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第30届中国控制与决策会议

作者： Cong Han Hongbin Ma Wenchao Zuo Sunjie Chen Xinghong Zhang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This paper presents a general six degrees of freedom(6-DOF) robot arm control system based on Linux and field-programmable gate array(FPGA).The system provides a friendly human-computer interaction *** can complete palletizing,handling and other processes through simple programming of the interactive *** adopt industrial personal computer(IPC) as the controller to accomplish the kinematics calculation,design motion control board connected with the controller and the servo system,and use the servo system to implement the motion of the robot *** kinematics calculation and trajectory generation based on cubic polynomial are developed based on the Linux system,which improves the portability of the *** a normal method is adopted in updating trajectory points to improve *** control board is designed based on FPGA,which with the characteristic of parallel computing raises the running speed of the robot arm.

关键词： 6-DOF industrial robot arm control system human-machine interaction Linux FPGA

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${H}_{\infty }$ Filtering for Fuzzy Jumping Genetic Regulatory Networks With Round-Robin Protocol: A Hidden-Markov-Model-Based Approach

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IEEE Transactions on Fuzzy systems 2019年第1期28卷 112-121页

作者： Hao Shen Yunzhe Men Jinde Cao Ju H. Park School of Electrical and Information Engineering Anhui University of Technology Ma’anshan China School of Mathematics Southeast University Nanjing China Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology Beijing China Jiangsu Provincial Key Laboratory of Networked Collective Intelligence and School of Mathematics Southeast University Nanjing China Department of Electrical Engineering Yeungnam University Kyongsan South Korea

In this article, a method to design the filter for fuzzy jumping genetic regulatory networks is explored. The case when the filters cannot directly utilize the mode information of the plant is taken into account. A hidden Markov model is introduced to address such a problem. Furthermore, a mature scheduling method, namely round-robin protocol, is employed to optimize the data transmission in genetic regulatory networks. On the basis of the fuzzy model approach and the stochastic analysis technique, some novel conditions ensuring the H ∞ performance and stochastic stability of the error system are established. The parameters of the filter can be presented via addressing the convex optimization problem. The feasibility of results is finally illustrated by considering a repressilator model subject to stochastic jumping parameters.

关键词： Hidden Markov models Proteins Genetics Protocols Markov processes Data communication

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Formation control for multiple agents with local measurements: continuous-time and sampled-data-based cases

Formation control for multiple agents with local measurement...

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IEEE Annual Conference on decision and control

作者： Chen Wang Shuai Li Weiguo Xia Jinan Sun Guangming Xie National Engineering Research Center for Software Engineering Peking University Beijing China State Key Laboratory of Turbulence and Complex Systems Peking University Beijing China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric pattern while keeping a desired distance to a static/moving target. The prescribed formation is a general one which can be any geometric pattern, and the neighboring relationship of the N-agent system only has the requirement of containing a directed spanning tree. To solve the formation control problem, a distributed controller is proposed based on the idea of decoupled design. One merit of the controller is that it only uses each agent's local measurements in its local frame, so that a practical issue that the lack of a global coordinate frame or a common reference direction for real multi-robot systems is successfully solved. Considering another practical issue of real robotic applications that sampled data is desirable instead of continuous-time signals, the sampleddata based controller is developed. Theoretical analysis of the convergence to the desired formation is provided for the multiagent system under both the continuous-time controller with a static/moving target and the sampled-data based one with a static target. Numerical simulations are given to show the effectiveness and performance of the controllers.

关键词： Robot kinematics Coordinate measuring machines Mobile agents Multi-robot systems Sun Collision avoidance

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Adaptive Optimal control Based on Parameter Estimation for Servomechanisms

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IFAC-PapersOnLine 2017年第1期50卷 7064-7069页

作者： Zhang C. Gan M. Chen J. Chen C. Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, an adaptive optimal control scheme based on parameter estimation is proposed for optimal control problem of servomechanisms with unknown parameters. Parameters of the servomechanism dynamics are identified online first. Based on parameter estimation, the optimal control policy is achieved through adaptive dynamic *** estimation removes an approximation structure from the original method. Therefore the number of unknown weights in approximation structures, to be calculated, is reduced. The analysis for convergence is presented to prove the validity. Finally, simulation results demonstrate that the scheme can approximate the optimal control policy rapidly and effectively. © 2017

关键词： adaptive dynamic programming optimal control,parameter estimation servomechanism

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The Detection of Typical Targets under the Background of Land War 29

The Detection of Typical Targets under the Background of Lan...

