检索结果-内蒙古大学图书馆

International Conference on Information Science and Technology (ICIST)

作者： Derong Liu Qinglai Wei State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467327626

This paper is concerned with a generalized iterative adaptive dynamic programming (ADP) algorithm for discrete-time nonlinear systems. The idea is to use iterative ADP algorithm to obtain iterative control laws which make the iterative performance index function reach the optimum. It is proved that for an arbitrary positive semi-definite function, the iterative performance index functions will converge to the optimum. For different initial functions, it shows that the convergence procedures of the iterative performance index functions are different. Stability properties of the system are analyzed in this paper to show that the iterative control can stabilize the system for suitable initial performance index functions. Admissible control properties of the iterative control laws obtained by the present generalized iterative ADP algorithm are also given in this paper.

关键词： ADP Convergence Stability Analysis Stability analysis Automatic data processing Adenosine Diphosphate Converge performance indicators Iterative control law Optimum Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Stability analysis of networked control systems with aperiodic sampling

Stability analysis of networked control systems with aperiod...

引用

第三十二届中国控制会议

作者： Jian Sun Jie Chen Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

This paper is concerned with stability analysis of networked control systems with aperiodic sampling and time-varying delay. The sampling times are assumed to vary within a known interval. The network-induced delay is assumed to belong to a given interval. The closed-loop system is modeled as a system with two time-delays and normbounded uncertainties coming from variations of sampling intervals. Using common Lyapunov function approach, a sufficient stability condition for the closed-loop system is derived and presented in terms of linear matrix inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Networked control system, Sampled-data system, Aperiodic sampling, Stability

来源：评论

学校读者我要写书评

暂无评论

sEMG based joint angle estimation of lower limbs using LS-SVM

sEMG based joint angle estimation of lower limbs using LS-SV...

引用

20th International Conference on Neural Information Processing, ICONIP 2013

作者： Li, Qingling Song, Yu Hou, Zengguang Zhu, Bin Department of Mechanical Engineering China University of Mining and Technology Beijing China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9783642420535

In this paper, a new estimation model based on least squares support vector machine (LS-SVM) is proposed to build up the relationship between Surface electromyogram (sEMG) signal and joint angle of the lower limb. The input of the model is 2 channels of preprocessed sEMG signal. The outputs of the model are joint angles of the hip and the knee. sEMG signal is acquired from 7 motion muscles in treadmill exercise. And two channels of them are selected for dynamic angle estimation for their strong correlation with angle data. Angle estimation model is constructed by 2 independent LS-SVM based regression model with radial basis function (RBF). It is trained using part of the sample sets acquired in 10s exercise duration and test by all data. Experimental result shows proposed method has good performance on joint angles estimation based sEMG. Root mean square error (RMSE) of prediction knee and hip joint angles is 3.02° and 2.09° respectively. It provide new human-machine interface for active rehabilitation training of SCI, stroke or neurological injury patients. © Springer-Verlag 2013.

关键词： Patient rehabilitation

来源：评论

学校读者我要写书评

暂无评论

An approach to remote update driver system of a robotic fish with two long fins

An approach to remote update driver system of a robotic fish...

引用

Chinese control Conference (CCC)

作者： Qingping Wei Shuo Wang Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The robotic fish with two long fins is one kind of underwater robot system imitating stingray's motion. The robotic fish generates thrust by use of two long fins located on both sides of body symmetrically. A driver control system for the motion control of fin rays is designed based on FPGA(Field Programmable Gate Array). Several kinds of motion modes can be achieved through tuning motion parameters. In order to facilitate updating control algorithm, reducing the probability of damaging the robot system and improving debugging efficiency, a solution for remote updating the driver program of the robotic fish wirelessly is proposed in this paper based on the dedicated remote system update circuitry integrated in ALTERA FPGA. In addition, a remote update system is designed in this paper. The designed control program updating system facilitates the debugging and optimization of multi-fin coordination control algorithm for the robotic fish with two long fins greatly.

关键词： Field programmable gate arrays Robot kinematics Light emitting diodes Marine animals control systems Ash

来源：评论

学校读者我要写书评

暂无评论

Haptic Interaction Between Human and Virtual iCub Robot Using Novint Falcon with CHAI3D and MATLAB

Haptic Interaction Between Human and Virtual iCub Robot Usin...

引用

第三十二届中国控制会议

作者： Pierre Renon Chenguang Yang Hongbin Ma Rongxin Cui School of Computing and Mathematics University of Plymouth Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

The paper describes our preliminary investigation of haptic interaction between the human and virtual iCub robot. With haptic interaction,the user is able to have tactile sensensaiton of the robot environment,and hence to manipulate a robot remotely,for instance,from the user's office to perform some tasks at home,or a patient operation,realized by a surgeon several miles *** this work,haptic interaction has been implemented using a 3D joystick,Novint Falcon,to connect with a virtual robot created by the Cub Simulator,which works with YARP interface and simulates the real iCub robot developed by Italian *** this end,two approaches based on CHAI3D and MATLAB are introduced and implemented in this paper and furthermore,some ideas to improve the human-robot interaction performance have also been discussed.

