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

作者： Dong, Ning Xie, Wei Chen, Zhen Zhao, Jing Liu, Xiangdong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, an improved adaptive time-varying sliding mode controller (SMC) is designed for five-phase dual-rotor permanent magnet synchronous motor (FDRPMSM). It focuses on three objectives: 1) maintaining the high tracking performance to the reference speed;2) keeping robustness when load torque varies;3) chattering suppression performance *** FDRPMSM is adopted hysteresis-current controlled PWM, thus, the proposed controller is designed for speed controller. This controller is proposed to solve the problem that suppressing the chattering when system state is near the sliding-mode hyper *** order to weaken influence of load torque varying, the load torque observer is introduced in the control system. Simulation results show that the proposed speed controller have better performances and robustness characteristics comparing with PI controller and conventional exponential time-varying SMC. © 2016, Fuji Technology Press. All rights reserved.

关键词： controllers

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Resident electric vehicles charging optimization strategy in the smart grid 34

Resident electric vehicles charging optimization strategy in...

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34th Chinese control Conference, CCC 2015

作者： Ruiqin, Duan Zhongjing, Ma School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing China

ISBN: (纸本)9789881563897

Considering the stochastic nature of electric vehicles (EVs) charging activities, this paper is dedicated to schedule the resident EVs charging load in the smart grid. Three important factors of the EV charging process are taken into account and studied, including the characteristics of EV battery, the start time of EV charging and the initial state-of-charging (SOC) of EV battery. We present a resident EVs charging optimization scheduling strategy to minimize the variation of total power load in the specified time period. And then we propose an approximate evaluation method for the corresponding optimization problem. The simulation results illustrate that the proposed EVs charging scheduling strategy will reduce the total power load curve difference of peak and valley, and the proposed method is very promising to improve the daily load profile of power system. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electric vehicle Optimization scheduling Probability model Smart grid

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Combined complete coverage path planning for autonomous mobile robot in indoor environment

Combined complete coverage path planning for autonomous mobi...

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2009 7th Asian control Conference, ASCC 2009

作者： Yutian, Mao Lihua, Dou Jie, Chen Hao, Fang Haiqiang, Zhang Hu, Cao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9788995605691

Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method. ©2009 ACA.

关键词： DC motors

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A new soft switching bidirectional buck or boost DC-DC converter

A new soft switching bidirectional buck or boost DC-DC conve...

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11th International Conference on Electrical Machines and systems, ICEMS 2008

作者： Lei, Dong Xueping, Wang Zhen, Liu Xiaozhong, Liao Department of Automatic Control Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education China

ISBN: (纸本)9787506292214

This paper presents a new soft switching bidirectional buck or boost DC-DC converter. Compared to the traditional bidirectional DC-DC converter, the new topology can be used as a buck converter or a boost converter in bidirectional cases for Hybrid Electric Vehicles (HEV) and Electrosorb Technology (EST) etc. This new converter has the advantages of simple circuit and control strategy, soft-switching implementation without additional devices, high power density, low cost, light weight and high reliability. The operating principle, theoretical analysis, and design guidelines are provided in this paper. The simulation and the experimental verifications are also presented.

关键词： Boost converter

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Integration Weights Determination of Launch Equipment Hydraulic system Based on Indexes Coupling Characteristics 34

Integration Weights Determination of Launch Equipment Hydrau...

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第三十四届中国控制会议

作者： CHEN Chen WANG Yun TIAN Zhimin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Mechanical Equipment

ISBN: (纸本)9781467374439

Launch equipment hydraulic system plays a vital role in completion of mission due to its stability and accuracy. This paper built an effectiveness evaluation index system based on comprehensive analysis of launch equipment hydraulic system, compared weighting factor determination mechanisms, and integrated independence factor into weight determination by combining the strong coupling feature of launch equipment hydraulic system indexes. The final weight was integrated and determined in four aspects, including importance weight, information weight, independence weight and credibility weight. Then, the paper obtained the system effectiveness evaluation results by utilizing system operation data, and provided theoretical and data reference for equipment selection and effectiveness improvement.

