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Attitude Tracking of Rigid Spacecraft With Bounded Disturbances

IEEE Transactions on Industrial Electronics 2011年第2期58卷 647-659页

作者： Yuanqing Xia Zheng Zhu Mengyin Fu Shuo Wang Department of Automatic Control Beijing Institute of Technology Beijing China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

The problem of attitude control for a spacecraft model that is nonlinear in dynamics with inertia uncertainty and external disturbance has been investigated. Adaptive law and extended state observer are applied to estimate the disturbance, by which sliding-mode controllers are designed to combine the two approaches in order to force the state variables of the closed-loop system to converge to the reference attitude states. Also, simulation results are presented to illustrate the effectiveness of the control strategies.

关键词： Space vehicles Sliding mode control Nonlinear dynamical systems Uncertainty Programmable control Adaptive control Observers State estimation Force control control systems

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Development of Learning control in Robots

Development of Learning Control in Robots

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Hu Su De Xu Yanlong Huang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Learning control has been an active topic of research for several decades, and is of theoretical, as well as practical, significance. Current theories and developments in learning control are discussed. Following a brief introduction of the state as well as new progress on learning control, we give a detail review on the models and algorithms of the control policies developed recently which proved to be advantageous over previous approaches through experimental results. The related results and properties are presented. Then, several potentially developmental topics that are valuable to be further investigated are suggested. Finally, the conclusion remark is proposed.

关键词： Learning control dynamic motor primitive learn by imitation locally weighted regress locally weighted projection regress.

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Trajectory prediction of spinning ball for ping-pong player robot

Trajectory prediction of spinning ball for ping-pong player ...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yanlong Huang De Xu Min Tan Hu Su State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China

An analytic flying model that can well represent the physical behavior is derived, where the ball's self-rotational velocity changes along with the flying velocity. Based on the least square method, a rebound model that represents the relation between the velocities before and after rebound is established. The initial trajectory is fitted to three second order polynomials of the flying time with the measured positions of the ball. The initial velocities of the ball in the analytic flying model, including the flying velocity and the self-rotational velocity, are computed from the polynomials. The ball's landing position and velocity is predicted with the model. The velocities after rebound are determined with the rebound model. By taking the velocities after rebound as new initial ones, the flying trajectory after rebound is described with the model again. In other words, the ball's trajectory is predicted. Experimental results verify the effectiveness of the proposed method.

关键词： Trajectory Position measurement Robot kinematics Velocity measurement Spinning Predictive models

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Mobile sensor network node deployment via Central Voronoi Tessellation

Mobile sensor network node deployment via Central Voronoi Te...

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International Conference on Intelligent control and Information Processing (ICICIP)

作者： R. Xiong Y. Q. Bai W. Sun X. Liu School of Automation and Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China

The present work focuses on the node deployment algorithm of Wireless Sensor Networks. The Central Voronoi Tessellation algorithm is employed to optimize the node position. The energy consumption of the whole sensor network will be minimized by using this algorithm. Simulation of the proposed algorithm shows the effectiveness of minimizing the energy consumption.

关键词： Robot sensing systems Wireless sensor networks Mobile communication Mobile robots Mobile computing Classification algorithms

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How to guide a sustainable industrial economy: Emergy account for resources input of Chinese industry

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Procedia Environmental Sciences 2011年 5卷 51-59页

作者： B. Zhang G.Q. Chen Q. Yang Z.M. Chen B. Chen Z. Li State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of Environment Beijing Normal University Beijing 100875 China

Emergy analysis provides a feasible approach to evaluate the status and position of different energy carriers in the universal energy hierarchy. In this paper, an emergy-based method is conducted to measure the resources input of Chinese industry from 1997 to 2006. Resources inflows including fossil fuels, mineral resources, agricultural products, and other imported materials are accounted, based on which related indicators including resources intensity, industrial output, and environmental emissions are investigated. Results show a steady upward trend for the total resources input of Chinese industry during the past decade. The total resources input amounted to 1.53×1025 sej in 2006, of which non-renewable one accounted for 70.65% owing to the dominating input of fossil fuels and nonmetal minerals. Resources intensity measured by the ratio of resources input to industrial value added declined gradually during 1997–2002, but the rapid expansion of resource–intensive sub–sectors resulted in a reverse trend since 2003. The current resources use pattern of Chinese industry is characterized by increasing input of non-renewable resources, excessive expansion of resource–intensive production, and tremendous challenge from environmental pressure.

关键词： Emergy Resources input Chinese industry

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Evolutionary dynamics on stochastic evolving networks for multiple-strategy games

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Physical Review E 2011年第4期84卷 046111-046111页

作者： Bin Wu Da Zhou Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China School of Mathematical Sciences Peking University Beijing 100871 China MOE Key Laboratory of Bioinformatics and Bioinformatics Division TNLIST Department of Automation Tsinghua University Beijing 100084 China

Evolutionary game theory on dynamical networks has received much attention. Most of the work has been focused on 2×2 games such as prisoner's dilemma and snowdrift, with general n×n games seldom addressed. In particular, analytical methods are still lacking. Here we generalize the stochastic linking dynamics proposed by Wu, Zhou, Fu, Luo, Wang, and Traulsen [PLoS ONE 5, e11187 (2010)] to n×n games. We analytically obtain that the fast linking dynamics results in the replicator dynamics with a rescaled payoff matrix. In the rescaled matrix, intuitively, each entry is the product of the original entry and the average duration time of the corresponding link. This result is shown to be robust to a wide class of imitation processes. As applications, we show both analytically and numerically that the biodiversity, modeled as the stability of a zero-sum rock-paper-scissors game, cannot be altered by the fast linking dynamics. In addition, we show that the fast linking dynamics can stabilize tit-for-tat as an evolutionary stable strategy in the repeated prisoner's dilemma game provided the interaction between the identical strategies happens sufficiently often. Our method paves the way for an analytical study of the multiple-strategy coevolutionary dynamics.

