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arXiv 2025年

作者： Zhou, Bin Zhang, Kai Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China

This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback controllers by using the solution to a parametric Lyapunov equation (PLE). By leveraging the properties of the solution to the PLE and constructing a time-varying Lyapunov-Krasovskii-like functional, we prove that (the zero solution of) the closed-loop system is asymptotically stable. Furthermore, this result is extended to the observer-based output feedback case. The notable characteristic of these controllers is their utilization of linear time-varying gains. Furthermore, they are designed entirely independent of any knowledge of the time delays, resulting in controllers that are exceedingly easy to implement. Finally, a numerical example demonstrates the effectiveness of the proposed approaches. © 2025, CC BY.

关键词： State feedback

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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TIEA: A tradeoff-based interactive multiobjective evolutionary algorithm 7

TIEA: A tradeoff-based interactive multiobjective evolutiona...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Chen, Lu Xin, Bin Chen, Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9784990534349

This paper proposes a tradeoff based interactive multiobjective evolutionary algorithm (TIEA). It can support the decision maker (DM) to guide the search towards the DM's most preferred solution by combing evolutionary algorithms with the framework of gradient projection. At each iteration, an evolutionary algorithm is used to generate an approximate Pareto optimal solution. Then, the DM is asked to provide preferences in terms of indifference tradeoffs, the projection of which onto the tangent hyperplane of the Pareto front provides a tradeoff direction. To calculate the projection, an approach to approximate the normal vector of the tangent hyperplane of the Pareto front is developed. Results on nine numerical examples by using TIEA show that TIEA is able to solve multiobjective optimization problems with more than three objectives. Moreover, it can find the Pareto optimal solution that the DM prefers most. © 2016, Fuji Technology Press. All rights reserved.

关键词： Evolutionary algorithms

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Gait planning and compliance control of a biped robot on stairs with desired ZMP 19

Gait planning and compliance control of a biped robot on sta...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Chen, Guangrong Wang, Junzheng Wang, Lipeng Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology BeijingCO 100081 China

ISBN: (纸本)9783902823625

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples. © IFAC.

关键词： Compliance control

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Artillery position control through auto disturbance rejection controller based on fuzzy control

Artillery position control through auto disturbance rejectio...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Peng, Ning Bai, Yongqiang Luo, Hao Bai, Junlong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9780769550114

Considering the characteristics of manipulation and collimation control in traction artillery control system, complex mathematic model, uncertainty and nonlinearity, ADRC (Active Disturbance Rejection controller) with Fuzzy control strategy as position controller was adopted and solved the difficult to adjust the parameters and weak anti-interference in practical engineering application. Through tests, it was shown that the controller was robust and met with the requirement of campaign system to quickly move the target to the given position with high reliability and high precision. © 2013 IEEE.

关键词： controllers

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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control of Bilateral Teleoperation with Time Delay Considering Operator Force Sending 34

Control of Bilateral Teleoperation with Time Delay Consideri...

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第三十四届中国控制会议

作者： QIN Yongming XIA Yuanqing School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.

关键词： bilateral teleoperation,time delay,force sending,position tracking,contact force

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Multi-sensor optimal distributed weighted Kalman filter fusion over unreliable networks 35

Multi-sensor optimal distributed weighted Kalman filter fusi...

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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

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第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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Optimal Design of controllers Based on Libraries and Differential Evolution 34

Optimal Design of Controllers Based on Libraries and Differe...

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第三十四届中国控制会议

作者： SUN Zhenlu XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781467374439

This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established in the *** component library contains different types of system components which may be essential for controller *** components can be selected from the library and then combined to form a controller with richer *** performance criteria library includes some common control performance *** can choose one from it according to performance ***,the differential evolution algorithm is utilized to optimize the parameters of each component in order to find the optimal solution and ultimately obtain the controller structure and parameters which meet *** were done on different types of control *** results show that the controllers designed by the proposed method for different types of control objects generally have better comprehensive performance than the PID controllers designed by conventional methods,differential evolution and genetic ***,stability and generalizability of the proposed method were also tested and verified.

关键词： controller Design Differential Evolution Component Library Performance Criteria Library

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