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Chinese control Conference (CCC)

作者： Guangrong Chen Junzheng Wang Lipeng Wang Yudong He Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.

关键词： Legged locomotion Planning Stability analysis Electronic mail Servomotors

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Differential Evolution Based Receding Horizon controlfor UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期 107-114页

作者： ZHANG Xing BAI YongQiang XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Decision and Cognitive Sciences Research Centre Manchester Business SchoolUniversity of Manchester

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词： unmanned aerial vehicle motion planning receding horizon control differential evolution

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Design and development of vacuum pumping and liquid injection system

Design and development of vacuum pumping and liquid injectio...

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32nd Chinese control Conference, CCC 2013

作者： Shen, Wei Wang, Jun-Zheng Jing, Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

The vacuum pumping and liquid injection system is designed to meet the requirement of liquid automatic injection in a closed chamber. It is made up of vacuum pumping subsystem, liquid injection subsystem and control subsystem. The whole system has a high quality in vacuum pumping and liquid injection in a closed chamber. By using hardware filtering and the flow signal processing method based on pulse duty cycle and duration comparison, the injected liquid volume can be measured accurately in various strong interference environments. In order to solve the problem of injection pressure cannot be exactly controlled sometime, the method of pressure feedback control based on PID algorithm is developed. Finally, the quality of liquid injection is improved greatly and the requirements of injection are met very well. © 2013 TCCT, CAA.

关键词： Signal processing

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The algorithm of MIMU/odometer integrated navigation system aided by nonholonomic constraints

The algorithm of MIMU/odometer integrated navigation system ...

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International Conference on Mechatronic Science, Electric Engineering and Computer

作者： Shi Peng Xiao Xuan State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479925667

The navigation precision drops rapidly when MIMU (Micro Inertial Measurement Unit) works alone. Odometer data are easy to get on land vehicle, but the performance of integration system of MIMU/odometer is not enhanced obviously. In this work, a novel method is designed using nonholonomic constraints. When vehicle travels without slide and jump, the velocity in the plane perpendicular to forward direction is zero, as well as acceleration. Taking velocity constraint and acceleration constraint as measurement value, new measurement models are established. Integrated navigation algorithm is designed with the help of Kalman filter. With this method, the position error is 150m after 600s, and heading attitude error is 0.1°, comparing the result that the position error expands to 300m after 150s only aided by odometer.

关键词： Vehicles Acceleration Global Positioning system Velocity measurement Noise Kalman filters

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Consensus of Multiple High-order Nonlinear systems with Uncertainty

Consensus of Multiple High-order Nonlinear Systems with Unce...

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第三十二届中国控制会议

作者： Jie Huang Jie Chen Hao Fang Lihua Dou Qingkai Yang School of Automation Beijing Institute of Technology Key Laboratory Intelligent Control and Decision of Complex System Fujian Institute of Education

ISBN: (纸本)9781479900305

This paper focuses on the consensus problem of a class of multiple high-order nonlinear systems with uncertainty under the fixed and undirected communication topology. The distributed virtual control functions of the multi-agent system are constructed by only using their local information in the recursive controller design procedure. A set of distributed cooperative consensus control laws is proposed through combining backstepping and adaptive control techniques. The asymptotic stability of the overall interconnected system is proved relying on Lyapunov stability analysis method. Furthermore, the proposed control scheme can be extended to apply to the condition when the communication graph is directed or time-varying. Finally, simulation is provided to verify the effectiveness of the control algorithms.

关键词： adaptive control, consensus control, backstepping, high-order nonlinear systems, uncertainty, multi-agent

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Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

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Chinese control Conference (CCC)

作者： Renjian Hao Junzheng Wang Jiangbo Zhao Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P. R. China

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process. A torque decoupling approach for electric linear actuator is proposed to achieve respective compensation. To improve the speed of time varying parameters estimating, a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust performance. An adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric uncertainties. The modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded performance. The co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Friction Torque Load modeling Force Mathematical model Robustness Actuators

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A novel sparse auto-encoder for deep unsupervised learning

