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第三十八届中国控制会议

作者： Hu Xiaoyu Wang Shoukun State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

Comparing to the commonly used hydraulic three-axial shaking tables, multi-degree of freedom shaking systems implemented by Stewart platform have the merits of being portable, easy to install and with high load capacity, but are not well studied because of the inherent nonlinearity and strong coupling of Stewart platform. In order to replicate multi-degree of freedom road acceleration spectrum on Stewart platform, analysis of the system was carried out. Firstly, the system structure was introduced and the linearized platform kinematic equations, at the equilibrium position, were inducted. The models of actuators that drive the platform were simplified and the principles of three variable controller(TVC) were deduced briefly. Finally, MATLAB-Adams co-simulation environment was built to perform multi-degree of freedom road acceleration spectrum replication with TVC. The results show that it can reproduce high accuracy multi-degree of freedom road acceleration spectrum with TVC on Stewart platform.

关键词： Shaking table Stewart platform three variable controller

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Research on Path Planning of Mobile Robot Based on DWA-IMP-A∗ Algorithm 42

Research on Path Planning of Mobile Robot Based on DWA-IMP-A...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Zhi Zhang, Lin Wang, Shoukun Niu, Tianwei Xu, Yongkang Cao, Jin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing100081 China

ISBN: (纸本)9789887581543

Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of path planning, the most popular A∗ algorithm has some problems, such as heuristic function cannot be estimated accurately, node redundancy, path is not smooth, and obstacle avoidance cannot be achieved in real time. To solve these problems, A fusion algorithm of improved A∗ combined with reverse path and dynamic window method (DWA-IMP-A∗) was proposed. The algorithm refines the heuristic function by incorporating the reverse path. The node optimization algorithm is used to further reduce the path length. The generated trajectories are smoothed by cubic spline interpolation. At the same time, it is integrated with the improved DWA algorithm to improve the efficiency and safety of robot path planning. The algorithm takes ROS mobile robot as the carrier and is tested under typical road conditions. Compared with A∗ algorithm, the planning time is reduced by 54.6% and the path length is reduced by 6.37%. Experimental results verify the effectiveness and robustness of the algorithm. The research results have certain reference significance for the path planning of various types of mobile robots and the research of driverless vehicles. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Motion planning

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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American control Conference (ACC)

作者： Yi Yang Hao Li Hao Zhu Ningyi Lyu Wenjie Song School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing Beijing CN School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Three-dimensional displays Urban areas Laser radar Autonomous vehicles

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Group Behaviour control Based on Aggregation and Dilation

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IFAC Proceedings Volumes 2008年第2期41卷 6072-6077页

作者： Bin Xin Jie Chen Li-Hua Dou Zhi-Hong Peng Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education China

The phenomenon of aggregation and dilation(A&D) widely exists in nature. The mechanism behind it is regarded as the effect of some kind of attraction and repulsion(A&R). A&R control becomes a popular and promising way of controlling the structure and distribution of a group composed of several and even numerous individuals. This paper presents the concepts of aggregation, dilation and group evolution criticality based on group variance. We investigate the relationship between different levels of A&D as a foundation for the introduction of A&D analysis. The applications of A&D analysis and A&R control in several researches, including population-based optimization and group behavior control about multi-agent, are given in the form of simulation experiments.

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Optimal data integrity attack on actuators in Cyber-Physical systems

Optimal data integrity attack on actuators in Cyber-Physical...

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American control Conference

作者： Guangyu Wu Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology China

ISBN: (纸本)9781467386838

The security issues are of prime importance for Cyber-Physical systems (CPSs). Most existing works mainly investigate the secure control schemes against malicious attackers. This article analyzes how to design an data integrity attack scheme from the viewpoint of an attacker. The formulation of our approach is basically similar to the one of conventional optimal control method, with different prerequisites and solutions. An output feedback control system under data integrity attacks on actuators is considered in this article. Our work is aimed at constructing an optimal feedback attack law to maximize the error between the attacked system's output and the healthy system's output. Numerical examples are presented to demonstrate the effectiveness of the proposed method.

