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2014中国制导、导航与控制学术会议

作者： Huajiang Liu Jingcheng Wang Langwen Zhang Guanglei Zhao Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240

ISBN: (纸本)9781479946983

In this paper,trajectory tracking control of hard rock Tunnel Boring Machine (TBM) is studied with a cascade control *** TBM thrust hydraulic system can adjust position and orientation during tunnel *** model of thrust hydraulic system and the compound control technique of thrust hydraulic system are *** order to realize trajectory tracking control,the dynamic model of TBM has been *** model provides a foundation for the trajectory tracking control of TBM *** and orientation controller of TBM have been designed and the controller calculates the force of thrust hydraulic *** compound controller of thrust hydraulic system produces the designed *** effectiveness of the proposed methods is shown by illustrative example.

关键词： boring machines cascade control construction equipment control system synthesis force control trajectory control TBM orientation TBM position TBM thrust hydraulic system cascade control structure compound control technique controller design hard rock tunnel boring machine trajectory tracking Equations Force Mathematical model Rocks Trajectory Valves

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Torque constraints for hexapod robot slope walking

Torque constraints for hexapod robot slope walking

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Tianle Ge Hesheng Wang Weidong Chen Bowen Gui Ministry of Education of China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China

This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.

关键词： Robot kinematics Legged locomotion Stability analysis Torque Angular velocity Force

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Constrained Distributed MPC for LPV systems with Actuator Saturation and State Delay

Constrained Distributed MPC for LPV Systems with Actuator Sa...

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American control Conference

作者： Langwen Zhang Jingcheng Wang Yang Ge Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240

ISBN: (纸本)9781479932757

In this work, a new approach to design constrained distributed MPC is proposed for linear parameter varying (LPV) systems subject to saturating actuator and state delay. Polytopic type uncertainty and only one state delay are considered in this paper. The algorithm requires decomposing the whole system into M subsystems and solving M linear matrix inequality (LMI) optimization problems for each subsystem. An iterative online algorithm for constrained distributed MPC is developed to coordinate the distributed controllers. The algorithm is a flexible structure of robust control, which allows the independent computation of the state feedback laws for the subsystems. A numerical example is simulated to show the effectiveness of the constrained distributed MPC algorithm.

关键词： Distribute Flexible structures SUB-system Robust control actuators

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On overcoming limitations of a class of linear systems with first-order reset elements

On overcoming limitations of a class of linear systems with ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing China Electrical Engineering and Computer Science Queens University Belfast UK

This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control model is proposed, such that the non-overshoot performance specification can be met for any minimum phase relative degree one plants, the results imply some limitations of linear systems are overcome and clearly illustrate the advantages of reset control. A numerical example is given to show the effectiveness.

关键词： Closed loop systems Stability analysis Gold Linear systems Steady-state Educational institutions

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Local Partial Least Squares Based Online Soft Sensing Method for Multi-output Processes with Adaptive Process States Division

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Chinese Journal of Chemical Engineering 2014年第7期22卷 828-836页

作者：邵伟明田学民王平 College of Information and Control Engineering China University of Petroleum (Huadong) State Key Laboratory of Heavy Oil Processing China University of Petroleum (Huadong)

Local learning based soft sensing methods succeed in coping with time-varying characteristics of processes as well as nonlinearities in industrial plants. In this paper, a local partial least squares based soft sensing method for multi-output processes is proposed to accomplish process states division and local model adaptation,which are two key steps in development of local learning based soft sensors. An adaptive way of partitioning process states without redundancy is proposed based on F-test, where unique local time regions are ***, a novel anti-over-fitting criterion is proposed for online local model adaptation which simultaneously considers the relationship between process variables and the information in labeled and unlabeled samples. Case study is carried out on two chemical processes and simulation results illustrate the superiorities of the proposed method from several aspects.

关键词： Local learning Online soft sensing Partial least squares F-test Multi-output process Process state division

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A new synchronized multi-interface mac protocol for multi-hop wireless mesh networks

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2012 International Conference on Electrical and Electronics Engineering, ICEE 2012

作者： Lei, Hongjiang Ren, Zhi Huang, Jun Gao, Chao Guo, Yongcai Chongqing Key Lab of Mobile Communications Technology Chongqing University of Post and Communications Chongqing 400065 China Key Laboratory of Optoelectronics Technology and System Ministry of Education Chongqing University Chongqing 400044 China Chongqing Key Laboratory of Signal and Information Processing Chongqing University of Posts and Telecommunications Chongqing 400050 China

ISBN: (纸本)9781461449805

Multichannel MAC protocol (MMAC) was proposed by So et al. It divides time into beacon periods and consists of an announcement traffic information message (ATIM) phase and a data phase (So et al. Proceedings of 5th ACM international symposium on Mobile ad hoc networking and computing(Mobihoc'04),2006). Nodes negotiate during the ATIM phase on a common channel and transmit data in data phase on multiple channels. But one negotiation window in each beacon period limits the networks performance in multi-hop scenario which plays the main role in Wireless mesh networks (WMNs). In this chapter, researchers propose Synchronized Multi-Interface MAC protocol (SMIMAC), in which the ATIM phase is divided into multiple short windows. And each of them is followed by a short data window. Without increasing the sum of negotiations time, multiple but short consultation windows can provide negotiation opportunities for those nodes which fail to consult before and those nodes which are away from the sender when they have packets to transmit. The simulation results show that the scheme achieves seven time higher aggregate network throughput and average packet delay reduced to 32 % of MMAC in multi-hop scenario. © 2014 Springer Science+Business Media New York.

