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Nominal Model-Based Sliding Mode Control with Backstepping for 3-Axis Flight Table

Chinese Journal of Aeronautics 2006年第1期19卷 65-71页

作者：刘金琨孙富春 Department of Automatic Control Beijing University of Aeronautics and Astronautics Beijing 100083 China State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

Based on nominal model, a novel global sliding mode controller （GSMC） with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.

关键词： nominal model sliding mode control backstepping control robust control 3-axis flight table

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Fusion Recognition of Courtesy and Legal Amounts on Chinese Handwritten Bank Checks

Fusion Recognition of Courtesy and Legal Amounts on Chinese ...

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International Conference on Signal Processing Proceedings (ICSP)

作者： Jun-xia Gu Xiao-qing Ding State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing Beijing China

In this paper, a novel fusion recognition algorithm of courtesy and legal amounts in handwritten Chinese bank checks is presented. Unlike the other fusion methods based on the independent recognition results of courtesy and legal amount, this proposed fusion algorithm begins with the segmentation of legal amount with the guide of recognition candidates of courtesy amount. And then we fuse the recognition candidates of courtesy and legal amounts. The system is validated with 1053 real bank checks. When the substitution is 0.43%, the recognition rate at the amount level can reach 66.10%

关键词： Handwriting recognition Law Legal factors Character recognition Image recognition Fuses Flowcharts Laboratories intelligent systems Random variables

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Space robot modeling and control considering the effect of orbital mechanics

Space robot modeling and control considering the effect of o...

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systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

作者： Feng Wang Fuchun Sun Huaping Liu State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)0780393953

This paper studies the dynamics modeling and control simulation of space robot with the dynamic effects due to orbital mechanics. To a single-arm free-flying space robot, two dynamics models are built by Lagrangian formulation. One is a general model without the consideration of orbital mechanics, based on which a second model is derived by bringing in the generalized gravitation and generalized inertial force. The special form of this model with only the body coordinate considered can lead to the accurate dynamics model in satellite formation flying. Results of numerical control simulation show that the latter model give a more accurate modeling of space robot which is especially useful when the travel of system is of relatively long length.

关键词： aerospace control aerospace robotics aerospace simulation Lagrangian formulation dynamics models generalized gravitation force generalized inertial force numerical control simulation orbital mechanics satellite formation flying single-arm free-flying spa

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The Application of Minimum Entropy H Mixed Sensitivity to Flight Control

The Application of Minimum Entropy H Mixed Sensitivity to Fl...

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Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Badong Chen Jinchun Hu Jihong Zhu Zengqi Sun State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

Minimum entropy control has been studied extensively. Controllers satisfying a closed-loop minimum entropy condition provide a means of trading off the robustness of H infin control with the performance of H 2 controller. In this paper, the minimum entropy H infin mixed sensitivity method is described, followed by the controller design for an aircraft longitudinal flight control. Analysis tests and simulations illustrate that the minimum entropy controller has better performances than most of the other H infin controllers which belong to a certain subset of the "unit ball in H infin "

关键词： Entropy Aerospace control Control theory Control systems Robust control Analytical models Performance evaluation Application software Hydrogen Performance analysis

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A Real-time Lane Detection Algorithm Based on a Hyperbola-Pair Model

A Real-time Lane Detection Algorithm Based on a Hyperbola-Pa...

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IEEE Symposium on intelligent Vehicle

作者： Qiang Chen Hong Wang State Key Laboratory of Intelligent Technology & Systems Department of Computer Science & Technology Tsinghua University Beijing China

In this paper, we propose a real-time lane detection algorithm based on a hyperbola-pair lane boundary model. In stead of modeling each road boundary separately, we propose a model to describe the road boundary as two parallel hyperbolas on ground plane. By fitting points on pair road boundaries into this model, our method is able to make full use of road boundaries with existence of partial occlusion. Experiment in many different conditions, including various weather and road, demonstrates its high performance and accuracy

关键词： Detection algorithms Roads Clustering algorithms Shape Laboratories intelligent systems Computer science Real time systems Least squares methods Data mining

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Stable Fuzzy Adaptive Controller Design For Nonlinear Singularly Perturbed systems

Stable Fuzzy Adaptive Controller Design For Nonlinear Singul...

