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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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Stability Analysis of Event-triggered Networked control systems with Time-Varying Delay 34

Stability Analysis of Event-triggered Networked Control Syst...

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第三十四届中国控制会议

作者： WANG Zhao SUN Jian CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Networked control systems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keeping a satisfactory performance of the system, by transmitting the state measurements only when an event-triggered condition is met. However,some network-induced problems would happen inevitably, such as communication delay. The delay can degrade the control performance significantly and can even lead to instability. In this paper, we study an NCS considering both ETC and time-varying delay, which is rare in the literature. We formulate the system as a discretized piecewise linear system with exponential uncertainty. Then the model is embedded in a polytopic approximation with better structure suitable for stability *** conditions are derived in terms of linear matrix inequalities(LMIs). Finally, the developed method is illustrated by a numerical example.

关键词： Networked control system,event-triggered control,time-varying delay,piecewise linear system,polytopic approximation,stability

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Comparison of Three Data-Driven Networked Predictive control Methods for a Class of Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1714-1716页

作者： Zhong-Hua Pang Xue-Ying Zhao Jian Sun Yuntao Shi Guo-Ping Liu the Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China the State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and... 详细信息

关键词： letter Nonlinear nonlinear

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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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Target Assignment Optimization of Heterogeneous Sensor Networks in Urban Environment 39

Target Assignment Optimization of Heterogeneous Sensor Netwo...

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39th Chinese control Conference, CCC 2020

作者： Chen, Chen Zihao, Cheng Wei, Xu Beijing Institute of Technology School of Automation Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China

ISBN: (纸本)9789881563903

Preventing and controlling Low-Slow-Small(LSS) targets are problems to be solved due to their good concealment in urban environment. Consequently, the problem of target assignment is studied in this paper. Firstly, a target assignment model based on heterogeneous sensor networks is proposed. The characteristics of LSS targets and the influence of environmental factors such as climate and terrain are considered on this model. At the same time, the detection capabilities of different detection nodes and collaborative tracking capabilities are also considered. Secondly, an intelligent optimization algorithm GSAPSO based on PSO is proposed to maximize tracking effect of the sensors. Finally, the simulations are used to compare the GSAPSO algorithm with the traditional PSO and GAPSO algorithms. The results demonstrate that the proposed algorithm has better tracking effect. © 2020 Technical Committee on control Theory, Chinese Association of automation.

关键词： Particle swarm optimization (PSO)

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Sliding angle reconstruction and robust lateral control of autonomous vehicles in presence of lateral disturbance

Sliding angle reconstruction and robust lateral control of a...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2009

作者： Hao, Fang Lihua, Dou Jie, Chen Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 Beijing China

ISBN: (纸本)9781424438044

In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire sliding angles. Since the tire sliding angles cannot be directly measured by sensors, an adaptive robust Luenberger observer is designed. With this observer, the tire cornering stiffness instead of the sliding angles is identified in presence of time-varying lateral disturbance. The Lyapunov stability theory guarantees that the estimated cornering stiffness would converge to a neighborhood of the real value when control inputs excitated the system persistently. But due to the existence of the lateral disturbance which causes loss of accuracy of the sliding angle reconstruction, the previously designed anti-sliding controller whose effectiveness completely depends on the estimation of the sliding angles cannot yield satisfactory results. To overcome this problem a tire-oriented kinematic model is built in which the inaccuracy of the sliding angle reconstruction is modeled in form of additive disturbances to the kinematic model. By transforming the tire-oriented kinematic model into a perturbed chained system, a sliding mode controller, which is robust to both the sliding effects and the negative effects of the lateral disturbance is designed with the help of the natural algebraic structure of the chained systems. Simulation results show that the proposed methods can provide accurate estimation of the sliding angles and guarantee high anti-sliding control accuracy even in presence of time-varying lateral disturbance. © 2009 IEEE.

关键词： Tires

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Short-term PV generation system direct power prediction model on wavelet neural network and weather type clustering

Short-term PV generation system direct power prediction mode...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yang, Ying Dong, Lei School of Automation Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9780769550114

With the increase of the capacity of PV generated systems, how to eliminate the problem caused by the randomness of power output for photovoltaic system becomes more significant. Most of the existing photovoltaic prediction is Based on the solar radiation. However, it's difficult to implement in China due to insufficient solar radiation station available and poor forecasting performance. In addition, indirect forecasting cannot consider the factors related with PV system. A novel power forecasting model using historical power is proposed to solve the problems. Furthermore, in order to adapt sudden weather changes, the future weather type was recognized by using self-organizing feature map(SOM). Then, PV power generation in each weather type could be forecasted from its corresponding forecast network and the over fitting issue of single network model could be addressed. Wavelet neural network is combined with wavelet analysis and neural network. It is compatible with the good time-frequency property and good fault tolerant ability of neural network. Wavelet neural network can optimize the forecasting model. The experimental results indicate that the prediction has high precision and can be applied in stable operation of photovoltaic generation system. © 2013 IEEE.

关键词： Solar radiation

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A Positioning Algorithm of Autonomous Car Based on Map-matching and Environmental Perception 33

A Positioning Algorithm of Autonomous Car Based on Map-match...

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第三十三届中国控制会议

作者： XU Qian WANG Meiling DU Zhifang ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Chongqing Jialing Huaguang Photoelectric Technology Co.Ltd.

ISBN: (纸本)9789881563842

Autonomous car is an important tool for transportation and military in the future,and its precise positioning is the basis of autonomous *** positioning algorithms based on map-matching for autonomous car make little use of environmental perception *** solve this problem,a positioning algorithm is proposed in this paper,which is based on map-matching and environmental perception for autonomous *** algorithm includes macroscopic road matching and microscopic precise *** for macroscopic road matching,the algorithm makes use of computational geometry to match the position of autonomous car to the corresponding road,based on GPS point and map information of the road *** for microscopic precise positioning,the algorithm makes use of the environmental perception,which is detected by the autonomous car to make precise *** road matching provides matching road to microscopic precise positioning,and microscopic precise positioning eliminates gross error produced in macroscopic road *** real car tests,the algorithm can match map quickly,improving the positioning precision with strong real-time.

关键词： Autonomous car,Map-matching,Environmental perception,Computational geometry

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Design and Implementation of the Knowledge Base for Battlefield Task Management system 33

Design and Implementation of the Knowledge Base for Battlefi...

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第三十三届中国控制会议

作者： Zhang Jia Wang Xiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to reduce the operators on the battlefield, and obtain adequate knowledge and improve reaction speed to enhance combat efficiency, the paper builds a knowledge base of battlefield mission management system to manage a variety of required knowledge on the battlefield and supervise each mission profile. Knowledge is presented by production method and is reasoned by forward reasoning method. According to different levels of battlefield tasks, task links are used to organize knowledge. Take combat preparation mission profile as an example, we design every data sheet of the knowledge base. The knowledge base of the battlefield management system could enhance the reusability, sharing and timeliness of knowledge on the battlefield.

关键词： Battlefield Task Management Knowledge Base Task Links Mission Profile

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