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Chinese control and decision Conference, CCDC

作者： Yubo Sun Xiyuan Shan Zhicheng Zong School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

In order to improve the dynamic performance of the underdriven crane system, an improved linear active disturbance rejection controller (LADRC) based on the new error was proposed. The improved LADRC takes the error value between the disturbance and its observed value multiplied by a coefficient as the basis for adjusting the linear extended state observer (LESO). The improved method has two advantages. Firstly, the new error can prevent the traditional LESO from choosing larger parameter adjustment disturbances, which will limit the performance of the observer. Secondly, the pole can be configured by adjusting the coefficient to obtain better dynamic characteristics. Finally, the effectiveness of the proposed method is verified by simulation and experiment. The proposed method can effectively restrain the swing of the payload and it is robust to system parameters perturbation as well.

关键词： Robust control Couplings Adaptation models Cranes Uncertainty Perturbation methods Bandwidth

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Differential evolution with adaptive population size combining lifetime and extinction mechanisms

Differential evolution with adaptive population size combini...

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作者： Zhang, Chunmei Chen, Jie Xin, Bin Cai, Tao Chen, Chen School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China School of Electronic Information Engineering Taiyuan University of Science and Technology Shanxi China Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9788995605646

Differential Evolution (DE) is a simple and efficient numerical optimization method. Most DE variants in the literature adopt fixed population size. This paper incorporates into DE the mechanisms of lifetime and extinction which regulate DE's population size in an adaptive manner. The population size is adjusted according to the online progress of fitness improvement. Two schemes of inserting new individuals are proposed to match different mechanisms respectively. The performance of these innovations is examined through the optimization of benchmark problems. The results show that the proposed adaptive population sizing strategy is efficient for improving the convergence and efficiency of the DE. © 2011 Asian control Association.

关键词： Optimization

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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 ...

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Chinese control and decision Conference, CCDC

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

ISBN: (纸本)9781665478977

Dynamic facial expression recognition (DFER) in the wild has received widespread attention recently. There are complex factors such as face occlusion and pose variation in the wild. Facial expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature representation. This 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 wild. Specifically, GAT-Net is divided into two components: spatial feature extraction and temporal feature processing. The 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 poses. The 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 features. These two components balance the subtle competition between local features and global feature representations of facial expressions. The ablation experiment has proved the effectiveness of the grid attention module and Transformer. Experiments 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： Face recognition Semantics Interference Benchmark testing Transformers Feature extraction Robustness

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Decentralized control for Arbitrarily Interconnected systems over Lossy Network

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Acta Automatica Sinica 2010年第9期36卷 1321-1327页

作者： Hui LI Qing-He WU Li SONG School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 P.R. China

Abstract This paper deals with the control of arbitrarily topological interconnected systems where information communicated between subsystems may be lost due to unreliable links. First, the stochastic variable that is responsible for the communication status of lossy network is regarded as a source of model uncertainty. The system is modeled in the framework of linear fractional transformation with a deterministic nominal system and a stochastic model uncertainty. Then, the robust control theory is employed for system analysis. The largest probability of communication failure, tolerated by the interconnected systems keeping mean square stable, can be obtained by solving a μ synthesis optimization problem. Decentralized state feedback controllers are designed to ensure that the whole system is mean square stable for a given communication failure rate, based on the technique of linear matrix inequalities. An illustrative example is presented finally to verify the effectiveness of the proposed model and method.

关键词： Interconnected systems communication failure decentralized control μ synthesis linear matrix inequality

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Peak and valley time-of-use price optimization strategy with distributed power supply 8

Peak and valley time-of-use price optimization strategy with...

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8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Applications, ISCIIA and ITCA 2018

作者： Hu, Bo Zhang, Yu Han, Xin-Yang Jiao, Yu-Qiao Ding, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China State Grid Energy Research Institute Co. LTD. Beijing102200 China

This paper proposes a peak-to-valley time-based electricity price optimization method based on NSGA-II with distributed power supply. First, the curve-fitting method is used to obtain the comprehensive electricity price response curve of users in the whole society. Secondly, based on the use of time-sharing electricity price, the peak-to-valley time-sharing optimization model is established. Then, based on the NSGA-II optimization method, the optimal model is solved, and the optimal electricity price is obtained at different time periods to change the peak-to-valley load and the valley load. Finally, the simulation results verify the effectiveness of the proposed method. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Application.

关键词： Genetic algorithms

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Distributed Full Order Sliding Mode control for Finite-time Attitude Synchronization and Tracking of Spacecraft

Distributed Full Order Sliding Mode Control for Finite-time ...

