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中国人工智能学会第十三届学术年会

作者： Cheng-hao Hua Lihua Dou Jie Chen Yutian Mao Beijing Institute of Technology and the Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081

In this paper an optimized line features extraction method is developed for real-time line features identification from 2D laser range finder A polished line prototype is subtly combined with Incremental algorithm which can detect line features *** ensuring the correctness,the selected line features are examined with split-and-merge fuzzy *** greatly enhances the robustness of line features extraction,especially in the clutter *** method provides a novel framework which is very efficient and robust of line features *** advantages are very helpful for the further application of mobile robots such as simultaneously localization and mapping,real-time navigation in the clutter environment *** performance of this approach is verified by simulation and experiments.

关键词： Festure extraction Mobile robot Line prototype Laserrange finder

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Friction compensation using dual observer for 3-axis turntable servo system

Friction compensation using dual observer for 3-axis turntab...

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IEEE International Conference on Automation and Logistics

作者： Zhigang Liu Junzheng Wang Jiangbo Zhao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China

Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.

关键词： Friction Servomechanisms Mathematical model Torque Parameter estimation control systems Mathematics Servomotors Lyapunov method Adaptive control

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The comparison and application of corner detection algorithms

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Journal of Multimedia 2009年第6期4卷 435-441页

作者： Chen, Jie Zou, Li-hui Zhang, Juan Dou, Li-hua Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Department of Automatic Control Beiing Institute of Technology Beijing China

Corners in images represent a lot of important information. Extracting corners accurately is significant to image processing, which can reduce much of the calculations. In this paper, two widely used corner detection algorithms, SUSAN and Harris corner detection algorithms which are both based on intensity, were compared in stability, noise immunity and complexity quantificationally via stability factor η, anti-noise factor ρ and the runtime of each algorithm. It concluded that Harris corner detection algorithm was superior to SUSAN corner detection algorithm on the whole. Moreover, SUSAN and Harris detection algorithms were improved by selecting an adaptive gray difference threshold and by changing directional differentials, respectively, and compared using these three criterions. In addition, SUSAN and Harris corner detectors were applied to an image matching experiment. It was verified that the quantitative evaluations of the corner detection algorithms were valid through calculating match efficiency, defined as correct matching corner pairs dividing by matching time, which can reflect the performances of a corner detection algorithm comprehensively. Furthermore, the better corner detector was used into image mosaic experiment, and the result was satisfied. The work of this paper can provide a direction to the improvement and the utilization of these two corner detection algorithms. © 2009 ACADEMY PUBLISHER.

关键词： Image matching

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Adaptive sliding mode control for Takagi-Sugeno fuzzy systems

Adaptive sliding mode control for Takagi-Sugeno fuzzy system...

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48th IEEE Conference on decision and control held jointly with 2009 28th Chinese control Conference, CDC/CCC 2009

作者： Zhang, Jinhui Shi, Peng Xia, Yuanqing Fu, Mengyin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom School of Engineering and Science Victoria University Australia

ISBN: (纸本)9781424438716

This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of linear matrix inequalities, by which the corresponding adaptive reaching motion controller is also designed. Simulation studies show the effectiveness of the control scheme. ©2009 IEEE.

关键词： Linear matrix inequalities

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Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees Optimization for Weapon Network system

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Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

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Nonlinear Observer Design for Discrete MIMO systems with Unknown Time Delay

Nonlinear Observer Design for Discrete MIMO Systems with Unk...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Jing Na Guido Herrmann Xuemei Ren Phil Barber Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology IEEE Department of Mechanical Engineering University of Bristol

This paper proposes an adaptive observer for discrete MIMO systems with unknown dynamics and *** case that the system output equation has time-delay and nonlinearities is also *** delayed states in the system are with a nonlinear form and only the estimated delay is *** using a high-order neural network(HONN),the precise system model,and the Lipschitz or norm-boundedness assumption of unknown nonlinearities are not required.A novel converse Lyapunov Lemma is also developed to prove the uniform ultimate boundedness(UUB) of the proposed *** of the presented scheme is verified by simulation.

关键词： Lyapunov Nonlinear Observer Design for Discrete MIMO systems with Unknown Time Delay Observer

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A New Modeling Reference Direct Adaptive Sliding Mode control for Electromechanical Actuator

A New Modeling Reference Direct Adaptive Sliding Mode Contro...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Hao Li Lihua Dou Zhong Su Jie Chen School of Automation and the Key Laboratory of Complex System Intelligent Control and DecisionMinistry of EducationBeijing Institute of Technology School of Automation Beijing Information Science & Technology University

A new model reference direct adaptive sliding mode control(MRDASMC) approach for electromechanical actuator(EMA) is *** with parameter variation,external load disturbance,nonlinear structure and unmodelled dynamics in the system are treated as a lumped *** lumped uncertainty is estimated without the bounds known in advance.A switching function is employed to compensate for the estimated error of the lumped *** the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption *** adaption law contains a fading factor which can prevent saturation of the control *** stability of the control system is guaranteed by Lyapunov *** results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

关键词： Model reference adaptive sliding mode control Electromechanical actuator Fading factor Saturation Chattering.

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Optimal design model of distributed simulation system based on quotient space

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2009年第SUPPL. 1期40卷 268-272页

作者： Wu, Di Chen, Jie Flavio, Oquendo Zhang, Juan Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China VALORIA Laboratory University of South Brittany Vannes 56017 France

To answer the problem of ambiguous design levels, the hierarchical system model based on quotient space theory was proposed. The model consisted of the system global design level, the architecture level and the execution structure level. Furthermore, in order to establish the formal system design model, an allocation model was proposed based on simulation tasks, simulation resources and simulation services, including the relationship constraints between them. Finally, the model was verified based on a concrete simulation system design example.

关键词： systems analysis

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Robust controller Design for Networked control systems with Nonlinear Uncertainties

Robust Controller Design for Networked Control Systems with ...

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2009 American control Conference (ACC 2009)

作者： Junyan Yu Long Wang Mei Yu Jie Chen Yingmin Jia Intelligent Control Laboratory Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing 100871 P.R.China Department of Automation North China Electric Power University Zhuxinzhuang Dewai Beijing 102206 P.R.China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 P.R.China Seventh Research Division Beihang University Beijing 100083 P.R. China

ISBN: (纸本)9781424445233

We address robust stabilization problem for networked control systems with nonlinear uncertainties and packet losses by modelling such systems as a class of uncertain switched systems. Based on theories on switched Lyapunov functions, we derive the robustly stabilizing conditions for state feedback stabilization and design packet-loss dependent controllers by solving some matrix inequalities. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design method.

关键词： Networked control systems robust controller design Packet loss control systems design approach Switched systems controller design state feedback Uncertainty nonlinearity

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Variable structure controller based on extended state observer in gun turret system

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2009年第4期29卷 318-322页

作者： Chen, Jie Jin, Tian-Xu Bai, Yong-Qiang Department of Automatic Control School of Information and Science Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

Considering the characteristics of the servo system, such as disturbance, nonlinearity and high inertia, variable structure controller (VSC) based on extended state observers (ESO) are designed for the aim of quick, stable and high-accuracy controlling processes. The disturbances and high-order factors are estimated and compensated using ESO. Dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC. Because ESO provides a high-frequency path for the dynamic state not modelled, the chatter of VSC is reduced. Through tests in the gun turret system, it was shown that this controller is superior to the engineering PID and general VSC.

关键词： Variable structure control

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