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第三十八届中国控制会议

作者： Lijun Hou Huipeng Zhang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

Blood glucose prediction is to predict the glucose trend over time based on historical glucose data, and it plays a crucial role in the closed-loop control of artificial pancreas, which can reduce the risk of complications by regulating insulin dose and injection time. This paper proposes a Kalman-filter-based glucose prediction method through minimizing the mean square prediction error, which assumes that the data is sampled every 15 min from a wearable flash glucose monitoring sensor. This method calculates glucose estimates every 5 min and provides glucose predictions for the next 30 min. The method is evaluated on in-silico data generated from the 10-adult cohort of the US FDA-accepted UVA/Padova T1 DM simulator. The predicted results are compared with CGM data with 5-min sample-period through multiple metrics, including the mean square prediction error and the mean absolute relative deviation. The results show that the performance of the proposed approach with slow-rate glucose data(15 min) is close to that obtained based on fast-rate data(5 min).

关键词： Blood Glucose Prediction Wearable Devices Mean Square Prediction Error Sampled Data Kalman Filtering

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The algorithm of MIMU/odometer integrated navigation system aided by nonholonomic constraints

The algorithm of MIMU/odometer integrated navigation system ...

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International Conference on Mechatronic Science, Electric Engineering and Computer

作者： Shi Peng Xiao Xuan State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479925667

The navigation precision drops rapidly when MIMU (Micro Inertial Measurement Unit) works alone. Odometer data are easy to get on land vehicle, but the performance of integration system of MIMU/odometer is not enhanced obviously. In this work, a novel method is designed using nonholonomic constraints. When vehicle travels without slide and jump, the velocity in the plane perpendicular to forward direction is zero, as well as acceleration. Taking velocity constraint and acceleration constraint as measurement value, new measurement models are established. Integrated navigation algorithm is designed with the help of Kalman filter. With this method, the position error is 150m after 600s, and heading attitude error is 0.1°, comparing the result that the position error expands to 300m after 150s only aided by odometer.

关键词： Vehicles Acceleration Global Positioning system Velocity measurement Noise Kalman filters

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Consensus of Multiple High-order Nonlinear systems with Uncertainty

Consensus of Multiple High-order Nonlinear Systems with Unce...

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第三十二届中国控制会议

作者： Jie Huang Jie Chen Hao Fang Lihua Dou Qingkai Yang School of Automation Beijing Institute of Technology Key Laboratory Intelligent Control and Decision of Complex System Fujian Institute of Education

ISBN: (纸本)9781479900305

This paper focuses on the consensus problem of a class of multiple high-order nonlinear systems with uncertainty under the fixed and undirected communication topology. The distributed virtual control functions of the multi-agent system are constructed by only using their local information in the recursive controller design procedure. A set of distributed cooperative consensus control laws is proposed through combining backstepping and adaptive control techniques. The asymptotic stability of the overall interconnected system is proved relying on Lyapunov stability analysis method. Furthermore, the proposed control scheme can be extended to apply to the condition when the communication graph is directed or time-varying. Finally, simulation is provided to verify the effectiveness of the control algorithms.

关键词： adaptive control, consensus control, backstepping, high-order nonlinear systems, uncertainty, multi-agent

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On Convergence of Extended state Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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Local Smooth Path Planning for Turning Around in Narrow Environment

Local Smooth Path Planning for Turning Around in Narrow Envi...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xiaohui Tian Mengyin Fu Yi Yang Meiling Wang Dongyu Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728136677

In this paper, we introduce a local smooth path planning algorithm for turning around in narrow environment. The algorithm uses a combination of the minimum turning radius arc and the Bezier curve to generate a near optimal smoothing turn-around path in narrow roads or cluttered environments. The algorithm will generate a smooth trajectory that conforms to the kinematic constraints of unmanned ground vehicle (UGV), by adjusting the heading to the target angle through several minimum-radius turns, and smoothly connecting to the global reference path via Bezier curve. We analyze the surrounding congestion and narrowness to choose appropriate turn-around area by integrating obstacle distribution and road edges before path planning. The algorithm was tested at IN 2 BOT UGV in our campus and 2018 Cross Dangers & obstacles. The experimental results indicated that the algorithm works efficiently with our previous work and shows good performance in accuracy and computational time.