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第37届中国控制会议

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology School of Automation Huazhong University of Science and Technology

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues parameters are used for attitude representation.A two layer sliding mode surface with fast non-singular terminal sliding mode surface（FNTSMS） as the inner layer and terminal sliding mode surface（TSMS） as the outer layer is used to create a full order sliding mode *** proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader’s time varying ***-time stability of the closed loop system is guaranteed by Lyapunov-based stability *** results are presented to validate the performance of the proposed control strategy.

关键词： Attitude synchronization Attitude tracking Finite-time Full-order sliding mode（FOSM） Distributed control

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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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Asian control Conference

作者： Wei Sun YongQiang Bai Rui Jia Rui Xiong Jie Chen Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China Beijing Institute of Technology Beijing Beijing CN

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.

关键词： Topology Network topology Switches Eigenvalues and eigenfunctions Convergence Laplace equations

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Research on Foot Trajectory Tracking of Parallel Wheel-legged Robot based on Dynamic Model Predictive control

Research Square

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Research Square 2020年

作者： Liu, Daohe Wang, Shoukun Chen, Zhihua Wang, Junzheng Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Sefvo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China

In this paper, the foot trajectory tracking control for parallel structure of the six wheel-legged robot is investigated. The accuracy of trajectory tracking and dynamic response with heavy load are the main challenges of parallel mechanism. To guarantee the tracking performance and improve dynamic response frequency to posture input, a method based on dynamic model predictive control is proposed under the establishment of dynamic model of single leg. Newton-Eulerian equation is derived and converted into a discrete state space expression for velocity loop control, appropriate parameters including prediction time domain, control time domain and proportional gain are determined by co-simulation. Desired sinusoidal trajectories with different frequencies are tracked with satisfactory performance in terms of accuracy and response frequency. Finally, comparative experimental results using BIT-NAZA robot derived from the proposed control strategy indicate that the delay error and amplitude error are better than PI controller under the same conditions. This research can provide theoretical and engineering guidance for accurate planning of intelligent robot, and facilitate the control performance of wheel-legged robot in practical system. © 2020, CC BY.

关键词： Dynamic models

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Distributed Flocking of Second-order Multi-agent systems with Global Connectivity Maintenance

Distributed Flocking of Second-order Multi-agent Systems wit...

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American control Conference

作者： Yutian Mao Lihua Dou Hao Fang Jie Chen Tao Cai School of Automation and Key Laboratory of Complex System Intelligent Control and Decision (Ministry of Education) Beijing Institute of Technology Beijing 100081 P.R.China

ISBN: (纸本)9781479901777

This paper investigates the problem of connectivity-preserving flocking of multiple autonomous agents with second-order dynamics. First, the inverse power iteration algorithm is formulated in a completely distributed manner to estimate the algebraic connectivity, i.e., the second smallest eigenvalue of the group Laplacian, as well as the corresponding eigenvector. Furthermore, distributed gradient-based flocking algorithms that exploit decentralized eigenvalue/eigenvector estimation are developed both to steer the agent group to the desired flocking motion and to maintain the global connectivity of the underlying network during maneuvers. Different from the common potential/tension function method which keeps certain fixed edges all the time, the algorithm proposed in this paper guarantees the global connectivity which allows any existing edge to be broken, thus gives more freedom of motions for the agents. Finally, nontrivial simulations are performed to demonstrate the correctness and effectiveness of the theoretical results.

关键词： underlying desired agents

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Solution of Cannonball Dispersion Evenness Based on Estimation of Distribution Algorithm

Solution of Cannonball Dispersion Evenness Based on Estimati...

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7th World Congress on intelligent control and Automation (WCICA 2008), vol.10

作者： Gaopeng Wang Lihua Dou Juan Zhang Chen Chen Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Institute of Technology Beijing Beijing CN

Cannonball dispersion evenness is the main parameter for the design and optimization of future air window. The key of solution of cannonball dispersion evenness is the computations of the biggest value and smallest value of a 2-dimensional continuous function, which has many maximum values and minimum values. Moreover, as it need to compute the biggest value and smallest value for many times in the design and parameter computation of FAW, the solution algorithm is required global convergence and quick convergence speed. Many randomly generated individuals are introduced in each generation to avoid local convergence, and in order to speed up the convergence speed, probability distribution models are founded to guide the searching process. By computer simulation verifying, the algorithm has the advantages of quick convergence speed and high precision of solution in certain generations compared to conventional genetic algorithm. The algorithm is also suitable for other optimizing solutions of 2-dimentional continuous function.

关键词： Future air window Cannonball dispersion evenness Estimation of distribution algorithm (EDA) 2-dimensional continuous function

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