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检索条件"机构=The Key Laboratory of Control and Optimization of Complex Systems"

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controller synthesis for switched positive linear systems

Controller synthesis for switched positive linear systems

引用

International Conference on Information Science, Electronics and Electrical Engineering (ISEEE)

作者： Jinjin Liu Kanjian Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing P.R. China

This paper addresses the controller synthesis for a class of continuous-time switched positive linear systems. A sufficient condition for the existence of a set of state-feedback controllers which guarantee the positivity and stability of the closed-loop systems for switched positive linear systems are presented, including the requirement of positive or negative controllers. In addition, the controller synthesis problems with interval and polytopic uncertainties are also addressed. All the obtained conditions are solved in terms of Linear Programming. Finally, numerical examples are provided to illustrate the effectiveness of the result.

关键词： Switches Uncertainty Linear systems Closed loop systems Stability analysis Robustness

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Nonlinear coordinated control of generator excitation and SVC in multi-machine power systems using energy-shaping method

Nonlinear coordinated control of generator excitation and SV...

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International Conference on Information Science, Electronics and Electrical Engineering (ISEEE)

作者： Bangjun Lei Shumin Fei Xiang Wu Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing P.R. China

Using interconnection and damping assignment-passivity based control (IDA-PBC) method, this paper investigates the coordinated control of excitation and static var compensator (SVC) in multi-machine power systems. By using Hamiltonian function method, energy-shaping approach and IDA-PBC method, a nonlinear coordinated controller of excitation and SVC is constructed. The proposed coordinated controller can adequately use the physical characteristic of the power system to change transformation of energy between the electrical and the mechanical dynamics. Simulation results verify that the proposed coordinated controller can effectively improve the transient stability and voltage regulation performance of power system.

关键词： Static VAr compensators Generators Power system stability Power system dynamics Damping Transient analysis

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Sliding Mode control Using linear extended state observer(LESO) and hysteresis compensator based on Bouc-Wen model in sinusoidal position control of a piezoelectric actuator

Sliding Mode Control Using linear extended state observer(LE...

引用

Chinese control Conference (CCC)

作者： Zhi Qiao Minggang Gan Chenyi Wang School of Automation Beijing Institute of Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing

In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.

关键词： Hysteresis Mathematical model Data models Robustness Computational modeling Sliding mode control

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Design of guidance law based on nonsingular terminal sliding mode control and finite-time disturbance observer*

Design of guidance law based on nonsingular terminal sliding...

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International Workshop on Variable Structure systems, VSS

作者： Shi Jin Zhenxing Zhang Shihua Li Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing P.R. China

The terminal guidance problem for missile intercepting maneuvering targets is investigated in this paper. To guarantee the disturbance rejection performance and alleviate the chattering problem, nonsingular terminal sliding mode control(NTSMC) and finite-time disturbance observer(FTDO) are introduced to design the composite guidance law considering the first-order autopilot dynamics. In this paper, the target acceleration and some state variables are regarded as unknown bounded disturbances. Finite-time disturbance observer(FTDO) is employed to estimate the disturbances and estimations of disturbances are employed as feedforward compensation to weaken the influence of disturbances. The proposed guidance law can guarantee that the line of sight(LOS) angular rate converges to zero in finite time. Simulation comparisons show the effectiveness of the proposed method.

关键词： Missiles Acceleration Observers Sliding mode control Navigation Convergence

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Emergency Response Study of Space Launch Based on Decision Network Planning

Emergency Response Study of Space Launch Based on Decision N...

引用

2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Wei Wei Xiwei Liu Changjian Cheng The Academy of Equipment The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

Space launch is a complex project with high risk,and failure of space launch may cause a great loss to people’s life,property and important *** a resonable and effective emergency response program is critical and important for space ***,a Decision Network Planning(DNP)method is proposed to describe logic relations of emergency response procedures,based on which the logical reasonability and rigor,coordination of several involved departments,timeliness of emergency measures and sufficiency of resources guarantee are ***,the critical path and resource guaranteed rate are calculated to analyze the degree of control in the emergency process of space launch ***,a case of filling leakage is used to show the helpfulness of the proposed method.

