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Chinese control Conference (CCC)

作者： Zhichuang Wang Jian Sun Guoliang Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper addresses the uniform global asymptotical stability (UGAS) problem for a class of nonlinear switched systems with sampled-data inputs. By employing the multiple Lyapunov functions (MLFs) and input delay method, some new stability conditions are explicitly established for nonlinear switched systems with sampled-data controls. Besides, the sufficient conditions are derived in terms of an upper bound on the dwell time and the maximal sampling interval. Finally, some numerical examples illustrate the advantages of the proposed results.

关键词： Switched systems Switches Stability analysis Delays Lyapunov methods Asymptotic stability

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A Fast Image/Video Dehazing Algorithm Based on Modified Atmospheric Veil

A Fast Image/Video Dehazing Algorithm Based on Modified Atmo...

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第三十八届中国控制会议

作者： Kang Liu Yongqiang Bai Zhenwei Gao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

In this paper, we propose a fast image/video dehazing algorithm based on modified atmospheric veil. For a single image, the coarse atmospheric veil is quickly estimated by the minimum and maximum channels. We take the depth image estimated by the color attenuation prior as the guided image to refine the coarse atmospheric veil and use down sampling technique to speed up the process. In addition, a fast Fourier enhancement method is used to improve the high frequency details. Based on the image dehazing, we design an atmospheric light adjustment strategy and a transmission optimized framework for video dehazing, which can effectively reduce flickering artifacts. Experimental results demonstrate that the proposed algorithm can achieve a very good dehazing effect while keeping a comparable processing speed with state-of-the-art algorithms.

关键词： image/video dehazing atmospheric veil flickering artifacts optimized framework

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A Novel Robust Perfect Tracking control Method for Nonlinear Servo systems

A Novel Robust Perfect Tracking Control Method for Nonlinear...

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第37届中国控制会议

作者： Jia-Rong Li Ming-Gang Gan Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

In this paper, we extend perfect tracking control to nonlinear systems, and propose a novel robust perfect tracking control（RPTC） strategy for nonlinear servo tracking systems. The overall control system consists of four parts: a model-based friction compensator, a feedforward perfect tracking controller, an improved internal model controller as the feedback controller,and a disturbance observer for position feedback. First, the friction compensator is introduced to compensate the nonlinear dynamic friction, and the feedforward perfect tracking controller is applied to widen the frequency band. Then, the internal model controller with a differentiator is adopted to yield improved tracking accuracy. Moreover, by utilizing the disturbance observer, the robustness against external disturbances and plant uncertainties is ensured. Finally, high accuracy tracking and ideal robustness are achieved by the RPTC scheme. The stability of the closed loop system is analyzed. Simulation results demonstrate that the proposed RPTC strategy significantly improves the tracking accuracy and enhances the robustness.

关键词： Perfect Tracking control Nonlinear Servo systems Friction Compensation Disturbance Observer Internal Model control

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Covert Attacks against Output Tracking control of Cyber-Physical systems

Covert Attacks against Output Tracking Control of Cyber-Phys...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Fangyuan Hou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper is concerned with the problem of designing successful covert attacks against output tracking control of cyber-physical systems from the covert agent's angle. Based on the perfect model knowledge and no model knowledge, the covert agent designs two kinds of covert attacks which can compromise the output tracking control system without being detected. Two sufficient conditions under which the covert agent can successfully compromise the output tracking control system are proposed. The designed covert attacks are illustrated through two numerical examples.

关键词： control systems Numerical models Kalman filters system dynamics state estimation Cyber-physical systems system performance

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Active disturbance rejection control of servo platform using improved nonlinear control law

Active disturbance rejection control of servo platform using...

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International Conference on intelligent control and Information Processing (ICICIP)

作者： Hang Zhang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479936519

A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.

关键词： PD control Servomotors Tuning Mathematical model Observers Hardware

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Obstacle Avoidance for Kinematically Redundant Robot

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IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators system stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

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Design and development of vacuum pumping and liquid injection system

Design and development of vacuum pumping and liquid injectio...

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32nd Chinese control Conference, CCC 2013

作者： Shen, Wei Wang, Jun-Zheng Jing, Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

The vacuum pumping and liquid injection system is designed to meet the requirement of liquid automatic injection in a closed chamber. It is made up of vacuum pumping subsystem, liquid injection subsystem and control subsystem. The whole system has a high quality in vacuum pumping and liquid injection in a closed chamber. By using hardware filtering and the flow signal processing method based on pulse duty cycle and duration comparison, the injected liquid volume can be measured accurately in various strong interference environments. In order to solve the problem of injection pressure cannot be exactly controlled sometime, the method of pressure feedback control based on PID algorithm is developed. Finally, the quality of liquid injection is improved greatly and the requirements of injection are met very well. © 2013 TCCT, CAA.

关键词： Signal processing

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Identification of Interval Models for a Class of Uncertain systems via Linear Programming

Identification of Interval Models for a Class of Uncertain S...

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American control Conference

作者： Guozhu Zhang Jie Chen Zhiping Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781424474264

The interval models of uncertain plants are frequently used in the field of robust control. In this paper, a novel interval model identification method based on linear programming is proposed. By certain prepossessing on the measured data of the plant, the interval model identification problem is transformed into several linear programming problems, which can be easily solved through various algorithms. We have proved that the resultant interval model has a known error bound, provided that certain conditions on the measured data are satisfied. To demonstrate its effectiveness, the proposed method is applied to identify the interval model of a servo system with variant load and inertia.

关键词： Identification Linear programming Uncertainty Interval model

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Two-Phase Hybrid Fuzzy Clustering Approach Using Membership Fusion

Two-Phase Hybrid Fuzzy Clustering Approach Using Membership ...

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第34届中国控制与决策会议

作者： Tian Gao Qinglin Wang Yaping Dai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In order to solve the problem that the clustering number in Fuzzy C-Means(FCM) needs to be set manually in advance,a two-phase hybrid fuzzy clustering approach using membership fusion(TPHFC) is *** the first phase,conventional FCM is used for *** the second phase,the results obtained by pre-clustering are fused according to the relationship between the membership of samples to different clusters and the membership threshold.A density-based clustering validity measurement is established for this *** proposed method obtains better clustering effect with setting fewer *** on synthetic datasets conforming to Gaussian distribution and UCI datasets demonstrate the effectiveness of the proposed clustering *** clustering number and clustering centers can be obtained adaptively.

关键词： Fuzzy Clustering Fuzzy C-Means Two-Stage Clustering Adaptive Parameter Adjustment

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Dynamic Output Feedback control of Networked control systems with Aperiodic Sampling and Time-Varying Delays

Dynamic Output Feedback Control of Networked Control Systems...

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Asian control Conference

作者： Su Meng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781509015740;9781509015733

This paper investigates the stability and stabilization issues for networked control systems with both aperiodic sampling and time-varying transmission delays in a general case. The delays vary within a given interval which could be larger than the sampling interval. By applying model transformation methods of aperiodic sampling and time-varying delays as well as the lifting method, the discretized closed-loop system with time-varying delays is converted to a discrete-time system with time-varying delays and norm-bounded uncertainties coming from aperiodic sampling, and is then modeled as an interconnected system of which the forward channel is delay-free. An asymptotic stability condition for the closed-loop system is derived, and a dynamic output feedback controller design method is also proposed. A numerical example is finally provided to illustrate the effectiveness of the proposed method.

关键词： Delays Time-varying systems Closed loop systems Output feedback Stability analysis Asymptotic stability Uncertainty

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