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第三十三届中国控制会议

作者： Li Xiaodi Li Shihua School of Automation Southeast University Key laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

In this paper, the speed regulation problem for permanent magnet synchronous motor(PMSM) systems under vector control framework is studied. A modified composite control strategy combining model reference adaptive control(MRAC)method and extended state observer(ESO) technology, called MRAC+ESO method, is proposed. controller is designed for the speed loop of the permanent magnet synchronous motor(PMSM) to improve the performance of the system. The stability analysis, simulation and experimental results are presented to show the effectiveness of the proposed control method.

关键词： Model reference adaptive control(MRAC),Permanent magnet synchronous motor(PMSM),Speed regulation system,Extended state observer(ESO),Composite controller

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

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A route travel time distribution prediction method based on Markov chain

A route travel time distribution prediction method based on ...

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IEEE International Smart Cities Conference (ISC2)

作者： Daxin Tian Yong Yuan Haiying Xia Fengtian Cai Yunpeng Wang Jiajie Wang Key Lab of Urban ITS Technology Optimization and Integration The Ministry of Public Security of China Hefei China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beihang University Beijing China Research Institute of Highway Ministry Transport Beijing China

Predicting the travel time in real time is challenging due to dynamic changes of the traffic. With the help of GPS, wireless mobile communication, and big data technologies, several link travel time distribution capturing algorithms have emerged to generate the prediction of the route travel time distribution in short term. In this paper, we propose a data fusion model which can combine the historical and real time distribution to predict the link level travel time distribution. In the model, the route is represented with Markov chain, where the Markov state is identified by the travel time of probe vehicles. Experimental results prove that the proposed method has high accuracy in predicting route travel time distribution, and it is robust in spite of the fluctuation of real-time data.

关键词： Decision support systems

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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An observation-weighting method for mining actionable behavioral rules

An observation-weighting method for mining actionable behavi...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Peng Su Lei Wang Daniel Zeng Yuan Liu School of Mathematics and Computer Science Dali University Dali China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Dali University Dali Yunnan CN

One of the critical challenges faced by the mainstream data mining community is to make the mined patterns or knowledge actionable. Knowledge is considered actionable if users can take direct actions based on such knowledge to their advantage. Among the most important and distinctive actionable knowledge are actionable behavioral rules that can directly and explicitly suggest specific actions to take to influence (restrain or encourage) the behavior in the users' best interest. The problem of mining such rules is a search problem in a framework of support and expected utility. The previous definition of a rule's support assumes that each instance which supports a rule has the uniform contribution to the support. However, this assumption is usually violated in practice to some extent, and thus will hinder the performance of algorithms for mining such rules. In this paper, to handle this problem, an observation-weighting model for support and corresponding mining algorithm are proposed. The experimental results strongly suggest the validity and the superiority of our approach.

关键词： Electronic mail Training

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A decomposition approach to colored traveling salesman problems

A decomposition approach to colored traveling salesman probl...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Jun Li Xing Dai Huaxuan Liu MengChu Zhou Ministry of Education Key Laboratory of Measurement and Control of CSE (Complex Systems of Engineering) Southeast University Nanjing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

As a well-known combinatorial optimization problem, multiple traveling salesman problem (MTSP) fails to characterize some application problems where cities may have different accessibility for some but not necessarily all salesmen. This work proposes a colored traveling salesman problem (CTSP) in which a city has one to multiple colors allowing any salesman with the same color to visit. It presents a decomposition approach that converts CTSP into a combination of several individual traveling salesman problems (TSPs) and one MTSP for an important class of CTSP. To solve the transformed one, this work proposes a modified greedy algorithm allowing multi-colored city assignment during city search and adopts the formerly presented simulated annealing genetic algorithm. A dual-bridge waterjet cutting example is utilized to compare the presented decomposition approach and direct one. The results show that the former can achieve a better solution than the latter if the cities of same color(s) are clumped.

关键词： Cities and towns Color Traveling salesman problems Simulated annealing Genetic algorithms Greedy algorithms

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Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish

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Journal of Bionic Engineering 2014年第2期11卷 199-212页

作者： Zhengxing Wu Junzhi Yu Min Tan Jianwei Zhang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China Department of Informatics University of Hamburg Hamburg Germany

We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangifbrm swimming as the primary propulsor. An improved Central Pattern Generator （CPG） model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.

关键词： robotic fish backward swimming Central Pattern Generator （CPG） swimming locomotion control

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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An improved clustering algorithm for wireless sensor networks

An improved clustering algorithm for wireless sensor network...

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2014 International Conference on Materials Science and Computational Engineering, ICMSCE 2014

作者： Zhou, Xi Yi Liu, Li Qiang Zhang, Ge School of Information and Communication Engineering Hunan Institute of Science and Technology Yueyang 414006 China Key Laboratory of Optimization and Control for Complex Systems College of Hunan Province Yueyang 414006 China

ISBN: (纸本)9783038350996

An on-demand weighed clustering algorithm is proposed against the limitation of wireless sensor network nodes with limited energy. This algorithm obtains more local network information by means of information interaction between nodes, and by comprehensively considering such factors as the current energy value, degree and transmission power, etc. of nodes, it makes different clustering decisions as per different application backgrounds of networks. Simulation results show that this algorithm has a more rational clustering by reducing energy consumption and lengthening network lifetime, compared to Low Energy Adaptive Clustering Hierarchy, a representative clustering algorithm. © (2014) Trans Tech Publications, Switzerland.

关键词： Clustering algorithms

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GROUP CONSENSUS FOR MULTIPLE NETWORKED EULER-LAGRANGE systems WITH PARAMETRIC UNCERTAINTIES

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Journal of systems Science & complexity 2014年第4期27卷 632-649页

作者： HU Hongxiang ZHANG Zhe YU Li YU Wenwu XIE Guangming Department of Mathematics Hangzhou Dianzi University Zhejiang Provincial United Key Laboratory of Embedded Systems Department of AutomationZhejiang University of Technology Department of Mathematics Southeast University School of Electrical and Computer Engineering RMIT University Faculty of Engineering King Abdulaziz University Center for Systems and Control State Key Laboratory of Turbulence and Complex SystemsCollege of EngineeringPeking University

In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain *** the group consensus problem,the agents asymptotically reach several different states rather than one consistent state.A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus *** is shown that the group consensus is reachable even when the system contains the uncertain ***,the multi-group consensus is discussed as an extension of the couple-group consensus,and then the group consensus with switching topology is *** results are finally provided to validate the effectiveness of the theoretical analysis.

关键词： Euler-Lagrange system group consensus multi-agent systems switching topologies.

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