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第29届中国控制与决策会议

作者： Xiaowen Wu Wenjie Chen Yingying Qin State Key Laboratory of Intelligent Control and Decision Complex System Beijing Institute of Technology

ISBN: (纸本)9781509046584

This paper investigates whether advanced neural network techniques can be applied to the detection and identification of typical targets in the context of land warfare. We collected 13 typical targets and built a detection data set. Based on the Faster R-CNN framework, we improve the detection accuracy by two ways. First, we design a neural network model with strong local modeling capabilities. Second, we combine middle layers and the last layer of feature maps as the detection features to enhance the detection ability and improve the detection accuracy.

关键词： Deep Learning Convolutional Neural Network Local Modeling Capability Object Detection

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Backstepping sliding mode control for Mars Entry with finite time convergence 36

Backstepping sliding mode control for Mars Entry with finite...

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第36届中国控制会议

作者： Ganghui Shen Yuanqing Xia Dailiang Ma Jinhui Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles,which inevitably degrades the performance of entry guidance *** paper presents a backstepping sliding mode controller for drag tracking in Mars entry guidance,which can guarantee the tracking error with finite-time ***,the drag can track the reference trajectory under the virtual control law by introducing a sliding manifold,and the extended state observer（ESO） is used to estimate and counteract the ***,the finite-time convergence of drag tracking error can be achieved under the proposed backstepping sliding mode guidance *** addition,the rigorous proof of tracking error convergence is ***,numerical simulation results are presented to demonstrate the effectiveness of the proposed guidance law.

关键词： Backstepping Sliding mode control Finite time Mars entry

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Multi-delay network based IEEE 802.15.4 for low delay deterministic networked control systems 36

Multi-delay network based IEEE 802.15.4 for low delay determ...

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第36届中国控制会议

作者： Aopeng Song Yuanqing Xia Yufeng Zhan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wireless networked control systems have gained significant popularity due to commissioning and maintenance *** 802.15.4 standard is one of wireless communication protocol for low delay deterministic *** automation,not only needs low delay but also requires the network that should has the capacity of various delay *** this paper,we propose a scheme,satisfying the muli-delay network in the networked control *** are using TI SmartRF04 EB evaluation boards with CC2530 SoC and TIMAC software stack CC2530 boards,as well as dc servo motors for a speed tracking control problem.

关键词： wireless communication IEEE 802.15.4 control system multi-delay

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Fractional-Order Impedance control for a Wheel-Legged Robot 29

Fractional-Order Impedance Control for a Wheel-Legged Robot

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第29届中国控制与决策会议

作者： Yinghui Chen Jiangbo Zhao Junzheng Wang Duoyang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.

关键词： wheel-legged robot legged locomotion impedance control fractional-order

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Convolutional ordinal regression forest for image ordinal estimation

arXiv

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arXiv 2020年

作者： Zhu, Haiping Shan, Hongming Zhang, Yuheng Che, Lingfu Xu, Xiaoyang Zhang, Junping Shi, Jianbo Wang, Fei-Yue The Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China The Institute of Science and Technology for Brain-inspired Intelligence MOE Frontiers Center for Brain Science Fudan University Shanghai200433 China The Shanghai Center for Brain Science and Brain-inspired Technology Shanghai201210 China The GRASP Laboratory University of Pennsylvania PhiladelphiaPA United States The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Institute of Systems Engineering Macau University of Science and Technology 999078 China The University of Chinese Academy of Sciences Beijing100049 China

Image ordinal estimation is to predict the ordinal label of a given image, which can be categorized as an ordinal regression problem. Recent methods formulate an ordinal regression problem as a series of binary classification problems. Such methods cannot ensure that the global ordinal relationship is preserved since the relationships among different binary classifiers are neglected. We propose a novel ordinal regression approach, termed Convolutional Ordinal Regression Forest or CORF, for image ordinal estimation, which can integrate ordinal regression and differentiable decision trees with a convolutional neural network for obtaining precise and stable global ordinal relationships. The advantages of the proposed CORF are twofold. First, instead of learning a series of binary classifiers independently, the proposed method aims at learning an ordinal distribution for ordinal regression by optimizing those binary classifiers simultaneously. Second, the differentiable decision trees in the proposed CORF can be trained together with the ordinal distribution in an end-to-end manner. The effectiveness of the proposed CORF is verified on two image ordinal estimation tasks, i.e. facial age estimation and image aesthetic assessment, showing significant improvements and better stability over the state-of-the-art ordinal regression methods. Copyright © 2020, The Authors. All rights reserved.

关键词： decision trees

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Stable Walking control of Parallel Wheel-foot Robot Based on ZMP Theory 36

Stable Walking Control of Parallel Wheel-foot Robot Based on...

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第36届中国控制会议

作者： Dongchen Liu Junzheng Wang Renjian Hao Dawei Shi Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.

关键词： Zero Moment Point Gait planning Integrated simulation platform Virtual prototyping

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