关键词： haptic interaction virtual robot iCub Simulator CHAI3D YARP Novint Falcon

来源：评论

学校读者我要写书评

暂无评论

controlling mobile Spykee robot using Emotiv Neuro Headset

Controlling mobile Spykee robot using Emotiv Neuro Headset

引用

第三十二届中国控制会议

作者： Simon Grude Matthew Freeland Chenguang Yang Hongbin Ma School of Computing and Mathematics University of Plymouth Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479900305

This paper investigates controlling the commercialized Spykee mobile robot,using only brain electroencephalography (EEG) signals transmitted by the Emotiv Epoc Neuro *** Spykee robot is equipped with a wireless communication protocol to control *** visualization and motor control methods have been carried out and analyzed in order to control the robot with *** the fourteen channels on the Emotiv headset have been utilized and the pattern recognition has been done by the echo state network(ESN).Four different actions(moving forward/backward and turning left/right) have been achieved to control the robot reaching an arbitrary target on the floor.

关键词： electroencephalography(EEG) Emotiv Epoc Neuro Headset Spykee Echo State Network(ESN)

来源：评论

学校读者我要写书评

暂无评论

A learning optimal control scheme for robust stabilization of a class of uncertain nonlinear systems

A learning optimal control scheme for robust stabilization o...

引用

Chinese control Conference (CCC)

作者： Ding Wang Derong Liu Hongliang Li Xiong Yang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing Beijing CN

In this paper, a novel learning optimal control scheme is established to design the robust controller of a class of uncertain nonlinear systems. The robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainty, regulation, and control. Then, the online policy iteration algorithm is presented to solve the Hamilton-Jacobi-Bellman (HJB) equation by introducing a critic neural network. The approximate expression of the optimal control policy can be derived directly. Moreover, the closed-loop system is proved to be uniformly ultimately bounded. The equivalence of the neural-network-based HJB solution of the optimal control problem and the solution of the robust control problem is developed as well. Finally, an example is provided to verify the effectiveness of the constructed approach.

关键词： Optimal control Cost function Robust control Equations Approximation methods Nonlinear systems Uncertainty

来源：评论

学校读者我要写书评

暂无评论

Consensus tracking of general linear multi-agent systems: Fast sliding-mode algorithms

Consensus tracking of general linear multi-agent systems: Fa...

引用

Chinese control Conference (CCC)

作者： Huiyang Liu Long Cheng Min Tan Zengguang Hou Yunpeng Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing Beijing CN

This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input is nonzero and not available to any followers. A set of sliding mode surfaces are defined and then fast sliding mode controllers are designed for both reduced order and non-reduced order cases. It is shown that all the trajectories exponentially converge to the sliding mode surfaces in a finite time if the leader has a directed path to at least one of the followers in a strongly connected and detailed balanced directed interaction graph and the leader's control input is bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove the reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.

关键词： Multi-agent systems Sliding mode control Trajectory Lead Manifolds Lyapunov methods Convergence

来源：评论

学校读者我要写书评

暂无评论

A Framework of Finite-model Kalman Filter with Case Study: MVDP-FMKF Algorithm

引用

Acta Automatica Sinica 2013年第8期39卷 1246-1256页

作者： Bo FENG Hong-Bin MA Meng-Yin FU Shun-Ting WANG School of Automation Beijing Institution of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

Kalman filtering techniques have been widely used in many applications, however, standard Kalman filters for linear Gaussian systems usually cannot work well or even diverge in the presence of large model uncertainty. In practical applications, it is expensive to have large number of high-cost experiments or even impossible to obtain an exact system model. Motivated by our previous pioneering work on finite-model adaptive control, a framework of finite-model Kalman filtering is introduced in this paper. This framework presumes that large model uncertainty may be restricted by a finite set of known models which can be very different from each other. Moreover, the number of known models in the set can be flexibly chosen so that the uncertain model may always be approximated by one of the known models, in other words, the large model uncertainty is “covered” by the “convex hull” of the known models. Within the presented framework according to the idea of adaptive switching via the minimizing vector distance principle, a simple finite-model Kalman filter, MVDP-FMKF, is mathematically formulated and illustrated by extensive simulations. An experiment of MEMS gyroscope drift has verified the effectiveness of the proposed algorithm, indicating that the mechanism of finite-model Kalman filter is useful and efficient in practical applications of Kalman filters, especially in inertial navigation systems.

关键词： Finite-model Kalman filter minimizing vector distance principle adaptive switching MEMS gyroscope de-noising

来源：评论

学校读者我要写书评

暂无评论

Application of vector ordinal optimization to the transportation systems with agent based modelling

Application of vector ordinal optimization to the transporta...

引用

2013 IEEE International Conference on Automation Science and Engineering, CASE 2013

作者： Shen, Z. Wang, K. Wang, F.-Y. State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 Zhongguancun E. Road Beijing 100190 China Centre for Military Computational Experiments and Parallel Systems Technology College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 Hunan Province China

ISBN: (纸本)9781479915156

As the computing technology develops, micro-simulation becomes more and more important in the Intelligent Transportation systems (ITS) research, because it can provide detailed descriptions of the system. However, for a multi-agent systems (MAS) modelling of an ITS, the computation burden is large, as it involves the computation of the state changing of all the agents. Further, if we consider simulation based optimization, which can be simply understood as an intelligent way of running a number of micro-simulations, the computation burden is huge. Moreover, there are multiple objective optimization problems in the ITS. The Vector Ordinal optimization (VOO) method is a powerful tool for multi-objective optimization. In this paper, we apply VOO to the problem of optimizing the stop times and delay time of an ITS. We test the method on a 4 intersection lattice road network, and on the 18 intersection road network of the Zhongguancun area of Beijing. Compared with the Non-dominated Sorting Genetic Algorithm-II (NSGA-II) method, the VOO method can achieve a speedup of factor of more than 150, with only a little sacrifice of performance. © 2013 IEEE.

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：