关键词： Space launch network planning technology emergency response analysis

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Near-optimal online control of uncertain nonlinear continuous-time systems based on concurrent learning

Near-optimal online control of uncertain nonlinear continuou...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Xiong Yang Derong Liu Qinglai Wei State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

This paper presents a novel observer-critic architecture for solving the near-optimal control problem of uncertain nonlinear continuous-time systems. Two neural networks (NNs) are employed in the architecture: an observer NN is constructed to get the knowledge of uncertain system dynamics and a critic NN is utilized to derive the optimal control. The observer NN and the critic NN are tuned simultaneously. By using the recorded and instantaneous data together, the optimal control can be derived without the persistence of excitation condition. Meanwhile, the closed-loop system is guaranteed to be stable in the sense of uniform ultimate boundedness. No initial stabilizing control is required in the developed algorithm. An illustrated example is provided to demonstrate the effectiveness of the present approach.

关键词： Artificial neural networks Observers Optimal control Equations Symmetric matrices Tuning

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Design, control and planning for a crustal movement simulation system

Design, control and planning for a crustal movement simulati...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Qingzeng Ma Guodong Yang En Li Zize Liang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479973989

Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported by four serial chains with three degree of freedoms (DOFs). The kinematics analysis of the parallel mechanism with four serial chains is provided. To solve the coplanar problem of four screws, a control method based on linear interpolation with parabola transition is introduced. Surface fitting algorithm based on geometric relations is used to simulate the land surface. Experiment results demonstrate the effectiveness of the system and the methods proposed.

关键词： Fasteners Kinematics Biological system modeling Planning Lakes Computational modeling Numerical models

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Teleoperation of a Virtual iCub Robot under Framework of Parallel System via Hand Gesture Recognition

Teleoperation of a Virtual iCub Robot under Framework of Par...

引用

IEEE International Conference on Fuzzy systems

作者： Chen Li Hongbin Ma Chenguang Yang Menyin Fu School of Automation as well as State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479920747

This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.

关键词： Solid modeling Mathematical model MATLAB Robot kinematics Gesture recognition Fuzzy logic

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An Improved eLBPH Method for Facial Identity Recognition: Expression-Specific Weighted Local Binary Pattern Histogram

An Improved eLBPH Method for Facial Identity Recognition: Ex...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Xuanyang Xi Zhengke Qin Shuguang Ding Hong Qiao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences Beijing 100190 Institute of Applied Mathematics AMSS Chinese Academy of Sciences Beijing 100190

ISBN: (纸本)9781467396769

Face perception is one of the most important tasks in robot vision especially for service robots. The spatially enhanced local binary pattern histogram (eLBPH) method has been proved to be effective for facial image representation and analysis, but the expression factor isn't considered and the region-dividing method is rough. In this paper, inspired by the biological mechanism of human memory and face perception, we improve the eLBPH and propose a new method, expressionspecific weighted local binary pattern histogram (EWLBPH). Accordingly, the new method introduces a semantic division process and an extended modulation process into the classical eLBPH. What's more, for the facial expression recognition, we propose a novel method which utilizes the convolutional deep belief network (CDBN) to extract discriminative information and represent them effectively. Finally, through experiments we verify the rationality and effectiveness of the improvement and two psychophysical findings.

关键词： eLBPH CDBN facial

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Fast trajectory planning of reactive operation considering manipulability for a humanoid

Fast trajectory planning of reactive operation considering m...

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World Congress on Intelligent control and Automation (WCICA)

作者： Yan Liu Jing Li Zhangguo Yu Wen Zhang Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Fei Meng Weimin Zhang Junyao Gao Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper, efforts are made to generate trajectory for these operations. Firstly, an extended manipulability index is proposed to optimize the key poses so that the humanoid robot has the manipulability considering joint limits at the key poses, which makes it convenient to adjust the trajectory. Secondly, a fast approach to generating the whole trajectory consisting of all the key poses and the strategies to realize the trajectory adjustment when specifications change are proposed. Finally, the ZMP (Zero Moment Point) displacement excited by the reactive operations is also given to decide whether the generated trajectory is feasible. The effectiveness of the method is demonstrated through simulations.

关键词： Trajectory Joints Humanoid robots Indexes Jacobian matrices optimization

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