检索结果-内蒙古大学图书馆

2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Robust adaptive backstepping control of second-order nonlinear systems with non-triangular structure uncertainties 19

Robust adaptive backstepping control of second-order nonline...

引用

19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cai, Jianping Wen, Changyun Su, Hongye Liu, Zhitao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control ZheJiang University Hangzhou310027 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue Singapore639798 Singapore

ISBN: (纸本)9783902823625

In this paper, we consider a class of second-order uncertain nonlinear systems. Besides parametric uncertainties, a non-parametric uncertainty may exist in every state equation or channel with its effects bounded by a known function. Such a bounding function is allowed to depend on all system states which means that the actual system does not need to meet the triangular structure. Therefore the currently available backstepping technique cannot be used to design controllers. To overcome such difficulty, a new backatepping-based robust adaptive control scheme is proposed. It is shown that the proposed scheme can ensure all signals in the closed-loop system bounded. © IFAC.

关键词： Backstepping

来源：评论

学校读者我要写书评

暂无评论

System Identification for Plasma Shape control on EAST 33

System Identification for Plasma Shape Control on EAST

引用

第三十三届中国控制会议

作者： ZHU Cong XIAO Bingjia XU Chao ZHU Yucai State Key Laboratory of Industrial Control Technology Department of Control Science and EngineeringZhejiang University Institute of Plasma Physics Chinese Academy of Sciences

ISBN: (纸本)9781479947249

The plasma shape control plays an important role in Tokamak operation. With the purpose of improving the control capacity and performance, as well as system efficiency, we start the development of system identification on EAST(Experimental Advanced Superconducting Tokamak). On the basis of ISOFLUX principle employed on EAST, we attempt to build up a control-oriented model. By comparison, we adapt PEM(Prediction-Error-Methods). The corresponding procedure and result are presented.

关键词： System Identification,Plasma shape control,EAST

来源：评论

学校读者我要写书评

暂无评论

引用

IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

来源：评论

学校读者我要写书评

暂无评论

Online critic-identifier-actor algorithm for optimal control of nonlinear systems

Online critic-identifier-actor algorithm for optimal control...

引用

International Conference on Intelligent control and Information Processing (ICICIP)

作者： Hanquan Lin Qinglai Wei Derong Liu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

In this paper, a novel critic-identifier-actor optimal control scheme is designed for discrete-time affine nonlinear systems with uncertainties. A neural identifier is established to learn the unknown control coefficient matrix for affine nonlinear system working together with an actor-critic-based scheme to solve the optimal control in online and forward-in-time manner without value or policy iterations. A critic network learns approximate value function at each step. Another actor network attempts to improve the current policy based on the approximate value function. The weights of all neural networks (NNs) are updated at each sampling instant. Lyapunov theory is utilized to prove the stability of the closed-loop system. A simulation example is provided to illustrate the effectiveness of the developed method.

关键词： Optimal control Artificial neural networks Nonlinear systems Discrete-time systems Mathematical model Estimation error

来源：评论

学校读者我要写书评

暂无评论

Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

引用

IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

来源：评论

学校读者我要写书评

暂无评论

Event-based state Estimation of a Discrete-state Hidden Markov Model through a Reliable Communication Channel

Event-based State Estimation of a Discrete-State Hidden Mark...

引用

第三十四届中国控制会议

作者： Dawei Shi Robert J.Elliott Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology School of Mathematical Sciences University of Adelaide SA 5005 Australia the Haskayne School of Business University of Calgary

ISBN: (纸本)9781467374439

In this work, a state estimation problem is considered for a hidden Markov model subject to event-based sensor measurement updates sent through a reliable communication channel. The change of probability approach is utilized to consider the estimation problem, and an analytical expression for the probability distributions of the states conditioned on all the past hybrid point- and set-valued measurement information caused by the event-triggering scheme is obtained. Also, it is shown that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results,and thus can be solved by applying the proposed results.

关键词： Event-based estimation,Hidden Markov models,Optimal estimation

来源：评论

学校读者我要写书评

暂无评论

A Selective Moving Window Partial Least Squares Method and Its Application in Process Modeling

引用

Chinese Journal of Chemical Engineering 2014年第7期22卷 799-804页

作者：徐欧官傅永峰苏宏业李丽娟 Zhijiang College Zhejiang University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University College of Automation and Electrical Engineering Nanjing University of Technology

A selective moving window partial least squares(SMW-PLS) soft sensor was proposed in this paper and applied to a hydro-isomerization process for on-line estimation of para-xylene(PX) content. Aiming at the high frequency of model updating in previous recursive PLS methods, a selective updating strategy was developed. The model adaptation is activated once the prediction error is larger than a preset threshold, or the model is kept *** a result, the frequency of model updating is reduced greatly, while the change of prediction accuracy is *** performance of the proposed model is better as compared with that of other PLS-based model. The compromise between prediction accuracy and real-time performance can be obtained by regulating the threshold. The guidelines to determine the model parameters are illustrated. In summary, the proposed SMW-PLS method can deal with the slow time-varying processes effectively.

关键词： SMW-PLS Hydro-isomerizafion process Selective updating strategy Soft sensor

来源：评论

学校读者我要写书评

暂无评论

Recovering the controllability of Complex Networks

引用

IFAC Proceedings Volumes 2014年第3期47卷 10894-10901页

作者： Jin Ding Yong-Zai Lu Jian Chu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University 310027 Hangzhou P.R.China

The studies on the controllability of complex networks popularly existing in natural, social and man-made engineered systems have been a critical and attractive subject for both academic and practical communities. To design and maintain a networked system under control, it is vital to explore the mechanism and relationship between the network layout and its controllability. For a fully-controlled complex system, potential malicious attacks and/or random failures will lead to the damage of its internal structure, such as the breakdown of certain control nodes or the loss of the links between state nodes. In this paper, we first introduce the concept of degree of controllability to quantify the control level of the networks. And for the networks whose degree of controllability is not full, we propose two novel optimal recovering strategies, OAN (short for optimal adding-node) strategy and OAE (short for optimal adding-edge) strategy, to repair their controllability. The results of experiments conducted on the various real and model networks demonstrate the effectiveness of these two strategies and the better performance compared to their randomized counterparts, RAN (short for randomized adding-node) strategy and RAE (short for randomized adding-edge) strategy.

关键词： degree of controllability optimal adding-node recovering strategy optimal adding-edge recovering strategy network controllability complex networks

来源：评论

学校读者我要写书评

暂无评论

Integration Optimization of Production and Utility System for Refinery-wide Planning

引用

IFAC Proceedings Volumes 2014年第3期47卷 9599-9604页

作者： Hao Zhao Yiping Feng Xiaoyang Dong Gang Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 P.R.China

Traditional optimization of production system and utility system is carried out separately which cannot ensure that the entire refinery system is optimized globally. In this paper, a novel integrated approach is proposed to optimize process production planning and utility system operation simultaneously. A refinery-wide mixed integer nonlinear programming model is proposed and the traditional method and improved integrated method are compared. A real industrial example is conducted to demonstrate the effect of the proposed mathematical model. The results suggest that the integrated approach can provide not only significant benefits but also better energy utilization.

关键词： production utility system integration process optimization refinery

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：