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2015年中国智能自动化学术会议

作者： Hongzhi Chen Yongli Zhao Jie Huang Chang Cheng State Key Laboratory of Hybrid Process Industry Automation System and Equipment Technology Automation Research and Design Institute of Metallurgical Industry Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Fujian Institute of Education

By taking into account the hits-density imaging technique that has been introduced by authors' previous publications, the acoustic emission bursts emitted from the automatic-gauge-control hydraulic cylinder under normal loading and early-stage vibration were investigated. First, six acoustic emission descriptors that showed significance regarding the cumulative probability distribution were visualised, followed by the reconstruction of the hits-density images using these features;Through the visual examination of the hits-density images regarding the cylinders' normal loading and early-stage vibration, apparent visual differences between normal and early-stage vibration under the same loading can be observed;By projecting the hits-density images onto the principal component space, a trajectory which represents the condition developments was observed, which shows a visual-based resolution for dealing with vast transient bursts data reduction,reconstruction and visualisation.

关键词： Visualisation Hits-density imaging Early-stage vibration Acoustic emission

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Coordinated motion control and event-based obstacle-crossing for four wheel-leg independent motor-driven robotic system via MPC

arXiv

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arXiv 2020年

作者： Liu, Dongchen Wang, Junzheng Wang, Shoukun The National Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing10081 China The Ministry of Industry and Information Technology Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing10081 China

This work investigates the coordinated motion control and obstacle-crossing problem for a four wheel-leg independent motor-driven robotic system via a model predictive control (MPC) approach based on an event-triggering mechanism. The modeling of a wheel-leg robotic control system with a dynamic supporting polygon is organized. The system dynamic model is 3 degrees of freedom ignoring the pitch, roll, and vertical motions. The single wheel dynamic is analyzed considering the characteristics of the motor-driven and the Burckhardt nonlinear tire model. As a result, an over-actuated predictive model is proposed with the motor torques as inputs and the system states as outputs. As the supporting polygon is only adjusted at certain conditions, an event-based triggering mechanism is designed to save hardware resources and energy. The MPC controller is evaluated on a virtual prototype as well as a physical prototype. The simulation results guide the parameter tuning for the controller implementation in the physical prototype. The experimental results on these two prototypes verify the efficiency of the proposed approach. © 2020, CC BY.

关键词： Geometry

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Electronic compass calibration based on Adaptive Differential Evolution Algorithm-Fourier Neural Network

Electronic compass calibration based on Adaptive Differentia...

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作者： Gong, Kun Deng, Fang Chen, Jie 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

ISBN: (纸本)9789881725592

Based on the comparison of several common methods of electronic compass error compensation, this paper presents a new error compensation method based on Adaptive Differential Evolution-Fourier Neural Networks (ADE-FNN) to improve the measurement accuracy of electronic compass. This method uses Fourier neural network to model electronic compass error, and adopts Adaptive Differential Evolution to optimize the weights of neural network, and get more exact error model to compensate measured values. The compensation object is the common electronic compass composed by two-dimensional magnetic resistance sensor. Compared with the compensation effect of Least-square method, BP neural network and Fourier neural networks, It proves that the mode of this method can realize the high precision in the sample space mapping and high non-linear approximation ability, and this method has faster convergence rate, can avoid falling into local minima, reduces the training error, and improves error compensation accuracy. This method decreases the error range from 3.4° ∼ 25.2° before compensation to -0.20° ∼ 0.72°, and the average of the absolute error is 0.30°. Repeatability tests also proved the compensation plan have a good consistency. © 2011 Chinese Assoc of Automati.

关键词： Error compensation

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A Fast Averaging Synchronization Algorithm for Clock Oscillators in Nonlinear Dynamical Network with Arbitrary Time-delays

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Acta Automatica Sinica 2010年第6期36卷 873-880页

作者： Jie CHEN Miao YU Li-Hua DOU Ming-Gang GAN School of Automation Beijing Institute of Technology Beijing 100081 P.R.China Key Laboratory of Complex System Intelligent Control and Decision of the Ministry of Education Beijing Institute of Technology Beijing 100081 P. R. China

This paper investigates the synchronization problem of clock oscillators in nonlinear dynamical network with arbitrary time-delays. First, a dynamic synchronization algorithm based on consensus control strategy, named fast averaging synchronization algorithm (FASA), is presented to find a solution to the synchronization problem. This algorithm can compensate the clock skew and offset differences between clock nodes, achieving the synchronization of clock nodes in a shorter time as compared to previous synchronization methods. Second, because of the dynamical performance of FASA, it is characterized from the perspective of compartmental dynamical system with arbitrary time-delays. In this case, the algorithm guarantees the states of all clock nodes in dynamical network converge to Lyapunov stable equilibria. Finally, numerical simulations and experimental results demonstrate the correctness and efficiency of the FASA, which means that the clock nodes can reach global consensus, and the synchronization error can reach nanosecond order of magnitude.