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Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Li Li Fuchun Sun Department of Computer Science and Technology State Key Laboratory of Intelligent Technology & Systems Tsinghua University Beijing China

In this paper, the singularly perturbed systems are decomposed into slow and fast subsystems. An adaptive fuzzy controller is designed for slow subsystems to satisfy the tracking requirement. To alleviate the tracking error, the controller is constructed by T-S fuzzy model system since it has superior approximation performance than Mamdani system. As for fast subsystem, a fuzzy controller is developed to stabilize the fast states. To guarantee the stability of the SP systems, Lyapunov composite technique is proposed

关键词： Fuzzy control Fuzzy systems Programmable control Adaptive control Nonlinear control systems Control systems Sliding mode control Optimal control Stability systems engineering and theory

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Fuzzy Characteristic Model Based intelligent Adaptive Control for Aerospace Craft

Fuzzy Characteristic Model Based Intelligent Adaptive Contro...

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Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Xiong Luo Zengqi Sun Fuchun Sun State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

The study on intelligent control for aerospace craft is the hot spot and emphasis in the international research field of spacecraft. There are some modeling and control methods proposed to implement the intelligent control for aerospace craft. Among them, characteristic modeling (CM) is an effective method. But, there are also some deficiencies in dealing with nonlinear system concerning aerospace craft. In this paper, for the sake of overcoming the deficiencies to implement the intelligent control for aerospace craft, fuzzy characteristic modeling (FCM) method is proposed by combining Takagi-Sugeno (T-S) fuzzy modeling and CM methods. The fuzzy characteristic model based overall fuzzy control law is also discussed while the local adaptive controller is designed through the golden section adaptive control feedback law and feed forward control law. In addition, the stability condition for the proposed fuzzy controller is also briefly analyzed. The proposed approach has been shown to be effective via an example

关键词： Fuzzy control intelligent control Adaptive control Aerospace control Space vehicles Nonlinear systems Takagi-Sugeno model Programmable control Feedback Feeds

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Deterministic Robust Control for Multiple-Time-Scale Markov Jumping System

Deterministic Robust Control for Multiple-Time-Scale Markov ...

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Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Huaping Liu Fuchun Sun Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

This paper gives a deterministic controller design approach for a class of multiple-time-scale Markov jumping linear systems, which admit strong ill-conditioned dynamics. The proposed deterministic controller do not use the jumping mode information, and therefore is very useful in some cases when the jumping information is unavailable. The design procedure reduces to solving a set of bilinear matrix inequalities, which is an NP-hard problem. Therefore, we propose a homotopy algorithm to solve it and obtain the feasible solutions. The numerical examples show the effectiveness of the proposed algorithm.

关键词： Robust control Control systems Linear systems Linear matrix inequalities Optimal control Algorithm design and analysis Riccati equations systems engineering and theory Application software Sun

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A Statistical Content-based Method for Promoter Prediction Based on Sequence Segments with Wildcards

A Statistical Content-based Method for Promoter Prediction B...

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World Congress on intelligent Control and Automation (WCICA)

作者： Hongmei Zhu Jiaxin Wang Yannan Zhao Zehong Yang State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

A certain kind of context features, sequence segments with wildcards (called IUPAC words), was used for eukaryotic polymerase II promoter prediction successfully by the content-based promoter prediction system PromoterInspector. Inspired by this, a new statistical method for promoter prediction is designed based on these context features, which also incorporates some techniques used in the well-known interpolated Markov chains (IMC) model. As tested on the vertebrate promoter dataset collected by Martin Reese, the performance of this new method is much better than that of PromoterInspector, and is comparative to that of the popular content-based IMC predictors. Combination of this statistical IUPAC-based method with IMC, results in some improvement in discriminative power as compared with the later

关键词： Sequences DNA Polymers Testing Computational biology RNA Biology computing Laboratories intelligent systems Computer science

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Investigative Data Mining: Identifying key Nodes in Terrorist Networks

Investigative Data Mining: Identifying Key Nodes in Terroris...

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IEEE International Conference on Multi Topic

作者： Muhammad Akram Shaikh Wang Jiaxin State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

The concern about national security has increased significantly since the 9/11 attacks. However, information overload and lack of advanced, automated techniques hinders the effective analysis of criminal and terrorist activities. Data mining applied in the context of law enforcement and intelligence analysis, called investigative data mining (IDM), holds the promise of alleviating such problems. In this paper, we present an understanding to show how IDM works and the importance of this approach in identifying key nodes in terrorist networks.

关键词： Data mining Terrorism Law enforcement Data analysis Information analysis intelligent networks Data security Computer science National security Drugs

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