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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

IFAC Proceedings Volumes 2013年第20期46卷 683-688页

作者： Xiangyu Wang Chunjiang Qian Shihua Li School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering The University of Texas at San Antonio San Antonio TX 78249 USA

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme.

关键词： Output feedback stabilization Nonlinear planar systems Output-dependent growth rates Dual observer Nonlinear gains

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University in the innovation system academia-industry collaborations and intellectual property rights

University in the innovation system academia-industry collab...

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

作者： Helena Jin Gang Xiong Department of Industrial Engineering and Management School of Science Aalto University Espoo Finland The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In a world where possessing raw materials or manufacturing commodities are not sufficient for long-term economic success, innovativeness and a knowledge-based economy form the basis for prosperity. In this report, we discuss the link between a nation's higher education system and its ability to bring about and foster innovativeness and economic growth. In particular, we will concentrate on the roles that universities play in the national innovation system. Some of the questions we address include: How strong a link is there between the education system and nation's innovativeness? How important is industry-academia collaboration? From the perspective of a knowledge-based economy, what would an ideal university be like? To answer these questions, we summarize key findings from the literature. The aim of this report is to present the key factors and decisions that should be considered in future higher education strategies.

关键词： Educational institutions Intellectual property Collaboration Technological innovation Industries Companies Economics

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Cycle-slip Detection of GPS Carrier Phase with Methodology of SA4 Multi-wavelet Transform

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Chinese Journal of Aeronautics 2012年第2期25卷 227-235页

作者： HUO Guoping MIAO Lingjuan School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system （GPS）. In this paper, an algorithm based on length-4 symmetric/anti-symmetric （SA4） orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust （GHM）, Chui-Lian （CL） and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties （GMPs）, it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform.

关键词： satellite navigation cycle-slip detection orthogonal multi-wavelet good multi-filter properties singularity detection

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Investigation of Best Robot Kicking

Investigation of Best Robot Kicking

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第三十二届中国控制会议

作者： Theophile Boue Chenguang Yang Hongbin Ma Phil Culverhouse School of Computing and Mathematics University of PlymouthPlymouth PL4 8AAUnited Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

ISBN: (纸本)9781479900305

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

关键词： Football Robot Robot World Cup Best Kick Motion control Compliance control Inverse Dynamics

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GPU based Non-dominated Sorting Genetic Algorithm-II for Multi-objective Traffic Light Signaling optimization with Agent Based Modeling

GPU based Non-dominated Sorting Genetic Algorithm-II for Mul...

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International IEEE Conference on Intelligent Transportation systems

作者： Z. Shen K. Wang F. Y. Wang State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Center for Military Computational Experiments and Automation the National University of Defense Technology (NUDT)

ISBN: (纸本)9781479929153

Micro-simulation becomes more and more important in the Intelligent Transportation systems (ITS) research, because it can provide detailed descriptions of the system. For a multi-agent systems (MAS) modeling of an ITS, the computation burden is large, as it involves the computation of the state changing of all the agents. And, there are many multi-objective optimization problems in the ITS research. In this paper, we solve the traffic light signaling optimization problem and we take the average delay time and the average stop times as two objectives. We use a famous method of Non-dominated Sorting Genetic Algorithm II (NSGA-II). As NSGA-II can be viewed as an intelligent way of running a number of micro-simulations, usually the computation burden is huge. Graphics Processing Units (GPUs) have been a popular tool for parallel computing. The real transportation system runs in parallel and we think that a parallel tool is more suitable for the simulation and optimization of the system. We test GPU based NSGA-II method on a 4 intersection lattice road network, and on the 18 intersection road network of the Zhongguancun area of Beijing. Compared with the CPU version, the GPU version implementation achieves a speedup factor of 21.46 and 27.64 respectively.

