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作者： Mao, Yutian Dou, Lihua Fang, Hao Liu, Huagang Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9783902661937

This paper addresses the problem of distributed connectivity constrained motion coordination of multiple autonomous mobile agents. Different from traditional flat network structure which lacks flexibility and scalability when performing complex spatially distributed tasks, a novel distributed framework for construction of backbone-based hierarchical communication networks is proposed. Firstly, the proposed method periodically extracts a subset of agents which can form the communication backbone from the original network using only local information, thus partitions the system into backbone agents and non-backbone agents. Furthermore, the global network connectivity of the system is maintained at two levels: connectivity-preserving potential functions are used to maintain existing links in the backbone;connectivity between backbone and non-backbone agents is achieved via a leaderfollower formation control scheme with backbone agents as the leaders. Finally, nontrivial numerical simulations are worked out to verify the theoretical results. © 2011 IFAC.

关键词： Multi agent systems

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An improved adaptive exponential time-varying sliding-mode control for FDRPMSM 7

An improved adaptive exponential time-varying sliding-mode c...

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

作者： Dong, Ning Xie, Wei Chen, Zhen Zhao, Jing Liu, Xiangdong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, an improved adaptive time-varying sliding mode controller (SMC) is designed for five-phase dual-rotor permanent magnet synchronous motor (FDRPMSM). It focuses on three objectives: 1) maintaining the high tracking performance to the reference speed;2) keeping robustness when load torque varies;3) chattering suppression performance *** FDRPMSM is adopted hysteresis-current controlled PWM, thus, the proposed controller is designed for speed controller. This controller is proposed to solve the problem that suppressing the chattering when system state is near the sliding-mode hyper *** order to weaken influence of load torque varying, the load torque observer is introduced in the control system. Simulation results show that the proposed speed controller have better performances and robustness characteristics comparing with PI controller and conventional exponential time-varying SMC. © 2016, Fuji Technology Press. All rights reserved.

关键词： controllers

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Combined complete coverage path planning for autonomous mobile robot in indoor environment

Combined complete coverage path planning for autonomous mobi...

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2009 7th Asian control Conference, ASCC 2009

作者： Yutian, Mao Lihua, Dou Jie, Chen Hao, Fang Haiqiang, Zhang Hu, Cao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9788995605691

Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method. ©2009 ACA.

关键词： DC motors

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Resident electric vehicles charging optimization strategy in the smart grid 34

Resident electric vehicles charging optimization strategy in...

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34th Chinese control Conference, CCC 2015

作者： Ruiqin, Duan Zhongjing, Ma School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing China

ISBN: (纸本)9789881563897

Considering the stochastic nature of electric vehicles (EVs) charging activities, this paper is dedicated to schedule the resident EVs charging load in the smart grid. Three important factors of the EV charging process are taken into account and studied, including the characteristics of EV battery, the start time of EV charging and the initial state-of-charging (SOC) of EV battery. We present a resident EVs charging optimization scheduling strategy to minimize the variation of total power load in the specified time period. And then we propose an approximate evaluation method for the corresponding optimization problem. The simulation results illustrate that the proposed EVs charging scheduling strategy will reduce the total power load curve difference of peak and valley, and the proposed method is very promising to improve the daily load profile of power system. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electric vehicle Optimization scheduling Probability model Smart grid

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CPG-Inspired Gait Generation and Transition control for Six Wheel-legged Robot

CPG-Inspired Gait Generation and Transition Control for Six ...

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2021 China Automation Congress, CAC 2021

作者： Deng, Chencheng Wang, Shoukun Chen, Zhihua Wang, Junzheng Ma, Liling Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665426473

Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristics of clear parameter meaning and easy adjustment. In this paper, a method of gait planning and dynamic gait switching based on Hopf oscillator model is introduced. Firstly, the model and three gait modes of the robot are introduced. Secondly, an improved Hopf oscillator based on CPG is designed, and the signal generated by the oscillator is used to control the robot's legs. Finally, the simulation results of the three basic walking gaits and gait switching verify the feasibility and effectiveness of the algorithm. © 2021 IEEE

