检索结果-内蒙古大学图书馆

第29届中国控制与决策会议

作者： Yinghui Chen Jiangbo Zhao Junzheng Wang Duoyang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.

关键词： wheel-legged robot legged locomotion impedance control fractional-order

来源：评论

学校读者我要写书评

暂无评论

Backstepping sliding mode control for Mars Entry with finite time convergence 36

Backstepping sliding mode control for Mars Entry with finite...

引用

第36届中国控制会议

作者： Ganghui Shen Yuanqing Xia Dailiang Ma Jinhui Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles,which inevitably degrades the performance of entry guidance *** paper presents a backstepping sliding mode controller for drag tracking in Mars entry guidance,which can guarantee the tracking error with finite-time ***,the drag can track the reference trajectory under the virtual control law by introducing a sliding manifold,and the extended state observer（ESO） is used to estimate and counteract the ***,the finite-time convergence of drag tracking error can be achieved under the proposed backstepping sliding mode guidance *** addition,the rigorous proof of tracking error convergence is ***,numerical simulation results are presented to demonstrate the effectiveness of the proposed guidance law.

关键词： Backstepping Sliding mode control Finite time Mars entry

来源：评论

学校读者我要写书评

暂无评论

Multi-delay network based IEEE 802.15.4 for low delay deterministic networked control systems 36

Multi-delay network based IEEE 802.15.4 for low delay determ...

引用

第36届中国控制会议

作者： Aopeng Song Yuanqing Xia Yufeng Zhan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wireless networked control systems have gained significant popularity due to commissioning and maintenance *** 802.15.4 standard is one of wireless communication protocol for low delay deterministic *** automation,not only needs low delay but also requires the network that should has the capacity of various delay *** this paper,we propose a scheme,satisfying the muli-delay network in the networked control *** are using TI SmartRF04 EB evaluation boards with CC2530 SoC and TIMAC software stack CC2530 boards,as well as dc servo motors for a speed tracking control problem.

关键词： wireless communication IEEE 802.15.4 control system multi-delay

来源：评论

学校读者我要写书评

暂无评论

Stable Walking control of Parallel Wheel-foot Robot Based on ZMP Theory 36

Stable Walking Control of Parallel Wheel-foot Robot Based on...

引用

第36届中国控制会议

作者： Dongchen Liu Junzheng Wang Renjian Hao Dawei Shi Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.

关键词： Zero Moment Point Gait planning Integrated simulation platform Virtual prototyping

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking based on Time-Varying Sliding Mode controller for Hypersonic Vehicle with Aileron Stuck 36

Trajectory Tracking based on Time-Varying Sliding Mode Contr...

引用

第36届中国控制会议

作者： Haibo Ji Lei Wang Zhuoyue Song Xiangdong Liu Zhirong Lei State Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology School of Automation Northwestern Polytechnical University

ISBN: (纸本)9781538629185

This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems. Then, the corresponding guidance law and attitude controller are designed using time-varying sliding mode controller. By the proposed strategies, the hypersonic vehicle can fly along the reference ***, the proposed strategies are applied to a hypersonic platform to verify its validity.

关键词： Trajectory Tracking Stuck Aileron Time-Varying Sliding Mode

来源：评论

学校读者我要写书评

暂无评论

Stabilization of a class of fractional order chaotic systems by nonlinear sliding mode

Stabilization of a class of fractional order chaotic systems...

引用

第37届中国控制会议

作者： Lijun Lin Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper investigates the stabilization problem of a class of fractional order chaotic systems with unknown modeling uncertainties and external perturbations. A fractional nonlinear sliding surface is proposed, and a reaching control law is obtained to guarantee the stability of the fractional chaotic system in finite time with just a single control input. And the simulation results are given to demonstrate the efficacy of the proposed nonlinear sliding mode control method.

关键词： Fractional order Chaotic system Nonlinear sliding mode Stabilization

来源：评论

学校读者我要写书评

暂无评论

Flocking of Second-Order Multiagent systems with Connectivity Preservation Based on Algebraic Connectivity Estimation

引用

IEEE Transactions on Cybernetics 2017年第4期47卷 1067-1077页

作者： Fang, Hao Wei, Yue Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new decentralized inverse power iteration scheme is formulated. Then, based on the estimation of the algebraic connectivity, a set of distributed gradient-based flocking control protocols is built with a new class of generalized hybrid potential fields which could guarantee collision avoidance, desired distance stabilization, and the connectivity of the underlying communication network simultaneously. What is important is that the proposed control scheme allows the existing edges to be broken without violation of connectivity constraints, and thus yields more flexibility of motions and reduces the communication cost for the multiagent system. In the end, nontrivial comparative simulations and experimental results are performed to demonstrate the effectiveness of the theoretical results and highlight the advantages of the proposed estimation scheme and control algorithm. © 2017 IEEE.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Ensemble of Extreme Learning Machines for Regression

