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arXiv 2017年

作者： Kekatos, Vassilis Wang, Gang Zhu, Hao Giannakis, Georgios B. Bradley Department of Electrical and Computer Engineering Virginia Tech BlacksburgVA24061 United States Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Illinois UrbanaIL61801 United States

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The Energy Consumption Analysis of Hydraulic Quadruped Robot based on Gait Parameters 34

The Energy Consumption Analysis of Hydraulic Quadruped Robot...

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第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

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Trajectory tracking control of a four-wheel-steering car based on differential flatness and ADRC

Trajectory tracking control of a four-wheel-steering car bas...

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International Workshop on Variable Structure systems, VSS

作者： Shengfei Li Yuanqing Xia Fan Pu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

A flatness based robust active disturbance rejection control technique is proposed for the trajectory tracking problem of a special under-actuated system known as four-wheel-steering car. The under-actuated problem of such nonlinear coupled system consisting of three degrees of freedom is settled by exploiting its flatness property to obtain an input-output map. Active disturbance rejection control (ADRC), which shows many advantages in estimating and compensating the lumped effects is then utilized. Several simulations are carried out to show the improvements in vehicle handling and stability of the flat based high-order linear ADRC scheme.

关键词： Vehicles Trajectory Wheels Frequency modulation Vehicle dynamics Tires

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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

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key Engineering Materials 2015年 645卷 957-962页

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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control of Bilateral Teleoperation with Time Delay Considering Operator Force Sending 34

Control of Bilateral Teleoperation with Time Delay Consideri...

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第三十四届中国控制会议

作者： QIN Yongming XIA Yuanqing School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.

关键词： bilateral teleoperation,time delay,force sending,position tracking,contact force

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Optimal Design of controllers Based on Libraries and Differential Evolution 34

Optimal Design of Controllers Based on Libraries and Differe...

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第三十四届中国控制会议

作者： SUN Zhenlu XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781467374439

This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established in the *** component library contains different types of system components which may be essential for controller *** components can be selected from the library and then combined to form a controller with richer *** performance criteria library includes some common control performance *** can choose one from it according to performance ***,the differential evolution algorithm is utilized to optimize the parameters of each component in order to find the optimal solution and ultimately obtain the controller structure and parameters which meet *** were done on different types of control *** results show that the controllers designed by the proposed method for different types of control objects generally have better comprehensive performance than the PID controllers designed by conventional methods,differential evolution and genetic ***,stability and generalizability of the proposed method were also tested and verified.

关键词： controller Design Differential Evolution Component Library Performance Criteria Library

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Optimal sequential estimation for multirate dynamic systems with unreliable measurements and correlated noise

Optimal sequential estimation for multirate dynamic systems ...

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第35届中国控制会议

作者： Liping Yan Jun Liu Lu Jiang Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

In the field of target tracking and navigation,multi-sensor data fusion has been widely *** of the data fusion algorithms are built on the premise that the sensor observation information is ***,in practical problems,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen *** addition,at present a lot of research is aimed at the situation where measurement noise between various sensors is not relevant,and process noise and measurement noise is *** correlation is more *** this paper,a multi-rate multi-sensor data fusion state estimation algorithm with unreliable observations under correlated noises is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation sequential fusion correlated noise unreliable measurements

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Robust Scene Matching Method Based on Sparse Representation

Robust Scene Matching Method Based on Sparse Representation

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第35届中国控制会议

作者： Sai Yang Bo Xiao Liping Yan Yuanqing Xia Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

This article presents two efficient scene matching methods based on sparse representation,which are robust to noise and *** process of searching for the correct matching position in the reference image can be considered as finding a certain atom in a dictionary to represent the vectorized sensed *** atoms that form the dictionary are vectorized blocks which represent all the possible matching *** also use two steps matching to speed up the running time,and further improve the performance to some *** demonstrate that our scene matching methods perform better than traditional methods due to the inherent robustness to corruption of sparse representation.

关键词： scene matching sparse representation visual navigation

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Image Matching Based on Multiscale Increment Sign Correlation and Iterative Correction

Image Matching Based on Multiscale Increment Sign Correlatio...

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第35届中国控制会议

作者： Liping Yan Sai Yang Shuo Li Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

By combining wavelet transform and increment sign correlation with iterative correction,we present a robust image matching method,which effectively reduced ***,by decomposing the sensed image and the reference image with wavelet,smooth images are generated in coarse *** the use of increment and decrement information of adjacent pixels,smooth images are encoded into binary images,and the matching position can be found by use of the cross correlation *** decomposition can effectively remove noise and greatly improve the real-time performance of matching algorithm while increment sign correlation method is not sensitive to the gray level of *** combination of wavelet transform and increment sign correlation can deal with noise,shadow and occlusion as well as improve the matching speed compared with traditional matching *** the condition of heavy noise and occlusion that the matching method mentioned above can not find the correct position in condition of heavy noise and occlusion,we present an iterative correction image matching method,*** the above matching result as prior knowledge and achieve the correct matching position by correcting matching results *** analysis shows the feasibility of the presented method,and our experiments show its validity.

关键词： Image Matching Wavelet Decomposition Increment Sign Correlation Iterative Correction

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