关键词： Turning Roads Trajectory Planning Kinematics Land vehicles

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Disturbance prediction based active disturbance rejection control approach

Disturbance prediction based active disturbance rejection co...

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第35届中国控制会议

作者： Chongling Li Tao Cai Zeyu Han School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.

关键词： disturbance discrete ADRC LESO predictive linear extended state observer

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GAT-Net:A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net:A Network using Grid Attention and Transformer for D...

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第34届中国控制与决策会议

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Dynamic facial expression recognition(DFER) in the wild has received widespread attention *** are complex factors such as face occlusion and pose variation in the *** expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature *** paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer,which improves the robustness and accuracy of DFER in the ***,GAT-Net is divided into two components:spatial feature extraction and temporal feature *** grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face,which reduces the interference of field occlusion and non-frontal *** Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression *** two components balance the subtle competition between local features and global feature representations of facial *** ablation experiment has proved the effectiveness of the grid attention module and *** demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%,and 50.14% respectively.

关键词： Facial Expression Recognition Deep Learning Attention Mechanism Transformer

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An Adaptive Dynamic Programming Algorithm Based on ITF-OELM for Discrete-Time systems

An Adaptive Dynamic Programming Algorithm Based on ITF-OELM ...

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第33届中国控制与决策会议

作者： Xiaofei Zhang Hongbin Ma Junyong Chen Weixue Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Adaptive dynamic programming(ADP) is a kind of intelligent control method,and it is a non-model-based method that can directly approximate the optimal control policy via online *** gradient algorithm is usually used to update weights of action networks and critic networks,however it is clear that gradient descent-based learning methods are generally very slow due to improper learning steps or may easily converge to local *** this paper,in order to overcome those disadvantages of gradient descent-based learning methods,a novel ADP algorithm based on initial-training-free online extreme learning machine(ITF-OELM),in which the critic network link weights of hidden nodes to output nodes can be obtained by least squares instead of gradient algorithm,is ***,the ADP algorithm based on ITF-OELM is tested on a discrete time torsional pendulum system,and simulation results indicate that this algorithm makes the system converge in a shorter time compared with the ADP based on gradient algorithm.

关键词： Adaptive Dynamic Programming Extreme Learning Machine Discrete-time systems

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Multi-Batch Production Scheduling for Distributed Serial Lines with Unreliable Machines and Finite Buffers

Multi-Batch Production Scheduling for Distributed Serial Lin...

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第40届中国控制会议

作者： Longzhu Huang Zhiyang Jia Xiaohan Wang Jingchuan Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In the modern manufacturing environment, the production systems develop towards a flexible direction due to the market demands of multiple varieties and small batch-based customized products. To make better use of the existing resources and to improve production efficiency, distributed manufacturing mode begins to appear. This paper concentrates on a multi-type production scheduling problem for distributed serial lines. Specifically, unreliable machines and finite buffers are considered,which are more realistic in the practical production. The mathematical model for the production system with two Bernoulli machines is formulated first. Then, under the hypothetical model mentioned above, the main work of this article is to propose the exact and approximate analyses to calculate the performance indicators. Based on the analysis of the model, the genetic algorithm is applied to optimize the maximum completion time on the distributed serial lines for multi-batch-based production tasks. Finally, the feasibility and effectiveness of the mathematical model and the proposed algorithm are verified through numerical experiments.

关键词： Bernoulli machine intelligent manufacturing Production scheduling Transient analysis

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

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自动化学报 2010年第6期36卷 873-880页

作者： CHEN Jie 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 effciency 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：运算法则 FASA 振荡器自动化

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