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作者： Yi, Jianqiang Wang, Wei Zhao, Dongbin Liu, Xiaojing Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences China Beijing Institute of Technology School of Information Science and Technology Beijing 100081 China

ISBN: (纸本)0780389123

On the basis of sliding mode control, a new cascade sliding-mode controller (CSMC) for a class of large-scale underactuated systems is proposed. The large-scale underactuated systems include several subsystems. Firstly, two states are chosen to construct the first-layer sliding surface. Secondly, the first-layer sliding surface and one of the left states are used to construct the second-layer sliding surface. This process continues till the last-layer sliding surface is obtained. By theoretical analysis, the cascade sliding-mode controller is proved to be globally stable in the sense that all signals involved are bounded. The simulation results show the validity of this method. © 2005 IEEE.

关键词： Sliding mode control

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Double layer sliding mode control for second-order underactuated mechanical systems

Double layer sliding mode control for second-order underactu...

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作者： Wang, Wei Yi, Jianqiang Zhao, Dongbin Liu, Xiaojing Beijing Institute of Technology School of Information Science and Technology Beijing 100081 China Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)0780389123

A new stabile sliding mode control method for a class of underactuated mechanical systems is proposed in this paper. The controller has the double-layer structure. Firstly, the system states are divided into several different subsystems. For each of these subsystems, a first-layer sliding plane is constructed. From these first-layer sliding planes, then we further construct a second-layer sliding plane. By analyzing the features of the mathematical model of the underactuated mechanical systems, we derive the sliding-mode control law and indicate the ranges of the controller parameters. Using Lyapunov law, the paper proves the stability of all the sliding planes theoretically. The simulation results show the validity of this method for this class of underactuated mechanical systems. © 2005 IEEE.

关键词： Sliding mode control

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Driving cycle simulation for heady duty engine emission evaluation and testing

Driving cycle simulation for heady duty engine emission eval...

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Powertrain and Fluid systems Conference and Exhibition

作者： Montazeri-Gh, Morteza Varasteh, Hirbod Naghizadeh, Mojtaba Systems Simulation and Control Laboratory Department of Mechanical Eng Iran University of Science and Technology Narmak Tehran 16844 Iran Division of Mechatronics Department of Signals and Systems Chalmers University SE-412 96 Gothenburg Sweden

Driving cycle simulation of the heavy duty vehicle powertrain systems is presented as a methodological approach for evaluation of the engine operating points used for emission testing. This approach employs a backward facing method based on the quasi-steady approximation using the engine steady state characteristics. The driving cycle used in this study is extracted from the experimental data collected from the city buses in the real traffic conditions of the city of Tehran. The driving cycle is divided into several traffic conditions including congested, urban and extra-urban (highway). Several driving modes have also been considered including idle, cruise, deceleration and acceleration. The driving cycle simulation is then used to obtain the distribution of the engine operation for several driving cycles, traffic conditions and driving modes. Finally, the mapping from the driving cycle SAPM into the engine SLPM is employed to analyze the results. This study reveals that the common used 13-mode heavy duty engine test cycle is not necessarily compatible with the engine operating points for the city bus application, in particular at idle condition. Copyright © 2005 SAE International.

关键词： Engines

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Dynamic compensation for the deadzone of the electrohydraulic proportional position servo control system

Dynamic compensation for the deadzone of the electrohydrauli...

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SICE Annual Conference 2005

作者： Peng, Xi-Wei Hou, Zeng-Guang Geng, Qing-Bo Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China

The valve-controlled motor eletrohydraulic proportional servo system driving static load torque has severe time-varying deadzone and gain nonlinearities in the presence of the load torque variations. An experimental comparison study was made between several control methods. Experimental results show that the high gain control causes instability;the integral control aggravates stick slip and introduces hunting;the fixed deadzone compensation greatly reduces the positioning error when the load torque is a constant, but it causes poor positioning accuracy when the load torque varies greatly. The dynamic deadzone compensation based on the error e(t) and error-in-change Δe(t) can significantly improve the positioning precision over a wide range of load torque. © 2005 SICE.

关键词： Servomechanisms

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Some marginal learning algorithms for unsupervised problems

Some marginal learning algorithms for unsupervised problems

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IEEE International Conference on Intelligence and Security Informatics, ISI 2005

作者： Tao, Qing Wu, Gao-Wei Wang, Fei-Yue Wang, Jue Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 China

In this paper, we investigate one-class and clustering problems by using statistical learning theory. To establish a universal framework, a unsupervised learning problem with predefined threshold η is formally described and the intuitive margin is introduced. Then, one-class and clustering problems are formulated as two specific η-unsupervised problems. By defining a specific hypothesis space in η-one-class problems, the crucial minimal sphere algorithm for regular one-class problems is proved to be a maximum margin algorithm. Furthermore, some new one-class and clustering marginal algorithms can be achieved in terms of different hypothesis spaces. Since the nature in SVMs is employed successfully, the proposed algorithms have robustness, flexibility and high performance. Since the parameters in SVMs are interpretable, our unsupervised learning framework is clear and natural. To verify the reasonability of our formulation, some synthetic and real experiments are conducted. They demonstrate that the proposed framework is not only of theoretical interest, but they also has a legitimate place in the family of practical unsupervised learning techniques. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Learning algorithms

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Performance simulation modeling for fast evaluation of pipelined scalar processor by evaluation reuse

Performance simulation modeling for fast evaluation of pipel...