关键词： launch equipment,hydraulic system,effectiveness evaluation,indexes coupling,integration weights

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Flocking of multi-robot systems with connectivity maintenance on directed graphs

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Journal of systems Engineering and Electronics 2014年第3期25卷 470-482页

作者： Mao, Yutian Dou, Lihua Fang, Hao Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control Decision of Complex Systems Beijing 100081 China

Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, collision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that all robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm. © 1990-2011 Beijing Institute of Aerospace Information.

关键词： Multipurpose robots

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LAUNet:A Latent Action Units Network for Facial Expression Recognition 41

LAUNet:A Latent Action Units Network for Facial Expression R...

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第41届中国控制会议

作者： Junlin Zhang Kaoru Hirota Yaping Dai Sijie Yin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The inter-class similarity of facial expressions is one of the key challenges in Facial Expression Recognition(FER).In this manuscript,a Latent Facial Action Units Network(LAUNet) is proposed for the problem of inter-class similarity of facial expressions in *** proposed method recognizes subtle differences between facial expressions by learning Latent Facial Action Units Features(LAUFs).Specifically,LAUNet is composed of two parts:the Latent Facial Action Units Features Extraction Network(LEN) and the Latent Facial Action Units Selection Network(LSN).Firstly,LEN extracts LAUFs from the feature map of the backbone using the spatial attention ***,taking advantage of the channel attention mechanism,LSN captures the latent relationships between features from LAUFs to select effective features for *** are performed on the dataset after removing the invalid data of non-face images from the original FER2013 *** with some previous state-of-the-art methods,LAUNet achieves the highest accuracy rate of 71.31%.Depending on the backbone,LAUNet can improve the accuracy by up to 5.46% compared to the original architecture of the backbone.

关键词： Facial Expression Recognition Attention Mechanism Computer Vision

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Distributed tracking for networked Euler-Lagrange systems without velocity measurements

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Journal of systems Engineering and Electronics 2014年第4期25卷 671-680页

作者： Yang, Qingkai Fang, Hao Mao, Yutian Huang, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the followers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws. © 2014 Beijing Institute of Aerospace Information.

关键词： Velocity

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Flocking of Second-Order Multiagent systems with Connectivity Preservation Based on Algebraic Connectivity Estimation

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IEEE Transactions on Cybernetics 2017年第4期47卷 1067-1077页

作者： Fang, Hao Wei, Yue Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new decentralized inverse power iteration scheme is formulated. Then, based on the estimation of the algebraic connectivity, a set of distributed gradient-based flocking control protocols is built with a new class of generalized hybrid potential fields which could guarantee collision avoidance, desired distance stabilization, and the connectivity of the underlying communication network simultaneously. What is important is that the proposed control scheme allows the existing edges to be broken without violation of connectivity constraints, and thus yields more flexibility of motions and reduces the communication cost for the multiagent system. In the end, nontrivial comparative simulations and experimental results are performed to demonstrate the effectiveness of the theoretical results and highlight the advantages of the proposed estimation scheme and control algorithm. © 2017 IEEE.

关键词： Multi agent systems

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Fault Tolerant control for a Class of Nonlinear system based on Active Disturbance Rejection control and RBF Neural Networks 36

Fault Tolerant Control for a Class of Nonlinear System based...

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第36届中国控制会议

作者： Lushan Zhou Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781538629185

In this paper,a fault tolerant control method based on active disturbance rejection control(ADRC) and radial basis function neural network(RBFNN) is proposed for a class of multi-input-multi-output nonlinear system with actuator faults,components faults and sensor *** proposed method does not rely on the plant *** regarding the faults and plant uncertainties as the disturbance,through the observation of extended state observer and the compensation of feedback control signal,this method achieves the fault tolerance control of the plant with component fault and actuator *** sensor faults,in this work,radial basis function neural network is applied to estimate the real output of the *** this output estimation is utilized by active disturbance rejection control to achieve the fault tolerance of ***,the effectiveness of the proposed method is validated by the simulation results of the three-tank system.

关键词： Fault tolerant control active disturbance rejection control radial basis function neural network

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