关键词： Robots

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Towards Pose Estimation for Large UAV in Close Range 37

Towards Pose Estimation for Large UAV in Close Range

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Ou, Ni Wang, Junzheng Liu, Shangfei Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665465366

This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a novel pose estimation method based on vision fusion and point cloud registration is proposed. Our approach works on one-shot mode and only requires 10 samples with real poses for template construction. Through V-rep simulation environment, we generate two 200-sample datasets of different difficulty for evaluation. Error quantiles, 5cm5deg and 10cml0deg are three evaluation metrics used in our ablation experiments. It is illustrated that our method outperforms in robustness and precision due to proposed dimension extension modification and fusion of vision sensors. © 2022 IEEE.

关键词： Antennas

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A new soft switching bidirectional buck or boost DC-DC converter

A new soft switching bidirectional buck or boost DC-DC conve...

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11th International Conference on Electrical Machines and systems, ICEMS 2008

作者： Lei, Dong Xueping, Wang Zhen, Liu Xiaozhong, Liao Department of Automatic Control Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education China

ISBN: (纸本)9787506292214

This paper presents a new soft switching bidirectional buck or boost DC-DC converter. Compared to the traditional bidirectional DC-DC converter, the new topology can be used as a buck converter or a boost converter in bidirectional cases for Hybrid Electric Vehicles (HEV) and Electrosorb Technology (EST) etc. This new converter has the advantages of simple circuit and control strategy, soft-switching implementation without additional devices, high power density, low cost, light weight and high reliability. The operating principle, theoretical analysis, and design guidelines are provided in this paper. The simulation and the experimental verifications are also presented.

关键词： Boost converter

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Integration Weights Determination of Launch Equipment Hydraulic system Based on Indexes Coupling Characteristics 34

Integration Weights Determination of Launch Equipment Hydrau...

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第三十四届中国控制会议

作者： CHEN Chen WANG Yun TIAN Zhimin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Mechanical Equipment

ISBN: (纸本)9781467374439

Launch equipment hydraulic system plays a vital role in completion of mission due to its stability and accuracy. This paper built an effectiveness evaluation index system based on comprehensive analysis of launch equipment hydraulic system, compared weighting factor determination mechanisms, and integrated independence factor into weight determination by combining the strong coupling feature of launch equipment hydraulic system indexes. The final weight was integrated and determined in four aspects, including importance weight, information weight, independence weight and credibility weight. Then, the paper obtained the system effectiveness evaluation results by utilizing system operation data, and provided theoretical and data reference for equipment selection and effectiveness improvement.

关键词： launch equipment,hydraulic system,effectiveness evaluation,indexes coupling,integration weights

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An adaptive hybrid optimizer based on particle swarm and differential evolution for global optimization

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Science China(Information Sciences) 2010年第5期53卷 980-989页

作者： XIN Bin 1,2 ? , CHEN Jie 1,2* , PENG ZhiHong 1,2 & PAN Feng 1,2 1 School of Automation, Beijing Institute of Technology, Beijing 100081, China 2 key laboratory of complex system intelligent control and decision, Ministry of Education, Beijing 100081, China 1. School of Automation Beijing Institute of Technology Beijing 100081 China2. Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This paper presents extensive experiments on a hybrid optimization algorithm (DEPSO) we recently developed by combining the advantages of two powerful population-based metaheuristics—differential evolution (DE) and particle swarm optimization (PSO). The hybrid optimizer achieves on-the-fly adaptation of evolution methods for individuals in a statistical learning way. Two primary parameters for the novel algorithm including its learning period and population size are empirically analyzed. The dynamics of the hybrid optimizer is revealed by tracking and analyzing the relative success ratio of PSO versus DE in the optimization of several typical problems. The comparison between the proposed DEPSO and its competitors involved in our previous research is enriched by using multiple rotated functions. Benchmark tests involving scalability test validate that the DEPSO is competent for the global optimization of numerical functions due to its high optimization quality and wide applicability.

关键词： global optimization statistical learning differential evolution particle swarm optimization hybridization adaptation rotated function

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Overview of Research on Transformation of Multi-AUV Formations

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complex system Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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