关键词： Actuators Cyber-physical systems Optimal control Computer crime Jamming actuators Computer crime Cyber-physical systems jamming Data Quality Optimal control Feedback control systems

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control system for maxillofacial surgery robot: Master-slave, motion control and safety design

Control system for maxillofacial surgery robot: Master-slave...

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6th International Conference on complex Medical Engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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Adaptive control of air delivery system for PEM fuel cell using backstepping

Adaptive control of air delivery system for PEM fuel cell us...

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作者： Li, Peng Chen, Jie Cai, Tao Zhang, Bo School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The proton exchange membrane (PEM) fuel cells have attracted significant attention due to high efficiency and low pollution. The performance and lifetime of the fuel cell power system depend on the heat and water management, gas flow control and pressure regulation. This paper focuses on the oxygen excess ratio regulation for the fuel cell system to improve the performance and extend the lifetime. Firstly, a third-order model of the air delivery subsystem is introduced based on suitable assumption and simplification. Secondly, the third-order model is transformed to the non-affine nonlinear form, and the oxygen excess ratio regulation is reconsidered as load current tracking problem. Using the backstepping technique and neural network, an adaptive controller is proposed for the tracking problem and guarantees the system's stability in presence of modeling errors, external disturbances and uncertainties. Finally, the simulation illustrates the effectiveness of the adaptive controller. © 2011 Asian control Association.

关键词： Backstepping

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A multi-robot target tracking algorithm with centroidal Voronoi tessellation and consensus strategy

A multi-robot target tracking algorithm with centroidal Voro...

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作者： Sun, Wei Dou, Lihua Chen, Jie Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9787894631046

A novel algorithm to solve the target tracking and formation control problem in multi-agent systems is proposed in the present work, which combines centroidal Voronoi tessellations (CVT) with consensus strategy. The algorithm utilizes the connection information among robots to further reduce the system cost function on the basis of CVT configuration. The work load among robots can be averaged by the consensus strategy thus the tracking and formation task can be achieved. The method configures the robots on to local optimal solution which minimize the sensing error. Simulations validated the proposed approach. Comparison is drawn between the pure CVT algorithm and the method with consensus strategy.

关键词： Target tracking

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Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound for Multi-Target Tracking in Netted Colocated MIMO Radar systems

Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound ...

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第40届中国控制会议

作者： Sijian Liao Zhihong Peng Junqi Cai School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, an effective joint beam selection and power allocation（JBSPA） method is proposed to solve the online resource scheduling problem for multi-target tracking in distributed MIMO radar system. Overall target tracking performance can be improved by optimizing radar system beam selection and power allocation, since each MIMO radar can generate a timevarying beam, and adjust the quality of the observed signal by controlling the transmit power of each beam. In our method the feedback information of the target tracking period is used to complete the optimal radar-targets assignment and power allocation,the objective function is formulated based on the Bayesian Cramér-Rao lower bound, as the formulated JBSPA problem is nonconvex, a three steps solution method based on reward matrix is proposed to solve it effectively. Numerical results show that the proposed JBSPA method can deliver better performance than the competitors in overall MTT performance.

关键词： Resource Scheduling BCRLB Target Tracking Power Allocation MIMO Radar systems

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Multi-group consensus via pinning control with non-linear heterogeneous agents

Multi-group consensus via pinning control with non-linear he...

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作者： Sun, Wei Bai, Yongqiang Jia, Rui Xiong, Rui Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The agents connected by networks are capable to reach a prescribed state if only a small fraction of them are controlled with feedback information. The present work tries to stabilize groups of non-linear agents in a directed network onto a stable state with several equilibriums. The agent dynamics can be identical or heterogeneous. But the agents in the same group share a same non-linear model. The conditions to reach multiple consensus states are provided under both non-switching and switching topologies. The maximum number of heterogeneous equilibriums is discussed. It is proved theoretically and by simulations that under certain conditions, pinning control can lead a multi-group network to reach a multi-valued consensus state. © 2011 Asian control Association.

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