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Smooth controller design for non-linear systems using multiple fixed models

IET control Theory & Applications 2017年第9期11卷 1467-1473页

作者： Jie Chen Wei Chen Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing People's Republic of China Science and Technology on Electronic Information Control Laboratory Chengdu People's Republic of China

Multiple model adaptive control (MMAC) with second-level adaptation is a recently proposed methodology for dealing with systems where the parametric uncertainty is large. Compared with the multiple model switching scheme, the new scheme can lead to significant improvements in performance. Some research has been conducted using the new scheme, but all of the results concern linear systems with an adaptive identification model set. In this study, MMAC with second-level adaptation scheme is extended to non-linear systems in strict feedback form, and the fixed identification model set is under consideration. This is motivated by the fact that a smooth controller can lead to smooth performance and the fixed identification model set gains potential advantages over the adaptive identification model set, especially for the case that the parameters of the system change over the time. Design details are presented and the stability of MMAC with second-level adaptation using a fixed identification model set for non-linear systems is given, which has not been discussed before. Finally, two simulations are performed to show that this scheme performs much better than conventional schemes, including adaptive control and multiple-model switching schemes, in terms of convergence speed and transient performance.

关键词： nonlinear control systems control system synthesis adaptive control uncertain systems linear systems identification convergence transient performance convergence speed fixed identification model set second-level adaptation scheme adaptive identification model set linear systems multiple model switching scheme parametric uncertainty MMAC multiple model adaptive control multiple fixed models nonlinear systems smooth controller design

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MEMS-based Human Activity Recognition Using Smartphone 35

MEMS-based Human Activity Recognition Using Smartphone

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第35届中国控制会议

作者： TIAN Ya CHEN Wenjie Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781509009107

Data mining is one hot orientation in today’s research *** activity recognition is meaningful in our daily living and is a significant aspect in data *** previously research is almost based on tri-axial *** paper presents a novel method to collect data from both accelerometer and gyroscope using *** daily activities including Walking,Running,Upstairs,Downstairs,Standing,Sitting and Cycling,a total of seven categories are *** raw data from MEMS are recorded by smartphone according to different daily *** improve the accuracy of classification for daily activities,this paper combines time-series features with wavelet coefficients to extract *** recognize these activities,the support vector machine is used to finish this ***,we compare the accuracy with other machine learning methods,such as k-nearest neighbor algorithm and neural network or decision *** result indicates that our method can achieve nearly 96%classification accuracy for the seven kinds of daily activities.

关键词： classification activity recognition wavelet transform support vector machine feature extraction

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Experimental Model Identification of Liquid-Circular Angular Accelerometer using Subspace Method 35

Experimental Model Identification of Liquid-Circular Angular...

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第35届中国控制会议

作者： WANG Meiling LI Xiang CHENG Siyuan FU Mengyin XIAO Meifeng Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Nanjing University of Science and Technology

ISBN: (纸本)9781509009107

In this paper, the model of a novel liquid-circular angular accelerometer is studied. Due to the absence of theoretical model of liquid-circular angular accelerometer, a subspace identification method(SIM) based on Akaike Information Criterion(AIC) is chosen for model identification of angular accelerometer. The proposed identification method is tested on a liquid-circular angular accelerometer prototype. The experimental results indicate that SIM could obtain a more accurate model than least square method, with a degree of fitting above 90%. In addition, SIM possesses good repeatability and stability. The experimental model identified by SIM in this paper can be applied in engineering practice.

关键词： system Identification Angular Accelerometer Subspace Method

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Mean square exponential stabilization of sampled-data Markovian jump systems

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International Journal of Robust and Nonlinear control 2018年第18期28卷

作者： Guoliang Chen Jian Sun Jie Chen School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

In this paper, the problem of mean square exponential stabilization for sampled-data Markovin jump systems is studied. A time-scheduled Lyapunov functional consisting of a exponential-type looped function is constructed using segmentation technology and linear interpolation. Based on this new Lyapunov functional, a less conservative mean square exponential stability criterion is obtained such that a bigger maximum decay rate can be easily calculated. Meanwhile, the quantitative relationship among some system parameters, maximum sampling period, and decay rate is established. Moreover, a time-dependent state feedback sample-data controller is designed. Significant improvements of the proposed exponential-type time-scheduled Lyapunov functional method over some existing ones are verified by numerical examples.

