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Fuzzy control for Uncertain Vehicle Active Suspension Systems via Dynamic Sliding-Mode Approach

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2017年第1期47卷 24-32页

作者： Wen, Shiping Chen, Michael Z. Q. Zeng, Zhigang Yu, Xinghuo Huang, Tingwen School of Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan430074 China Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong Platform Technologies Research Institute RMIT University MelbourneVIC3001 Australia Texas A and M University at Qatar Doha23874 Qatar

This paper investigates the fuzzy control issue for uncertain active suspension systems via dynamic sliding-mode method. The Takagi-Sugeno fuzzy approach is adopted on the background of the varying masses to describe the prescribed nonlinear system in order to achieve the design targets via the method of sector nonlinearity. This paper employs the dynamic sliding-mode scheme to control nonlinear active suspension systems. In the proposed sliding-mode control scheme, the sliding surface function is formed linearly with the system states and control inputs. Then, a fuzzy dynamic term is utilized to construct the sliding-mode feedback controller. In existing results, the sliding mode is achieved and maintained with no consideration of the system perturbations. Thus, sufficient conditions are proposed to make the sliding surface reachable with the existence of the system perturbations to make the augmented system stable. Finally, simulation results are presented to verify the effectiveness of the proposed schemes. © 2013 IEEE.

关键词： Robust control

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Assignment-Driven Multi-consensus in Second-order Multi-agent Systems via Impulsive control with Heterogeneous delays

Assignment-Driven Multi-consensus in Second-order Multi-agen...

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IEEE International Conference on control and Automation

作者： Yao-Wen Wei Jing-Wen Yi Yan-Wu Wang Jiang-Wen Xiao School of Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education

ISBN: (纸本)9781509017393

An assignment-driven multi-consensus problem of multi-agent systems with heterogeneous delays is investigated in this paper. By introducing a concept of intelligent adjustment factor, a distributed impulsive protocol is designed, in which only the delayed sampled relative positions to neighbors and the relative position to the last sampling state are utilized. Combined with the characteristic of impulsive control, three steps of model transformation are performed, and the assignment-driven multi-consensus problem of the original continuous-time system is converted to the stability problem of a discrete-time expanded analogous error system. A necessary and sufficient criterion is derived to guarantee the assignment-driven multi-consensus of the multi-agent system. An interesting simulation is proposed to demonstrate the effectiveness of the theoretical result and reveal the effect of intelligent adjustment factors on the assignment-driven multi-consensus.

关键词： Protocols Delays Multi-agent systems Network topology Automation Stability criteria

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Adaptive visual tracking for robotic systems without image-space velocity measurement

Adaptive visual tracking for robotic systems without image-s...

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作者： Wang, Hanlei Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing100190 China

In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We propose a new image-space observer that exploits the image-space velocity information contained in the unknown kinematics, upon which, we design an adaptive controller without using the image-space velocity signal where the adaptations of the depth-rate-independent kinematic parameter and depth parameter are driven by both the image-space tracking errors and observation errors. The major superiority of the proposed observer-based adaptive controller lies in its simplicity and the separation of the handling of multiple uncertainties in visually servoed robotic systems, thus avoiding the overparametrization problem of the existing work. Using Lyapunov analysis, we demonstrate that the image-space tracking errors converge to zero asymptotically. The performance of the proposed adaptive control scheme is illustrated by a numerical simulation. © 2015 Elsevier Ltd.

关键词： Manipulators

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Analysis of smart glucose meter stability from the economic perspective

Boletin Tecnico/Technical Bulletin

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Boletin Tecnico/Technical Bulletin 2017年第9期55卷 457-462页

作者： Lin, Zhongyan Song, Libin Zheng, Dachuan Li, Zuoyong Internet Innovation Research Center College's Research Base of Humanities and Social Science in Fujian Province Minjiang University Fuzhou Fujian350108 China Fuzhou Digital Health Industry Technology Innovation Center Minjiang University Fuzhou Fujian350108 China Fuzhou Comvee Network Technology Co. Ltd. Fuzhou Fujian350001 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou Fujian350108 China

