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Stabilization of Perturbed Continuous-Time systems Using Event-Triggered Model Predictive control

IEEE Transactions on Cybernetics 2022年第5期52卷 4039-4051页

作者： Wang, Mengzhi Sun, Jian Chen, Jie Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China

In this article, event-triggered model predictive control (EMPC) of continuous-time nonlinear systems with bounded disturbances is studied. Two novel event-triggered control schemes are proposed. In the first strategy, an event-triggering condition, designed based on the state error between the actual system state and the optimal one, with an absolute threshold is considered. In the second strategy, an event-triggering condition with a mixed threshold is designed to further save the computational resources. The minimal interevent times of both event-triggered control schemes are obtained to avoid the Zeno behavior. Sufficient conditions of recursive feasibility for these two triggering strategies, which refer to the prediction horizon, the triggering level, and the disturbance bound, are obtained, respectively. Input-to-state practical stability (ISpS) of both event-triggered control systems is established without requiring the system state entering the terminal set in finite time, respectively. Finally, the numerical simulation shows the effectiveness of the proposed methods. © 2013 IEEE.

关键词： Model predictive control

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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Gait planning and compliance control of a biped robot on stairs with desired ZMP 19

Gait planning and compliance control of a biped robot on sta...

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

作者： Chen, Guangrong Wang, Junzheng Wang, Lipeng Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology BeijingCO 100081 China

ISBN: (纸本)9783902823625

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples. © IFAC.

关键词： Compliance control

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TIEA: A tradeoff-based interactive multiobjective evolutionary algorithm 7

TIEA: A tradeoff-based interactive multiobjective evolutiona...

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

作者： Chen, Lu Xin, Bin Chen, Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9784990534349

This paper proposes a tradeoff based interactive multiobjective evolutionary algorithm (TIEA). It can support the decision maker (DM) to guide the search towards the DM's most preferred solution by combing evolutionary algorithms with the framework of gradient projection. At each iteration, an evolutionary algorithm is used to generate an approximate Pareto optimal solution. Then, the DM is asked to provide preferences in terms of indifference tradeoffs, the projection of which onto the tangent hyperplane of the Pareto front provides a tradeoff direction. To calculate the projection, an approach to approximate the normal vector of the tangent hyperplane of the Pareto front is developed. Results on nine numerical examples by using TIEA show that TIEA is able to solve multiobjective optimization problems with more than three objectives. Moreover, it can find the Pareto optimal solution that the DM prefers most. © 2016, Fuji Technology Press. All rights reserved.

关键词： Evolutionary algorithms

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Artillery position control through auto disturbance rejection controller based on fuzzy control

Artillery position control through auto disturbance rejectio...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Peng, Ning Bai, Yongqiang Luo, Hao Bai, Junlong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9780769550114

Considering the characteristics of manipulation and collimation control in traction artillery control system, complex mathematic model, uncertainty and nonlinearity, ADRC (Active Disturbance Rejection controller) with Fuzzy control strategy as position controller was adopted and solved the difficult to adjust the parameters and weak anti-interference in practical engineering application. Through tests, it was shown that the controller was robust and met with the requirement of campaign system to quickly move the target to the given position with high reliability and high precision. © 2013 IEEE.

关键词： controllers

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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Evolutionary decision-makings for the dynamic weapon-target assignment problem

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Science in China(Series F) 2009年第11期52卷 2006-2018页

作者： CHEN Jie1,2, XIN Bin1,2, PENG ZhiHong1,2, DOU LiHua1,2 & ZHANG Juan1,2 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 School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

The dynamic weapon-target assignment （DWTA） problem is an important issue in the field of military command and control. An asset-based DWTA optimization model was proposed with four kinds of constraints considered, including capability constraints, strategy constraints, resource constraints and engagement feasibility constraints. A general ＂virtual＂ representation of decisions was presented to facilitate the generation of feasible decisions. The representation is in essence the permutation of all assignment pairs. A construction procedure converts the permutations into real feasible decisions. In order to solve this problem, three evolutionary decision-making algorithms, including a genetic algorithm and two memetic algorithms, were developed. Experimental results show that the memetic algorithm based on greedy local search can generate obviously better DWTA decisions, especially for large-scale problems, than the genetic algorithm and the memetic algorithm based on steepest local search.

关键词： decision-making dynamic weapon-target assignment (DWTA) military command and control evolutionary computation memetic algorithms constraints handling

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New advances in complex motion control for single robot systems and multi-agent systems

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Science China(Technological Sciences) 2016年第12期59卷 1963-1964页

作者： FANG Hao LU Shao Lei CHEN Jie School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

CHEN Jie,email：chenjie@***

关键词： robot advances email cooperation simplified decomposed scenarios classic climbing obstacles

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A Dual-Motor Joint Model for Humanoid Robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Trajectory Tracking Strategy for Gliding Hypersonic Vehicle with Aileron Stuck at an Unknown Angle

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Journal of Beijing Institute of Technology 2019年第3期28卷 447-455页

作者： Haibo Ji Lei Wang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of EducationBeijing 100081China

A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.

关键词： trajectory tracking stuck aileron time-varying sliding mode

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