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第37届中国控制会议

作者： Bin Xin Hepeng Li Ling Wang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Department of Automation Tsinghua University

Interactive multi-objective optimization algorithms have developed rapidly in recent years. In this paper, we propose a new classification-based interactive multi-objective optimization algorithm named ICB-MOEA/D to solve the formulated multiobjective optimization problem. ICB-MOEA/D provides several solutions for the decision maker to choose. The decision maker chooses his/her most preferred solution from these solutions and the historical solutions which have been chosen as the current most preferred solution. ICB-MOEA/D records this solution and classifies the objectives according to the updated preference information into four categories: 1) objectives which are expected to be improved;2) objectives which can be sacrificed;3) objectives which are expected to remain basically unchanged;4) objectives which do not matter currently. Accoding to the number of the objectives in the first category, a new single-objective opitimization model or multi-objective optimization model will be built. The single-objective optimization model will be optimized by a classic variant of differential evolution DE/rand/1/bin, and the multi-objective optimization model will be optimized by a popular docomposition-based multi-objective optimizer MOEA/*** the classifications are done automatically by the algorithm, reducing the burden of the decision maker. ICB-MOEA/D was tested on the two-objective instance ZDT1, and the experiment results show the effectiveness of ICB-MOEA/D.

关键词： interactive multi-objective optimization decomposition classification virtual decision maker

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The research of a novel single-phase three-level inverter circuit with its modulation strategy

The research of a novel single-phase three-level inverter ci...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jiangjiang Li Qi Zhang Xiangdong Sun School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Processing Xi'an China

This paper proposes a new single-phase three-level inverter topology and describes the control method for the proposed inverter. The inverter contains a H-bridge inverter circuit and an auxiliary circuit. The auxiliary circuit enables H-bridge circuit to be operated in the mode of five kinds of voltage level with unipolar pulse width modulation (PWM) strategy. The operation principle of proposed inverter topology is analyzed in detail. The proposed inverter eliminates the problems of DC capacitors voltage unbalance without additional control. The control of inverter is simple and easy to implement. And it is suitable for small or medium power applications. In this paper, the proportional-resonant (PR) controller is used in the proposed inverter, the feasibility and the analysis of principle of the proposed inverter is verified by simulation. The results show that the proposed inverter can output currents of low total harmonic distortion and has higher efficiency than the H-bridge inverter.

关键词： Inverters Capacitors Integrated circuits Mathematical model Topology Switches Modulation

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Power system state estimation via feasible point pursuit: Algorithms and Cramér-rao bound

Power system state estimation via feasible point pursuit: Al...

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作者： Wang, Gang Zamzam, Ahmed S. Giannakis, Georgios B. Sidiropoulos, Nicholas D. State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904 United States

Accurately monitoring the system's operating point is central to the reliable and economic operation of an autonomous energy grid. Power system state estimation (PSSE) aims to obtain complete voltage magnitude and angle information at each bus given a number of system variables at selected buses and lines. Power flow analysis amounts to solving a set of noise-free power flow equations, and is cast as a special case of PSSE. Physical laws dictate quadratic relationships between available quantities and unknown voltages, rendering general instances of power flow and PSSE nonconvex and NP-hard. Past approaches are largely based on gradient-type iterative procedures or semidefinite relaxation (SDR). Due to nonconvexity, the solution obtained via gradient-type schemes depends on initialization, while SDR methods do not perform as desired in challenging scenarios. This paper puts forth novel feasible point pursuit (FPP)-based solvers for power flow analysis and PSSE, which iteratively seek feasible solutions for a nonconvex quadratically constrained quadratic programming reformulation of the weighted least-squares (WLS). Relative to the prior art, the developed solvers offer superior numerical performance at the cost of higher computational complexity. Furthermore, they converge to a stationary point of the WLS problem. As a baseline for comparing different estimators, the Cramér-Rao lower bound is derived for the fundamental PSSE problem in this paper. Judicious numerical tests on several IEEE benchmark systems showcase markedly improved performance of our FPP-based solvers for both power flow and PSSE tasks over popular WLS-based Gauss-Newton iterations and SDR approaches. © 1991-2012 IEEE.

关键词： State estimation

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An algorithm for Quadruped Robot’s Inverse Kinematic Problems Based on PSO

An algorithm for Quadruped Robot’s Inverse Kinematic Proble...

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第37届中国控制会议

作者： Wei Shen Min Li Junzheng Wang Changkun Chai Wen Zheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Institute of Software Chinese Academy of Sciences Siemens China LTD

The inverse problem is an essential problem in robot *** order to deal with the inverse kinematic problems of hydraulic quadruped robot,the motion process of a single leg is modeled,simulated and analyzed.A new method based on particle swarm optimization（PSO） is proposed in this paper to overcome low computational efficiency,long calculation time and accumulative *** proposed algorithm is attributed to:1) limit the range of particles initialization;2) select suitable compressibility factors;3) employ linear interpolation method to improve the efficiency of the inverse *** simulation results demonstrate that the developed method can provide enhanced computational efficiency and significantly reduce the calculation time while ensuring the precision requirement,and can also eliminate the accumulative error.

关键词： Inverse kinematics Motion optimization Particle swarm optimization Quadruped robot

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State Estimation and Fault Detection for Nonlinear Dynamic systems

State Estimation and Fault Detection for Nonlinear Dynamic S...

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第37届中国控制会议

作者： Baohua Lu Liping Yan Hongxue Chen Yuanqing Xia Mengyin Fu Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

In practical problems, the dynamic systems are usually nonlinear. In this case, the traditional Kalman filter cannot be used for state estimation or fault detection. The two typical extension based on Kalman filtering framework is the Extended Kalman Filter(EKF) and the Unscented Kalman Filter(UKF). Theoretically speaking, UKF is better than EKF when estimation accuracy is concerned, especially for high degree nonlinear cases. This paper is concerned with the state estimation and fault detection problem for a class of nonlinear dynamic systems. A novel fault detection and analyse method is presented based on the period residual of EKF and UKF. For different kind of faults, mainly, the system parameter error, the sensor/data error, EKF and UKF are used, and the estimation and fault detection effects are compared and analyzed.

