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ℋ ∞ stabilisation of switched linear stochastic systems under dwell time constraints

International Journal of Control 2012年第9期85卷 1209-1217页

作者： Huang, Ran huangran_asee@*** Lin, Yan Ge, Shuzhi Sam Lin, Zhongwei School of Automation Bejing University of Aeronautics and Aeronautics Beijing 100191 China Institute of Intelligent Systems and Information Technology School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing 102206 China

Based on the determination of a minimum dwell time, this article addresses the problem of characterising a switching strategy for ℋ∞ stabilisation of switched linear stochastic systems with adapted external inputs. Sufficient conditions that assure exponential mean square stability and an ℋ∞ performance index are established by analysing the time evolution of the second-order moment of the state and a recursive dynamic programming inequality, respectively. Alternative conditions are derived for numerical implementations. The proposed method is illustrated by numerical simulations. [ABSTRACT FROM AUTHOR]

关键词： ℋ∞ control dwell time switched systems Wiener process

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Doubly selective channel estimation for amplify-and-forward relay networks

Doubly selective channel estimation for amplify-and-forward ...

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IEEE Conference on Wireless Communications and Networking

作者： Gongpu Wang Feifei Gao Jiaru Lin Chintha Tellambura School of Computer and Information Technology Beijing Jiaotong University China National Mobile Communications Research Laboratory South East University Nanjing China State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing China Key Laboratory of Universal Wireless Communications Ministry of Education China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada

In this paper, the estimation of doubly selective channel is considered for amplify-and-forward (AF) relay networks. The complex exponential basis expansion model (CE-BEM) is chosen to describe the time-varying channel, from which the infinite channel parameters are mapped onto finite ones. Since direct estimation of these coefficients encounters high computational complexity and large spectral cost, we develop an efficient estimator targeting at some specially defined channel parameters. The training sequence design that can minimize the channel estimation mean-square error is also proposed.

关键词： Training Channel estimation Relays Wireless communication Educational institutions Estimation Vectors

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Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 693-700页

作者： SONG Yu SONG Yongduan LI Qingling Center for Intelligent System and Renewable Energy Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks： one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM （ISP-FastSLAM） algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter （ISPKF）, which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts： in the first part, an iterated sigma point particle filter （ISPPF） to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.

关键词： mobile robot simultaneous localization and mapping （SLAM） particle filter Kalman filter unscented transformation

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Robust Tomlinson-Harashima precoding for non-regenerative multi-antenna relaying systems

Robust Tomlinson-Harashima precoding for non-regenerative mu...

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IEEE Conference on Wireless Communications and Networking

作者： Chengwen Xing Minghua Xia Feifei Gao Yik-Chung Wu School of Information and Electronics Beijing Institute of Technology Beijing China Division of Physical Sciences and Engineering King Abdullah University for Science and Technology Saudi Arabia National Mobile Communications Research Laboratory South East University Nanjing China State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing China Department of Electrical and Electronic Engineering University of Hong Kong Hong Kong China

In this paper, we consider the robust transceiver design with Tomlinson-Harashima precoding (THP) for multi-hop amplify-and-forward (AF) multiple-input multiple-output (MIMO) relaying systems. THP is adopted at the source to mitigate the spatial inter-symbol interference and then a joint Bayesian robust design of THP at source, linear forwarding matrices at relays and linear equalizer at destination is proposed. Based on the elegant characteristics of multiplicative convexity and matrix-monotone functions, the optimal structure of the nonlinear transceiver is first derived. Based on the derived structure, the optimization problem is greatly simplified and can be efficiently solved. Finally, the performance advantage of the proposed robust design is assessed by simulation results.

关键词： Transceivers Robustness MIMO Channel estimation Relays Optimization Vectors

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A class of uncertain chaotic systems using the fast terminal sliding mode control

A class of uncertain chaotic systems using the fast terminal...

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Chinese Control Conference (CCC)

作者： Bai Yongqiang A Lata Li Xiaofang School of Automation Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China Institute of State 157 factory Chendu China

ISBN: (纸本)9781467325813

Problems of uncertain chaotic systems with fast terminal sliding mode control are discoursed. Aim at the uncertainty parameters of chaotic systems, proposed a fast terminal sliding mode control method, and the corresponding sliding surface and controller are designed, which make the state variables of the system fast convergence to the equilibrium point in the limited time. And the examples are given to verify the feasibility of the system.

关键词： Sliding mode control Electronic mail Synchronization Chaotic communication Uncertainty Educational institutions

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Hypersonic vehicle simulation system based on distributed virtual reality

Beijing Keji Daxue Xuebao/Journal of University of Science a...

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Beijing Keji Daxue Xuebao/Journal of University of Science and technology Beijing 2012年第1期34卷 102-106页

作者： Luo, Xiong Sun, Zeng-Qi Guo, Guo-Qing School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China State Key Laboratory of Intelligent Technology and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

A distributed virtual simulation system of the hypersonic vehicle X-38 based on the client/server model was presented through using Java and virtual reality modeling language (VRML). Some key technologies in the virtual simulation system, such as 3D scene reconstruction and event modeling, distributed network architecture design and database management as well as scene interface implementation, were discussed in detail. The practical running result of this virtual simulation system is good. The simulation system has good portability and scalability. It is easy to deploy under the large-scale environment and to implement the secondary development.