A novel sparse auto-encoder for deep unsupervised learning

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Xiaojuan Jiang Yinghua Zhang Wensheng Zhang Xian Xiao State Key Laboratory of Intelligent Control and Management of Complex System at Institute of Automation Chinese Academy of Sciences Beijing

This paper proposes a novel sparse variant of auto-encoders as a building block to pre-train deep neural networks. Compared with sparse auto-encoders through KL-divergence, our method requires fewer hyper-parameters and the sparsity level of the hidden units can be learnt automatically. We have compared our method with several other unsupervised leaning algorithms on the benchmark databases. The satisfactory classification accuracy (97.92% on MNIST and 87.29% on NORB) can be achieved by a 2-hidden-layer neural network pre-trained using our algorithm, and the whole training procedure (including pre-training and fine-tuning) takes far less time than the state-of-art results.

关键词： Training Classification algorithms Data models Principal component analysis Lead

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Low level saliency feature extraction method based on Hessian threshold

Low level saliency feature extraction method based on Hessia...

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Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Jiantao Pu Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is introduced firstly. Then the new method of finding low level visual saliency feature based on SURF is deduced. The new method pay attention to Hessian matrix threshold and extract image features through changing the Hessian threshold. The number of saliency feature points change with the change of Hessian threshold. The visual saliency feature points will become sparser when Hessian threshold becomes larger. When some certain extreme thresholds which are defined as Hessian threshold Nodes are reached, the retained feature points are remarkable discriminative and stable feature points which make up the best sparse saliency features set. The feature extraction, matching and object recognition experiments of robot vision are finished to verify the new method. Experiment results show that the method is very effective.

关键词： Feature extraction Visualization Robots Robustness Heuristic algorithms Object recognition Educational institutions

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Robot robust object recognition based on fast SURF feature matching

Robot robust object recognition based on fast SURF feature m...

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Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Xusheng Chen Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant features SURF (Speeded Up Robust Features) is introduced into the robot visual recognition field to solve scale changes, rotation, perspective changes, changes in illumination and other problems. A Speeded up SURF (SSURF) algorithm is proposed to meet the needs of robot visual identification. In SSURF algorithms, the main direction determination step of SURF algorithm is modified which make the search scope of the main direction becomes {-α, +α} (0 ≤ α ≤ 30°) from the original scope 360 According to compressed sensing ideas and interest points distribution histogram, the main scale search space is selected to improve the interest points searching step of SURF algorithm, so the interest points searching time-consuming is reduced. Matching the sample object and the scene using SSURF descriptor, and positioning the target position in the scene and giving ROI(region of interest). Experimental results in the autonomous mobile robot platform show that the proposed method significantly improves the speed of the robot to identify the target object, and proved robust to the scale changes, rotation, perspective changes, changes in illumination.

关键词： Feature extraction Robots Object recognition Robustness Vectors Image recognition Visualization

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Distributed Flocking of Second-order Multi-agent systems with Global Connectivity Maintenance

Distributed Flocking of Second-order Multi-agent Systems wit...

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American control Conference

作者： Yutian Mao Lihua Dou Hao Fang Jie Chen Tao Cai School of Automation and Key Laboratory of Complex System Intelligent Control and Decision (Ministry of Education) Beijing Institute of Technology Beijing 100081 P.R.China

ISBN: (纸本)9781479901777

This paper investigates the problem of connectivity-preserving flocking of multiple autonomous agents with second-order dynamics. First, the inverse power iteration algorithm is formulated in a completely distributed manner to estimate the algebraic connectivity, i.e., the second smallest eigenvalue of the group Laplacian, as well as the corresponding eigenvector. Furthermore, distributed gradient-based flocking algorithms that exploit decentralized eigenvalue/eigenvector estimation are developed both to steer the agent group to the desired flocking motion and to maintain the global connectivity of the underlying network during maneuvers. Different from the common potential/tension function method which keeps certain fixed edges all the time, the algorithm proposed in this paper guarantees the global connectivity which allows any existing edge to be broken, thus gives more freedom of motions for the agents. Finally, nontrivial simulations are performed to demonstrate the correctness and effectiveness of the theoretical results.

关键词： underlying desired agents

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