关键词： nonlinear system state estimation fault detection parameter error sensor error

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Research on Novel Fountain code for UAV Formation Flight control in UV Communication 7

Research on Novel Fountain code for UAV Formation Flight Con...

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2017 7th IEEE International Symposium on Microwave, Antenna, Propagation, and EMC Technologies

作者： Tai-fei Zhao YingXie XueLiu Peng Song Information Processing Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Xi'an University of Technology

ISBN: (纸本)9781509059300;9781509059294

Research of Unmanned Aerial Vehicle(UAV) formation is a hot spot in the field of UAV applications. Based on the fountain code, an encoding communication scheme using unequal level coding Lu by Transform(ULC-LT) code and stepwise unequal error protection Lu by Transform(SUEP-LT) code are proposed for the UAV formation communication. Simulation results reveal that the proposed coding scheme can reduce the decoding bit error rate and provide strong unequal error protection property across sources.

关键词： UAV Ultraviolet communication Fountain code Unequal Error Protection

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Convolutional Neural Network Features Comparison Between Back-Propagation and Extreme Learning Machine

Convolutional Neural Network Features Comparison Between Bac...

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Chinese control Conference

作者： Atmane Khellal Hongbin Ma Qing Fei School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Recently deep learning based architectures have been widely deployed in many problems of artificial intelligence. Among deep learning models, Convolutional Neural Networks (CNN) have been reported in numerous successful applications such as object recognition, and natural language processing. The convolutional neural networks are trained by back-propagating the classification error using the Back-Propagation (BP) algorithm, which requires a large amount of data and slows the training process. To overcome these difficulties, a new fast and accurate approach based on Extreme Learning Machine (ELM) to train any convolutional neural network has been proposed. The developed framework (ELM-CNN) is based on the concept of auto-encoding to learn the convolutional filters with biases, by reconstructing the normalized input and the intercept term. In this paper, systematic comparison with traditional back-propagation based training method (BP-CNN) has been made with respect to two aspects qualitative and quantitative. The experimental results on the popular MNIST dataset show that the ELM-CNN algorithm achieves competitive results in terms of generalization performance and up to 16 times faster than the back-propagation based training of CNN.

关键词： Training Convolutional neural networks Feature extraction Computer architecture Convolution Machine learning Encoding

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Trajectory Tracking based on Time-Varying Sliding Mode controller for Hypersonic Vehicle with Aileron Stuck 36

Trajectory Tracking based on Time-Varying Sliding Mode Contr...

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第36届中国控制会议

作者： Haibo Ji Lei Wang Zhuoyue Song Xiangdong Liu Zhirong Lei State Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology School of Automation Northwestern Polytechnical University

ISBN: (纸本)9781538629185

This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems. Then, the corresponding guidance law and attitude controller are designed using time-varying sliding mode controller. By the proposed strategies, the hypersonic vehicle can fly along the reference ***, the proposed strategies are applied to a hypersonic platform to verify its validity.

关键词： Trajectory Tracking Stuck Aileron Time-Varying Sliding Mode

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Learning oriented cross-entropy approach to user association in load-balanced HetNet

arXiv

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arXiv 2018年

作者： Huang, Xietian Xu, Wei Xie, Guo Jin, Shi You, Xiaohu Southeast University Nanjing China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an China

This letter considers optimizing user association in a heterogeneous network via utility maximization, which is a combinatorial optimization problem due to integer constraints. Different from existing solutions based on convex optimization, we alternatively propose a cross-entropy (CE)-based algorithm inspired by a sampling approach developed in machine learning. Adopting a probabilistic model, we first reformulate the original problem as a CE minimization problem which aims to learn the probability distribution of variables in the optimal association. An efficient solution by stochastic sampling is introduced to solve the learning problem. The integer constraint is directly handled by the proposed algorithm, which is robust to network deployment and algorithm parameter choices. Simulations verify that the proposed CE approach achieves near-optimal performance quite efficiently. Copyright © 2018, The Authors. All rights reserved.

关键词： Heterogeneous networks

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Liquid-Circular Angular Accelerometer: A Review

Liquid-Circular Angular Accelerometer: A Review

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Chinese control Conference

作者： Ke Ning Meiling Wang Siyuan Cheng Li Ming Xin Zheng Beijing Institute of Technology Key Laboratory of Complex system Intelligent Control and Decision Beijing P. R. China The Third Academic of Aerospace and Technology Group of China Beijing P. R. China

This article reviews the mainstream angular acceleration measurement techniques. Varieties of direct measurements, including rotational, solid mechanical inertial, fluid mechanical inertial, and microelectromechanical system angular accelerometer, are expanding in the practical applications of measurement and control systems. Recently researchers focus on microelec-tromechanical system and fluid-based sensors in light of increasing requirements for the measurement. In this review, we first investigated developments of angular acceleration measurements. Then we introduced one of the fluid-based sensors, a liquid-circular angular accelerometer, which is a novel angular sensor consisting of a porous transducer and an electrolyte solution chiefly. Eventually, we detailed recent works on this sensor's mechanism and the other aspects, e.g. significant properties of components and major research methodologies, and discussed its trade-off on performance with wide frequency, large dynamic range and high accuracy relatively, to show this sensor could bring advantages compared with other measurement methods.

关键词： Accelerometers Acceleration Mechanical sensors Solids Bandwidth Sensor phenomena and characterization

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