检索结果-内蒙古大学图书馆

第35届中国控制会议

作者： Kun Liu Xia Pan Yang Liu Yuanqing Xia School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper extends the time-delay approach to discrete-time networked control systems with multiple sensor nodes that are subject to time-varying transmission intervals,time-varying transmission delays and communication *** system sensor nodes are supposed to be distributed over a *** scheduling of sensor communication is ruled by an independent and identically-distributed stochastic *** activation probability of each sensor node is a given constant,whereas it is assumed that collisions occur with a certain *** closed-loop system is modelled as a discrete-time stochastic hybrid system with time-varying delays in the dynamics and in the reset *** Lyapunov method a new condition is derived for the exponential mean-square stability of the delayed hybrid systems with respect to the full state and not only to the partial *** communication delays are allowed to be greater than the sampling *** efficiency of the proposed method is illustrated on the example of cart-pendulum.

关键词： Discrete-time networked control multiple sensors large communication delays stochastic protocol Lyapunov method

来源：评论

学校读者我要写书评

暂无评论

Integrated 3-D Flight Trajectory Tracking control with Aerodynamic Constraints on Attitude and control Surfaces

引用

Asian Journal of control 2017年第5期20卷

作者： Xueyuan Wang Hao Fang Lihua Dou Jie Chen Bin Xin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

关键词： Trajectory tracking high-order nonlinear system backstepping B-spline neural network

来源：评论

学校读者我要写书评

暂无评论

A Coefficient Matrix GPM method to Avoid Joint Limits for Fault Tolerant Redundant Manipulators 35

A Coefficient Matrix GPM method to Avoid Joint Limits for Fa...

引用

第35届中国控制会议

作者： LU Beibei GUO Shuli HAN Lina Key Lab of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Department of Cardiovascular Internal Medicine Nanlou Branch of Chinese PLA General Hospital

ISBN: (纸本)9781509009107

When joint failure occurs in a redundant manipulator,it is required that the end-effector(EEF) continues the trajectory with a minimum velocity *** problem has been studied by the joint velocity redistribution method which means mapping the velocity of the faulty joint into healthy joints'.This method can tolerant joint fault successfully but may make joints out of their *** the gradient projection method(GPM) is adopted to avoid the redistributed joint limits in this *** regard to the selection of the scalar coefficient of GPM,an improved method called the coefficient matrix is *** only can this method avoid joint limits successfully but also reduce the unnecessary self-motion and control the self-motion of each joint *** last the coefficient matrix method is tested in a seven-degree-of-freedom(7-DOF) manipulator and the simulation results indicate the efficiency of this method.

关键词： Redundant manipulators Joint failure Minimum EEF velocity jump Gradient projection method Coefficient matrix

来源：评论

学校读者我要写书评

暂无评论

PSO-based design of PID controller with notch filter for flexible structures 7

PSO-based design of PID controller with notch filter for fle...

引用

7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

来源：评论

学校读者我要写书评

暂无评论

Semantic Motion Segmentation for Urban Dynamic Scene Understanding

Semantic Motion Segmentation for Urban Dynamic Scene Underst...

引用

IEEE International Conference on automation Science and Engineering

作者： Qiu Fan Yang Yi Li Hao Fu Mengyin Wang Shunting School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509024100

A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status for each pixel of images. First, we extract and match sparse image features to estimate ego-motion between two consecutive stereo images, the result of feature points grouping is used to segment moving object in U-disparity map. Second, a Fully Convolutional Neural Network is employed for semantic segmentation. Moreover, semantic cues are utilized to remove pixels have no potential to be moved in motion mask. Finally, we use a fully connected CRF to integrate motion into semantic segmentation. To validate the effectiveness of the proposed algorithm, we present experimental results with KITTI stereo images that contain moving objects.

关键词： Motion segmentation Semantics Image segmentation Computer vision labeling Feature extraction Dynamics

来源：评论

学校读者我要写书评

暂无评论

Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

引用

2016 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

来源：评论

学校读者我要写书评

暂无评论

Cloud control systems

引用

IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 134-142页

作者： Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future. © 2014 Chinese Association of automation.

关键词： Big data Cloud computing Computation theory control systems control theory controllers Data handling Distributed computer systems Embedded systems Internet of things

来源：评论

学校读者我要写书评

暂无评论

Modified EKF-based Nonlinear Filtering over Wireless Channels with Transmission Failure and Fading

Modified EKF-based Nonlinear Filtering over Wireless Channel...

引用

第35届中国控制会议

作者： Luyu Li Zhen Li Xiangdong Liu Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper addresses the stochastic stability problem of a modified extended Kalman filter(MEKF), targeted at the state estimation of the nonlinear system through wireless channel, where both transmission failure and channel fading are practically under consideration. For a class of nonlinear systems whose observation's Jacobi Matrix is always invertible, the sufficient conditions of the error covariance matrices are accordingly established. Moreover, the conditions for the stochastic stability of the estimation error are also derived, which is tighter than the conditions of boundedness of the error ***, a numerical example is given to demonstrate the feasibility of the proposed method.

关键词： Extended Kalman filter stochastic stability transmission failure fading

来源：评论

学校读者我要写书评

暂无评论

H∞ Polytopic Filter Design for Nonlinear systems

H∞ Polytopic Filter Design for Nonlinear Systems

引用

第35届中国控制会议

作者： Yin Yu Zhen Li Jian Li Luyu Li Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper proposes an H polytopic lter design for a nonlinear system. Based on the polytopic approximation of the nonlinear system, the polytopic lter design is converted into a group of linear matrix inequalities（LMIs） so that the polytopic lter parameters can be effectively acquired by numerical convex optimization algorithms. At this stage, the tensor product（TP） model transformation is utilized to compute the polytopic approximation of the nonlinear system. Particularly, a new recti cation procedure is further developed to obtain a specific polytopic approximation with all the vertex systems being stable, which premises the solvability of the LMIs. The method is much easier to be implemented than traditional approaches such as the Hamilton-Jacobi inequality（HJI）-based methods. Simulation demonstrates the method is much less conservative than the existing method and has good estimation performance.

关键词： H_∞ lter nonlinear systems polytopic model tensor product model transformation

来源：评论

学校读者我要写书评

暂无评论

Application of fuzzy cognitive map in information intelligent push

引用

Journal of Beijing Institute of Technology 2015年第4期24卷 553-557页

作者：张佳徐胜利邓方 School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Since computer system functions are becoming increasingly complex, the user has to spend much more time on the process of seeking information, instead of utilizing the required infor- mation. Information intelligent push technology could replace the traditional method to speed up the information retrieval process. The fuzzy cognitive map has strong knowledge representation ability and reasoning capability. Information intelligent push with the basis on fuzzy cognitive map could ab- stract the computer user＇ s operations to a fuzzy cognitive map, and infer the user＇ s operating inten- tions. The reasoning results will be translated into operational events, and drive the computer system to push appropriate information to the user.

关键词： fuzzy cognitive map artificial intelligence information intelligent push

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：