Ensemble of Extreme Learning Machines for Regression

引用

Data Driven control and Learning systems (DDCLS)

作者： Atmane Khellal Hongbin Ma Qing Fei School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China

ISBN: (纸本)9781538626191

Regression, as a particular task of machine learning, performs a vital part in data-driven modeling, by finding the connections between the system state variables without any explicit knowledge about the system, using a collection of input-output data. To enhance the prediction performance and maximize the training speed, we propose a fully learnable ensemble of Extreme Learning Machines (ELMs) for regression. The developed approach learns the combination of different individual models, using the ELM algorithm, which is applied to minimize both the prediction error and the norm of the network parameters, which leads to higher generalization performance under Bartlett's theory. Moreover, the average based ELM ensemble may be viewed as a particular case of our model. Extensive experiments on many standard regression benchmark datasets have been carried out, and comparison with different models has been performed. The experimental findings confirm that the proposed ensemble can reach competitive results in term of the generalization performance, and the training speed. Furthermore, the influence of different hyper parameters on the performance, in term of the prediction error and the training speed, of the developed model has been investigated to provide a meaningful guideline to practical applications.

关键词： Computational modeling Training Mathematical model Predictive models Neural networks Prediction algorithms Approximation algorithms

来源：评论

学校读者我要写书评

暂无评论

A Multi-model Estimation of Distribution Algorithm for Agent Routing Problem in Multi-point Dynamic Task

A Multi-model Estimation of Distribution Algorithm for Agent...

引用

第37届中国控制会议

作者： Sai Lu Bin Xin Lihua Dou Ling Wang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Department of Automation Tsinghua University

The agent routing problem in multi-point dynamic task（ARP-MPDT） is a multi-task routing problem of a mobile agent. In this problem, there are multiple tasks to be carried out in different locations. As time goes on, the state of each task will change nonlinearly. The agent must go to the task points in turn to perform the tasks, and the execution time of each task is related to the state of the task point when the agent arrives at the point. ARP-MPDT is a typical NP-hard optimization problem. In this paper, we establish the nonlinear ARP-MPDT model. A multi-model estimation of distribution algorithm（EDA） employing node histogram models（NHM） and edge histogram models（EHM） in probability modeling is used to solve the ARP-MPDT. The selection ratio of NHM and EHM probability models is adjusted adaptively. Finally, performance of the algorithm for solving the ARP-MPDT problem is verified by the computational experiments.

关键词： Estimation of distribution algorithm Multi-model Routing Multi-point dynamic task

来源：评论

学校读者我要写书评

暂无评论

ICB-MOEA/D: An interactive classification-based multi-objective optimization algorithm

ICB-MOEA/D: An interactive classification-based multi-object...

引用

第37届中国控制会议

作者： Bin Xin Hepeng Li Ling Wang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Department of Automation Tsinghua University

Interactive multi-objective optimization algorithms have developed rapidly in recent years. In this paper, we propose a new classification-based interactive multi-objective optimization algorithm named ICB-MOEA/D to solve the formulated multiobjective optimization problem. ICB-MOEA/D provides several solutions for the decision maker to choose. The decision maker chooses his/her most preferred solution from these solutions and the historical solutions which have been chosen as the current most preferred solution. ICB-MOEA/D records this solution and classifies the objectives according to the updated preference information into four categories: 1) objectives which are expected to be improved;2) objectives which can be sacrificed;3) objectives which are expected to remain basically unchanged;4) objectives which do not matter currently. Accoding to the number of the objectives in the first category, a new single-objective opitimization model or multi-objective optimization model will be built. The single-objective optimization model will be optimized by a classic variant of differential evolution DE/rand/1/bin, and the multi-objective optimization model will be optimized by a popular docomposition-based multi-objective optimizer MOEA/*** the classifications are done automatically by the algorithm, reducing the burden of the decision maker. ICB-MOEA/D was tested on the two-objective instance ZDT1, and the experiment results show the effectiveness of ICB-MOEA/D.

关键词： interactive multi-objective optimization decomposition classification virtual decision maker

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：