Objective: to explore and interpret the model of diabetes mobile online management from the perspective of web model. Methods: from the interdisciplinary perspective, combined with economics, management science and computer science, with the only dynamic model in microeconomics—the cobweb model, from chronic disease management, Internet + medical application, analyze the application of Internet technology in diabetes management. Results: through mobile Internet technology, optimized the unit of diabetes management and realized the "monitoring - assessment - intervention" closed-loop management. Conclusion: explore the digital medical health industry in periodic production commodity price fluctuations and other activities, can establish early warning system and mechanism, to improve patients and their families to the cognitive level of diabetes, according to the medical behavior and self management ability.

关键词： Medical applications

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A New Positioning Method by Two GNSS Satellites and Relative Position Constraint

A New Positioning Method by Two GNSS Satellites and Relative...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Zheng Li Hai Zhang Huan Che Science and Technology on Aircraft Control Laboratory Beihang University Space star technology Co.Ltd CASTCASA

ISBN: (纸本)9781467383196

Global Navigation Satellite System(GNSS)provides consistently accurate position solutions when four or more GNSS satellites are ***,this condition is usually not satisfied under harsh conditions such as urban canyon,tunnels and other special application environment,and this case will lead to degradation of positioning precision or infeasibility of the positioning *** paper presents a novel method to provide reliable position solution with only two visible *** propose to utilize the relative position change during a short period as a constrain condition to estimate the absolute position of GNSS *** simulation experiment has been carried out and the result demonstrates that the proposed method is effective in improving the positioning performance.

关键词： GNSS GPS two satellites positioning algorithm relative position constraint

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Vision-based Autonomous Landing for Rotorcraft Unmanned Aerial Vehicle

Vision-based Autonomous Landing for Rotorcraft Unmanned Aeri...

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2016年IEEE汽车电子与安全国际会议

作者： Chaoyan Bu Yunfeng Ai Huajun Du School of Engineering Science University of Chinese Academy of Sciences National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing Aerospace Automatic Control Institute

Recently,there has been growing interest in developing rotorcraft unmanned aircraft system(RUAS) based on visual *** basic phases for autonomous flight,autonomous landing is the most challenging *** most of RUAS,visual sensors are widely used during the landing *** paper first gives a classification of landmarks on the helipad and summarizes the general implementation steps of vision *** it introduces the dynamic model of rotorcraft unmanned aircraft vehicle(RUAV) and summarizes two implementation methods of control *** it classifies some control techniques and introduces ***,the paper summarizes current related work and classifies them depending on the type of landmarks.

关键词： RUAV autonomous landing vision system control system IBVS PBVS

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Research on walking-aid robot motion control with both compliance and safety

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Zidonghua Xuebao/Acta Automatica Sinica 2016年第12期42卷 1859-1873页

作者： Xu, Wen-Xia Huang, Jian Yan, Qing-Yang Wang, Yong-Ji Tao, Chun-Jing Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan430074 China National Rehabilitation Center Beijing100176 China

Aimed at compliance and safety problems in motion control of walking-aid robot, a multi-sensor fusion based walking-aid robot motion control method with both compliance and safety is proposed. Firstly, the mechanism, control theory and multi-sensor system of the walking-aid robot are introduced. Then according to multi-sensor system, user motion intention estimation methods for each sensor are designed and a multi-sensor based compliance motion control for walking-aid robot is proposed. After analyzing user's possible falling modes, a Kalman filter (KF) based sequential probability ratio test (SPRT) method and decision function are used to detect the fall and falling mode. Finally, several compliance motion control experiments and fall detection experiments are described to show validity of the proposed algorithm. Copyright © 2016 Acta Automatica Sinica. All rights reserved.