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Design Automation Conference

作者： Ho Young Kim Tag Gon Kim Department of EECS Systems Modeling Simulation Laboratory Korea Advanced Institute of Science and Technology South Korea

ISBN: (纸本)1595930582

This paper proposes a rapid and accurate evaluation scheme for cycle counts of a pipelined processor using evaluation reuse technique. Since exploration of an optimal processor is a time-consuming task due to large design space, fast evaluation methodology for an architecture is crucial. We introduce the performance simulation model which can evaluate the performance without considering the functional correctness. This model has an FSM-like form and can afford to take all hazard types of pipelined architectures into consideration. The proposed approach is based on the property that an application program, especially multimedia application, has many iterative loops in general. This property invokes many iterative operations in the simulation. Evaluation reuse scheme can alleviate redundantly iterative operations of conventional simulators in the loop. A performance simulator for the pipeline architecture has been developed through which greater speedup has been made compared with other approaches in the evaluation of cycle counts.

关键词： Computational modeling Iterative methods Computer architecture Computer simulation Scheduling Pipelines Permission Laboratories Hazards Space exploration

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Rough rings revisited

Rough rings revisited

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International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Han, Su-Qing Cheng, Wei Wang, Jue Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Mathematics Taiyuan Teacher's College Taiyuan 030012 China College of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)078039092X

Rough groups and rough rings have been investigated by Biswas & Nanda [Bull. Polish Acad. Sci. Math. 42 (1994) 251-254], Kuroki and Wang [Inform. Sci. 90 (1996) 203-220] and Dawaz [Inform. Sci. 164 (2004) 147-163], But in which some conclusions do not always hold in general. In this paper, we have revisited rough rings in a uniform and complete form, some new properties of rough rings are obtained, and the modified versions of those conclusions that are improper in Davvaz [Inform. Sci. 164 (2004) 147-163] are modified. ©2005 IEEE.

关键词： Learning systems

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Different Ocular Dominance Map Formation Influenced by Orientation Preference Columns in Visual Cortices

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Physical Review Letters 2005年第6期94卷 068701-068701页

作者： Myoung Won Cho Seunghwan Kim Asia Pacific Center for Theoretical Physics and Nonlinear Complex Systems Laboratory--NRL Department of Physics Pohang University of Science and Technology Pohang Gyeongbuk 790-784 Kore

In animal experiments, the observed orientation preference and ocular dominance columns in the visual cortex of the brain show various pattern types. Here, we show that the different visual map formations in various species are due to the crossover behavior in anisotropic systems composed of orientational and scalar components such as easy-plane Heisenberg models. We predict the transition boundary between different pattern types with the anisotropy as a main bifurcation parameter, which is consistent with experimental observations.

关键词： Brain

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Double layer sliding mode control for second-order underactuated mechanical systems

Double layer sliding mode control for second-order underactu...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Wei Wang Jianqiang Yi Dongbin Zhao Xiaojing Liu School of information science and technology Beijing Institute of Technology Beijing China Institute of Automation Laboratory of complex systems and intelligence science Chinese Academy and Sciences China

A new stable sliding mode control method for a class of underactuated mechanical systems is proposed in this paper. The controller has the double-layer structure. Firstly, the system states are divided into several different subsystems. For each of these subsystems, a first-layer sliding plane is constructed. From these first-layer sliding planes, then we further construct a second-layer sliding plane. By analyzing the features of the mathematical model of the underactuated mechanical systems, we derive the sliding-mode control law and indicate the ranges of the controller parameters. Using Lyapunov law, the paper proves the stability of all the sliding planes theoretically. The simulation results show the validity of this method for this class of underactuated mechanical systems.

关键词： Sliding mode control Mechanical systems Control systems Cranes Orbital robotics Robots Information science Intelligent systems Automation Automatic control

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Cascade sliding-mode controller for large-scale underactuated systems

Cascade sliding-mode controller for large-scale underactuate...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jianqiang Yi Wei Wang Dongbin Zhao Xiaojing Liu Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China School of Information Science and Technology Beijing Institute of Technology Beijing China

关键词： Sliding mode control Control systems Large-scale systems Cranes Nonlinear control systems Actuators Orbital robotics Mechanical systems Fuzzy systems Fuzzy control

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