensus problem asymptotically.

关键词： agent Velocity-Consensus control for Networks of Multiple Double-Integrators

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New delay-dependent stability criteria for linear stochastic systems with time-varying delay

New delay-dependent stability criteria for linear stochastic...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Jianjiang Yu Kanjian Zhang Shumin Fei the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Information Science and Technology Yancheng Teachers University the School of Automation Southeast University

In this paper, the problem of the stability for a class of stochastic systems with time-varying delay is investigated. By dividing the delay interval into multiple segments and choosing different weighting matrices in the new LyapunovKrasovskii functional, the delay-dependent sufficient criterion is derived in terms of linear matrix inequalities(LMIs). Neither model transformations nor bounding techniques for cross terms is employed, so the derived criterion is less conservative than the most existing results. Meanwhile, the computational complexity of the obtained stability conditions is reduced because less variables are involved. A numerical example is given to show the application of the proposed method.

关键词： New delay-dependent stability criteria for linear stochastic systems with time-varying delay

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Robust controller Design for Networked control systems with Nonlinear Uncertainties

Robust Controller Design for Networked Control Systems with ...

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2009 American control Conference (ACC 2009)

作者： Junyan Yu Long Wang Mei Yu Jie Chen Yingmin Jia Intelligent Control Laboratory Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing 100871 P.R.China Department of Automation North China Electric Power University Zhuxinzhuang Dewai Beijing 102206 P.R.China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 P.R.China Seventh Research Division Beihang University Beijing 100083 P.R. China

ISBN: (纸本)9781424445233

We address robust stabilization problem for networked control systems with nonlinear uncertainties and packet losses by modelling such systems as a class of uncertain switched systems. Based on theories on switched Lyapunov functions, we derive the robustly stabilizing conditions for state feedback stabilization and design packet-loss dependent controllers by solving some matrix inequalities. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design method.

关键词： Networked control systems robust controller design Packet loss control systems design approach Switched systems controller design State feedback Uncertainty nonlinearity

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