关键词： Robots

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Design and analysis of minimizing torque ripple for direct torque controlled permanent magnet synchronous motor based on fuzzy control method

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Journal of Computational and Theoretical Nanoscience 2016年第6期13卷 3706-3713页

作者： Ning, Bowen Cheng, Shanmei Qin, Yi Key Laboratory of Education Ministry for Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan Hubei430074 China

This paper is presented to examine and improve the performance of the torque ripple suppression for direct torque controlled permanent magnet synchronous motor by using fuzzy control method. On the basis of analyzing the torque ripple of the direct torque control in details, the fuzzy controllers are designed for two parts. Since the errors of the torque and flux could not assess accurately in hysteresis structure, the hysteresis controllers of the conventional DTC method are replaced by the fuzzy controller which could select the optimal voltage vector by judging the deviation degree of the torque and flux errors according to the fuzzy logic inference. Then the action time of the selected optimal voltage vector is determined by using the fuzzy duty ratio control method, the ripples of torque and flux can be attenuated effectively. The comprehensive simulation experiment is exhibited to reveal the excellent response performance of the system and verify the feasibility of the proposed fuzzy control scheme. Copyright © 2016 American Scientific Publishers. All rights reserved.

关键词： Fuzzy control

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Satellite-to-ground quantum key distribution

arXiv

引用

arXiv 2017年

作者： Liao, Sheng-Kai Cai, Wen-Qi Liu, Wei-Yue Zhang, Liang Li, Yang Ren, Ji-Gang Yin, Juan Shen, Qi Cao, Yuan Li, Zheng-Ping Li, Feng-Zhi Chen, Xia-Wei Sun, Li-Hua Jia, Jian-Jun Wu, Jin-Cai Jiang, Xiao-Jun Wang, Jian-Feng Huang, Yong-Mei Wang, Qiang Zhou, Yi-Lin Deng, Lei Xi, Tao Ma, Lu Hu, Tai Zhang, Qiang Chen, Yu-Ao Liu, Nai-Le Wang, Xiang-Bin Zhu, Zhen-Cai Lu, Chao-Yang Shu, Rong Peng, Cheng-Zhi Wang, Jian-Yu Pan, Jian-Wei Shanghai Branch Department of Modern Physics and National Laboratory for Physical Sciences at the Microscale University of Science and Technology of China Shanghai201315 China CAS Center for Excellence Synergetic Innovation Center in Quantum Information and Quantum Physics University of Science and Technology of China Shanghai201315 China Key Laboratory of Space Active Opto-Electronic Technology Shanghai Institute of Technical Physics Chinese Academy of Sciences Shanghai200083 China National Astronomical Observatories Chinese Academy of Sciences Beijing100012 China Key Laboratory of optical engineering Institute of Optics and Electronics Chinese Academy of Sciences Chengdu610209 China Shanghai Engineering Center for Microsatellites Shanghai201203 China State Key Laboratory of Astronautic Dynamics Xi'an Satellite Control Center Xi’an710061 China Xinjiang Astronomical Observatory Urumqi830011 China National Space Science Center Chinese Academy of Sciences Beijing100190 China

Quantum key distribution (QKD) uses individual light quanta in quantum superposition states to guarantee unconditional communication security between distant parties. In practice, the achievable distance for QKD has been limited to a few hundred kilometers, due to the channel loss of fibers or terrestrial free space that exponentially reduced the photon rate. Satellite-based QKD promises to establish a global-scale quantum network by exploiting the negligible photon loss and decoherence in the empty out space. Here, we develop and launch a low-Earth-orbit satellite to implement decoy-state QKD with over kHz key rate from the satellite to ground over a distance up to 1200 km, which is up to 20 orders of magnitudes more efficient than that expected using an optical fiber (with 0.2 dB/km loss) of the same length. The establishment of a reliable and efficient space-to-ground link for faithful quantum state transmission constitutes a key milestone for global-scale quantum networks. Copyright © 2017, The Authors. All rights reserved.

关键词： Quantum cryptography

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The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system

The Application of Square-Root Cubature Kalman Filter in the...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Dongyang Zhang Zhihong Deng Bo Wang Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Nanjing University of Science and Technology

ISBN: (纸本)9781467383196

The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix,which will affect the accuracy and numerical stability of the system *** in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation *** simulation results show that the position,velocity and attitude errors are reduced effectively compared with the EKF *** SCKF method is more suitable for the state estimation problems in integrated navigation system.

关键词： The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system Kalman CNS Filter

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