关键词： Mesh generation

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Opinion Dynamics of Modified Hegselmann-Krause Model with Group-based Bounded Confidence

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IFAC Proceedings Volumes 2014年第3期47卷 9870-9874页

作者： Guiyuan Fu Weidong Zhang Department of Automation Shanghai Jiaotong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 P. R. China

The continuous opinion dynamics with group-based heterogeneous bounded confidences is considered in this paper. Firstly, a slightly modified Hegselmann-Krause model is proposed, and the agents are divided into open-minded-, moderate-minded-, and close-minded-subgroups according to the corresponding confidence intervals. Then numerical simulations are carried out to analyze the influence of the close-minded and open-minded agents, as well as the population size, on the opinion dynamics. It is observed that (1) for the fixed population size, the larger proportion of close-minded agents, the more opinion clusters; (2) open-minded agents cannot contribute to forging different opinions, instead, the existence of them maybe diversify final opinions; also interestingly the relative size of the largest cluster varies along concave-parabola-like curve as the proportion of open-minded agents increases; (3) for the same proportion of the three subgroups, as population size increases, the number of final opinion clusters will increase at the beginning and then reach a stable level, which is quite different from the previous studies.

关键词： opinion dynamics modified Hegselmann-Krause model heterogeneous group-based bounded confidence

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A generalized rough set-based information flling technique for failure analysis of thruster experimental data

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Chinese Journal of Aeronautics 2013年第5期26卷 1182-1194页

作者： Han Shan Zhu Qiang Li Jianxun Chen Lin Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

Interval-valued data and incomplete data are two key problems for failure analysis of thruster experimental data and have been basically solved by the proposed methods in this paper. Firstly, information data acquired from the simulation and evaluation system formed as intervalvalued information system （IIS） is classified by the interval similarity relation. Then, as an improvement of the classical rough set, a new kind of generalized information entropy called ＂H＇-information entropy＂ is suggested for the measurement of uncertainty and the classification ability of IIS. There is an innovative information filling technique using the properties of H＇-information entropy to replace missing data by some smaller estimation intervals. Finally, an improved method of failure analysis synthesized by the above achievements is presented to classify the thruster experimental data, complete the information, and extract the failure rules. The feasibility and advantage of this method is testified by an actual application of failure analysis, whose performance is evaluated by the quantification of E-condition entropy.

关键词： Data acquisition Data classification Failure analysis information filling Rough set

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On infinite time performance of nonlinear model predictive controllers 19

On infinite time performance of nonlinear model predictive c...

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

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BelfastBT7 1NN United Kingdom

ISBN: (纸本)9783902823625

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases. © IFAC.

关键词： controllers

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Encoding Spatial Context for Large-Scale Partial-Duplicate Web Image Retrieval

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Journal of Computer Science & Technology 2014年第5期29卷 837-848页

作者：周文罡李厚强卢亦娟田奇 Chinese Academy of Sciences Key Laboratory of Technology in Geo-Spatial Information Processing and Application System University of Science and Technology of China Department of Electronic Engineering and Information Science University of Science and Technology of China Department of Computer Science Texas State UniversitySan Marcos TX 78666 U.S.A. MemberACMIEEE Department of Computer Science University of Texas at San AntonioSan Antonio TX 78249 U.S.A. Senior MemberIEEE

Many recent state-of-the-art image retrieval approaches are based on Bag-of-Visual-Words model and represent an image with a set of visual words by quantizing local SIFT（scale invariant feature transform） features. Feature quantization reduces the discriminative power of local features and unavoidably causes many false local matches between images, which degrades the retrieval accuracy. To filter those false matches, geometric context among visual words has been popularly explored for the verification of geometric consistency. However, existing studies with global or local geometric verification are either computationally expensive or achieve limited accuracy. To address this issue, in this paper, we focus on partialduplicate Web image retrieval, and propose a scheme to encode the spatial context for visual matching verification. An efficient affine enhancement scheme is proposed to refine the verification results. Experiments on partial-duplicate Web image search, using a database of one million images, demonstrate the effectiveness and efficiency of the proposed *** on a 10-million image database further reveals the scalability of our approach.

关键词： large-scale image retrieval spatial context coding spatial verification affine estimation

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