关键词： Traffic lights Intelligent transportation systems Graphics Processing Unit GRAPPER PICK UP speedup factor Agents State Change grade Intelligent Tutoring systems Genetic Algorithm (GA) road network transport system arithmetic Multi-agent systems

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Multi-model switching control for SISO discrete systems

Multi-model switching control for SISO discrete systems

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Chinese control Conference (CCC)

作者： Zhengtao Zhan Lei Yu Jun Huang Shumin Fei Gang Yang School of Mechanical and Electric Engineering Soochow University Suzhou 215021 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China 210096 Digital Manufacture Technology Key Laboratory of JiangSu Province Huaian China 223003

For the existing problem of conventional adaptive control and multi-model adaptive switching control theory and method, a robust adaptive control via multi-model switching method for the SISO(Single Input Single Output) discrete systems. Many multi-model subsets have override the model set of the system parameters, which consist of the fixed models and adaptive models together. The best matching controller has been selected as the system controller from the design of the switching index function, which can greatly improve the system transient performance. Simulation results show that the proposed algorithm has greatly enhanced the robustness of the system and improved the transient characteristics of dynamic systems.

关键词： Switches Adaptation models Adaptive control Robustness Educational institutions

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Application of Vector Ordinal optimization to the Transportation systems with Agent Based Modelling

Application of Vector Ordinal Optimization to the Transporta...

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IEEE International Conference on Automation Science and Engineering

作者： Z. Shen K. Wang F.-Y. Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation and Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences No. 95 Zhongguancun E. Road Beijing 100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation and Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences No. 95 Zhongguancun E. Road Beijing 100190 China Centre for Milit

ISBN: (纸本)9781479915132

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.

关键词： Ordinal optimization Vector Ordinal optimization Agent-based modelling Intelligent Transportation systems

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Sensitive keyword spotting for voice alarm systems

Sensitive keyword spotting for voice alarm systems

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

作者： Chunlei Zhu Qing-Jie Kong Lucidus Zhou Gang Xiong Fenghua Zhu Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Dongguan China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479905287

keyword spotting is the task of identifying the occurrences of certain desired keywords in an arbitrary speech signal. keyword spotting has many applications. One of them is emergency voice alarm systems, like command control and smart monitoring ATM etc. This paper presents a sensitive keyword spotting system applied to voice alarm occasions. By sensitive keyword retrieval, emergency warning systems can automatically monitor and follow up the situation, find the crisis occurs, and then give the alarm. Automatically retrieving and tracking for the particular occasion can not only save a lot of manpower and material resources, but is also more efficient. So the study of this subject has great reality and application value.

关键词： Hidden Markov models Speech Speech recognition Feature extraction Acoustics Alarm systems Viterbi algorithm

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NNDOB-based composite control for binary distillation column under disturbances

NNDOB-based composite control for binary distillation column...

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Chinese control Conference (CCC)

作者： Juan Li Xisong Chen Shihua Li Jun Yang Jiancheng Zhou School of Automation Southeast University Nanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Chemistry and Chemical Engineering Southeast University Jiangning District Nanjing 211189 China

This paper presents a composite disturbance rejection control strategy for high purity binary distillation column with complex characteristics, such as couplings, non-minimum phase, model mismatches and external disturbances. Main goal of the controller is to get the desired top and bottom compositions in presence of both model mismatches and external disturbances. The composite controller includes neural network inverse controller (NNIC) and neural network disturbance observer (NNDOB) both using radial basis function network (RBFN). The inverse model of the system is identified by RBFN, whose stability is proved via the Lyapunov function analysis. And a rigorous analysis is also given to show why the NNDOB can effectively suppress the disturbances. Performance of the proposed scheme is compared with PID and NNIC schemes in two cases. The feasibility, effectiveness and disturbance rejection property of the proposed method are demonstrated by the simulation studies.

关键词： Artificial neural networks Distillation equipment Observers MIMO Feeds Educational institutions

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Containment control with multiple interacting leaders under switching topologies

Containment control with multiple interacting leaders under ...

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Chinese control Conference (CCC)

作者： Huiyang Liu Long Cheng Min Tan Zengguang Hou Zhiqiang Cao Ming Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing Beijing CN School of Information and Electrical Engineering Shandong Jianzhu University Jinan P.R. China

In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders' final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers' positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.

关键词： Topology Switches Network topology Vectors Multi-agent systems Protocols

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