关键词： GAME theory STOCHASTIC analysis MATRICES BIODIVERSITY DYNAMICS

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Using spatial prediction model to analyze driving forces of the Beijing 2008 HFMD epidemic

Using spatial prediction model to analyze driving forces of ...

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Lecture Notes in Computer Science

作者： Wang, JiaoJiao Cao, ZhiDong Wang, QuanYi Wang, XiaoLi Song, HongBin No. 11 XueYuan Road HaiDian District 100083 Beijing China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation No.95 ZhongGuanCun East Road HaiDian District 100190 Beijing China Beijing Center for Disease Control and Prevention 100013 Beijing China PLA Institute of Disease Control and Prevention 100071 Beijing China

ISBN: (纸本)9783642220388

Based on the spatial units of community, village and town in Beijing, the relationship betweent HFMD morbidity and the potential risk factors has been examined. According to the 6 selected risk factors (namely population density, disposable income of urban residents, the number of medical and health institutions, the number of hospital beds, average annual temperature and average annual relative humidity) significantly related to HFMD morbidity, the prediction performance of Classical Linear Regression Model(CLRM) and Spatial Lag Model(SLM) has been compared. The results showed that SLM achieved better effect and R square reached 0.82. It was showed that spatial effect played the crucial role in the HFMD morbidity prediction and its contribution attained 88%. However, CLRM showed low prediction accuracy and bias estimation. It was demonstrated that including spatial effect item into CLRM could greatly improve the performance of HFMD morbidity prediciton model. © 2011 Springer-Verlag.

关键词： Diseases

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Distributed coordination for connectivity-preserving flocking without velocity measurement

Distributed coordination for connectivity-preserving flockin...

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Asian control Conference

作者： Lin Wang Xiaofan Wang Xiaoming Hu Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiaotong University Shanghai China Optimization and Systems Theory Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781612844879

In this paper, we address the design of decentralized controller for connectivity-preserving flocking without velocity measurement. An output vector based on neighbors' position information alone is constructed to replace the role of velocity, then some bounded attractive and repulsive forces are integrated together to design the controller. Under some initial conditions, we prove that the controller not only can synchronize all agents, but also can avoid collision as well as preserving connectivity among agents for all the time. Moreover, a leader-follower method is used to guide the group to a desired direction, where the neighboring relationship is totally determined by the distance.

关键词： Algorithm design and analysis Velocity measurement Synchronization Symmetric matrices Lead Collision avoidance Position measurement

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Translational Offset Detection Based on Far-Field Intensity for Grating Tiling

Translational Offset Detection Based on Far-Field Intensity ...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Zaojun Fang Yanlong Huang Min Tan De Xu Lan Xia State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio Laboratory of Shanghai Institute of Laser and Plasma Chinese Academy of Engineering Physics Shanghai

The far-field intensity is detected from far-field image to estimate the piston distance between two gratings. The image processing algorithm includes projections along the horizontal and vertical directions, search for each focal spot's centre, feature extraction and intensity computation. Each focal spot's centre can be found with the projections. A self-growing method is used for feature extraction, where the threshold value depends on the gray value of each focal spot's centre. For each focal spot, the sum of gray values within the relevant domain is taken to be its energy intensity. Furthermore, the energy ratio of left and main focal spots (or main and right focal spots) is computed. A formula that expresses the piston distance between two gratings as the function of the energy ratio is fitted with several measured points. Based on this formula, the piston distance is obtained for a new energy-ratio. Finally, the proposed method is verified with a series of experiments.

关键词： Image processing grating tiling far-field intensity focal spot piston distance

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Improved Particle Filter for Object Tracking

Improved Particle Filter for Object Tracking

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2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Tao Zhang Shu-min Fei College of Automation Electronic Engineering Qingdao University of Sciences and TechnologyQingdao Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationIn

Robust real-time tracking of non-rigid objects is a challenging task. Color is a powerful feature for tracking deformable objects in image sequences with complex backgrounds. Color distribution is applied, as it is robust to partial occlusion, is rotation and scale invariant and computationally efficient. Particle filter has been proven very successful for non-linear and non-Gaussian estimation tracking problems. The article presents the integration of color distributions into particle filtering. A target is tracked with a particle filter by comparing its histogram with the histograms of the sample positions using the Bhattacharyya distance. Additionally, to solve the sample impoverishment (all particles collapse to a single point within a few iterations) in the particle-filter algorithm, a new resampling algorithm is proposed to tackle sample impoverishment. The performance of the proposed filter is evaluated qualitatively on various real-world video sequences. The experimental results show that the improved color-based particle filter algorithm can reduce sample impoverishment effectively and track the moving object very well.

关键词： Particle filter Object Tracking Robust Tracking

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