关键词： Markovian jump system mean square exponential stabilization sampled-data control time-scheduled Lyapunov functional

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Compressive phase retrieval via reweighted amplitude flow

arXiv

引用

arXiv 2017年

作者： Zhang, Liang Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

The problem of reconstructing a sparse signal vector from magnitude-only measurements (a.k.a., compressive phase retrieval), emerges naturally in diverse applications, but it is NP-hard in general. Building on recent advances in nonconvex optimization, this paper puts forth a new algorithm that is termed compressive reweighted amplitude flow and abbreviated as CRAF, for compressive phase retrieval. Specifically, CRAF operates in two stages. The first stage seeks a sparse initial guess via a new spectral procedure. In the second stage, CRAF implements a few hard thresholding based iterations using reweighted gradients. When there are sufficient measurements, CRAF provably recovers the underlying signal vector exactly with high probability under suitable conditions. Moreover, its sample complexity coincides with that of the state-of-the-art procedures. Finally, substantial simulated tests showcase remarkable performance of the new spectral initialization, as well as improved exact recovery relative to competing alternatives. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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Target Tracking by Two UAVs under Constraint of Distances Coordination 35

Target Tracking by Two UAVs under Constraint of Distances Co...

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第35届中国控制会议

作者： LIU Hong-Yang PENG Zhi-Hong CHEN Jie FANG Hao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509009107

Coordinated target tracking for a team of two heterogeneous Unmanned Aerial Vehicles(UAVs) is *** order to study the coordinated relationship by means of distances of UAV-to-target and UAV-to-UAV,a constraint of distances coordination is *** from the traditional studies that focus on angular separation or communication connectivity for UAVs,this constraint takes the effect of geometric configuration for two UAVs coordination into ***,the constraint only applies to follower UAV,aiming to obtain its optimal coordinated distance to *** this way,accuracy of target state estimation and optimal geometric configuration of target tracking for UAVs are *** Information filter is used to estimate the target location on a 2-D plane,and a receding horizon approach is applied to generate the optimal control policy for two UAVs' *** results illustrated the effectiveness.

关键词： UAVs target tracking state estimation constraint of distances coordination

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Energy Consumption Analysis in Multi-legged Robots Based on Gait Planning 35

Energy Consumption Analysis in Multi-legged Robots Based on ...

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第35届中国控制会议

作者： DU Xiaolong WANG Shoukun ZONG Xiaoyan WANG Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis in terms of the gait ***,two kinds of gait curves respectively,cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction(SLR).The length of step(S),the height of step(H) and the duty ratio of gait cycle(P) are set as the primary research points about the gait of mobile *** this work,we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait ***,the results provide some recommendations for the gait planning of the quadruped robot,that is,the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Energy consumption Multi-legged robot Gait planning SLR Gait parameters

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Heterogeneous Network Integration Based on Protocol Conversion 35

Heterogeneous Network Integration Based on Protocol Conversi...

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第35届中国控制会议

作者： CHEN Huijuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

It is a tendency for Internet of Things to research Zigbee-WiFi hybrid *** paper introduces a heterogeneous network integration module based on protocol conversion which can integrate 802.15.4 network with 802.11 b *** heterogeneous network integration module resolves mismatch problems on physical layer,MAC layer and address mapping,meanwhile it makes a contrast with existing Zigbee-WiFi gateway and found to be advanced and effective in three performance indexes:network connection speed,SINR(signal interference noise ratio) and network *** design and realization of heterogeneous network integration are based on QualNet simulation software.

关键词： 802154,80211b heterogeneous network integration protocol conversion

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Switching control system Based on Robust Model Reference Adaptive control

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Journal of systems Science & complexity 2016年第4期29卷 897-932页

作者： HU Qiong FEI Qing MA Hongbin WU Qinghe GENG Qingbo School of Automation Beijing Institute of Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

关键词： Longitudinal control of F-16 aircraft switching control switching law. nonlinear systems RMRAC switched systems

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