关键词： Network architecture

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Solve JIGSAW puzzle problems with Co-Normalization

Solve JIGSAW puzzle problems with Co-Normalization

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17th International Conference on Digital Signal Processing, DSP 2011

作者： Lei, Shaoze Zhang, Changshui State Key Laboratory of Intelligent Technology and Systems Department of Automation Tsinghua University Beijing 100084 China

ISBN: (纸本)9781457702747

Recently a graphic model method has been developed to reconstruct an image from a bag of square, non-overlapping patches. Markov Random Field (MRF) is used to model this type of jigsaw puzzle problem. In this model, each node represents a spatial position where patches are placed. Belief Propagation (BP) algorithm is used to solve the model. BP naturally fulfills the fact that each node should be assigned a patch with probability one. However, the fact that all patches should be equally used in the reconstructed image with probability one is neglected. As a result, there is little chance for some patches to be used in the reconstructed image. In this paper, we propose a Co-Normalization method to encourage equal treatment toward patches and nodes. Our method naturally yields a new update formula for the exclusivity term introduced by previous work. This term requires each patch to be used only once in the reconstructed image. Experiments show that our method preserves exclusivity term's requirement and adds a new requirement of equal usage of patches. Image reconstruction results show that our method solves the jigsaw puzzle problem much better. © 2011 IEEE.

关键词： Belief propagation

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Fuzzy tracking control design for hypersonic vehicles via T-S model

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Science China(Information Sciences) 2011年第3期54卷 521-528页

作者： GAO DaoXiang 1 & SUN ZengQi 2 1 School of technology, Beijing Forestry University, Beijing 100083, China 2 state key laboratory of intelligent technology and system, department of Computer Science and technology, Tsinghua University, Beijing 100084, China 1. School of Technology Beijing Forestry University Beijing 100083 China2. State Key Laboratory of Intelligent Technology and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

The main focus of this paper is on designing a T-S fuzzy controller for the hypersonic vehicle. The longitudinal dynamics of the vehicle are studied using time-scale decomposition to reduce the complexity of T-S modeling. The dynamic inversion with PI control technique is applied for the slow dynamics to derive the flight path angle command and throttle setting by taking the pilot altitude and velocity command as its inputs. The T-S fuzzy controller is designed for the fast dynamics to derive the elevator deflection to track the flight path angle command. The discrepancy between the T-S model and real vehicle model is considered by using sliding mode control for the system stability. Simulation results are included to show the effectiveness of the controller.

关键词： fuzzy control T-S model sliding mode control hypersonic vehicle

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Graph-based semi-supervised learning

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Frontiers of Electrical and Electronic Engineering in China 2011年第1期6卷 17-26页

作者： Changshui ZHANG Fei WANG State Key Laboratory of Intelligent Technologies and Systems Tsinghua National Laboratory for Information Science and Technology(TNList)Department of AutomationTsinghua UniversityBeijing 100084China

The recent years have witnessed a surge of interests in graph-based semi-supervised learning(GBSSL).In this paper,we will introduce a series of works done by our group on this topic including:1)a method called linear neighborhood propagation(LNP)which can automatically construct the optimal graph;2)a novel multilevel scheme to make our algorithm scalable for large data sets;3)a generalized point charge scheme for GBSSL;4)a multilabel GBSSL method by solving a Sylvester equation;5)an information fusion framework for GBSSL;and 6)an application of GBSSL on fMRI image segmentation.

关键词： graph-based semi-supervised learning(GBSSL) linear neighborhood propagation(LNP) point charge model fMRI image segmentation

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Double visual feedback in the rehabilitation of upper limb

Double visual feedback in the rehabilitation of upper limb

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Lecture Notes in Computer Science

作者： Enchen, Liu Jianfeng, Sui Young, Christopher Linhong, Ji Division of Intelligent and Biomechanical System State Key Laboratory of Tribology Tsinghua University 100084 Beijing China Department of Mechanical Engineering Guangxi University of Technology 545006 Liuzhou China

ISBN: (纸本)9783642216565

Stroke patients may have limb paralysis or disturbance of consciousness. In the rehabilitation system, the main task of human-computer interaction focused on visual interaction. In this study, it has been confirmed that the visual feedback system in the rehabilitation has played an important role. This robotic system combines a dual video to meet training needs. In the experiment, trainees trains in accordance with the planned trajectory. Through the combined visual system, motion analysis feeds back to trainees in real time. iIn comparing to traditional training without feedback, the combination of Visual feedback can enhance the trainee's consciousness of balance, train the neural sensitivity of the brain and nerve system, and can restore the movement ability. © 2011 Springer-Verlag.

关键词： Human computer interaction

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