关键词： Clock synchronization dynamical network arbitrary time-delays consensus algorithm

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Observer-based finite time H ∞ control of nonlinear discrete time-varying systems with an adaptive event-triggered Mechanism

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Journal of the Franklin Institute 2020年第16期357卷 11668-11689页

作者： Menghua Chen Hamid Reza Karimi Jian Sun School of Automation Beijing Institute of Technology Beijing 100081 China Department of Mechanical Engineering Politecnico di Milano Milan 20156 Italy Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

The problem of finite time stability and synthesis is discussed for nonlinear discrete time-varying systems by using the T-S fuzzy model. To reduce the communication network resources, two adaptive event-triggered mechanisms (AETMs) are taken into consideration in sensor-to-observer (S/O) and observer-to-controller (O/C) channels. The thresholds of the AETMs are adjusted according to the estimation error rather than some fixed ones. Sufficient conditions for developing an observer-based time-varying control are obtained, which ensure the time-varying error system to be finite time stable and satisfy the H ∞ performance simultaneously. Moreover, using the singular value decomposition technique, recursive linear matrix inequalities conditions are obtained for computing the gains of the controller and observer. Finally, the superiority and applicability of the proposed method are demonstrated by examples.

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Adaptive sliding mode control of electromechanical actuator with improved parameter estimation

Adaptive sliding mode control of electromechanical actuator ...

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Asian control Conference

作者： Hao Li Yongqiang Bai Zhong Su School of Automation Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing China

An adaptive sliding mode control scheme for electromechanical actuator has been presented. The adaptive control strategy can estimate the uncertain parameters and adaptively compensate the modeled dynamical uncertainties, while the sliding mode control method overcomes the unmodelled dynamics. In the adaptive law an equivalent output injection of the sliding mode observer which contains the parameter estimation error is used, and estimates of parameters can approximate the true values without prediction-error that is typically used in compositive adaptive law. Due to the improved estimation of uncertain parameters, the sliding mode law can robustifies the design against model uncertainties with a small swithcing gain. Stability of the system with the proposed approach has been proved and it has also been shown that the system states can reach the sliding mode in finite time. Finally, the effectiveness of the proposed control scheme has been exhibited via simulation examples.

关键词： Parameter estimation Sliding mode control Actuators Aerodynamics Robustness Adaptive control Uncertainty

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and control Engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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A new flexible controller for a humanoid robot that considers visual and force information interaction

A new flexible controller for a humanoid robot that consider...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Gan Ma Qiang Huang Zhangguo Yu Xuechao Chen Weimin Zhang Junyao Gao Libo Meng Yun-Hui Liu IRI Beijing Institute of Technology Beijing China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and Decision of Complex System China

To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two approaches do not consider the interaction between the visual controller and force controller. Specifically, the first approach does not consider the interaction between the controllers. The second approach only considers the effect of the output of the visual controller on the force controller, while the effect of the force controller on the visual controller is not considered. This study presents a design for a new flexible controller for a humanoid robot that considers the interaction of visual and force information. The advantages of the proposed method are that it simultaneously incorporates the functions of a visual servo controller and a flexible controller as well as its ability to consider the interaction of visual and force information when a humanoid robot is operating.

关键词： Robot kinematics Visualization Force Cameras Humanoid robots Robot vision systems

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Valuing Equity-Linked Guaranteed Minimum Death Benefits with European-Style Asian Payoffs Under the Regime-Switching Diffusion Process with Jump

SSRN

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SSRN 2022年

作者： Wang, Yayun Liu, Shengda Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing400065 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

In this paper, we consider a novel and efficient method to price equity-linked guaranteed minimumdeath benefits (GMDB) with European-style geometric Asian and arithmetic Asian payoffs. In thesituation of continuous transition of market economy, we assume that the underlying asset price processfollows regime-switching Ĺevy model and use complex Fourier series (CFS) expansion method to derivethe approximate value of GMDB products. The error analysis shows an exponential convergence rateunder geometric Asian and arithmetic Asian payoffs. Furthermore, the CFS approach is comparedwith other Fourier transform methods and Monte Carlo simulation, the numerical experiment resultsillustrate our method has a distinct advantage over other methods in both efficiency and accuracy. © 2022, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Stabilizability of Networked control systems via Packet-loss Dependent Output Feedback controllers

Stabilizability of Networked Control Systems via Packet-loss...

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2008 American control Conference (ACC), vol.9

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Beijing China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China

We consider the output feedback stabilizability of networked control systems with bounded packet loss. A packet-loss dependent Lyapunov function is adopted to design packet-loss dependent stabilizing output feedback controllers by resolving some linear matrix inequalities. Moreover, two types of packet-loss processes are discussed: one is the arbitrary packet-loss process, and the other is the Markovian packet-loss process. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： Networked control systems Output feedback control systems Switched systems state feedback Lyapunov method Linear matrix inequalities Electrical equipment industry Industrial control Sufficient conditions

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