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第三十二届中国控制会议

作者： Simon Grude Matthew Freeland Chenguang Yang Hongbin Ma School of Computing and Mathematics University of Plymouth Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479900305

This paper investigates controlling the commercialized Spykee mobile robot,using only brain electroencephalography (EEG) signals transmitted by the Emotiv Epoc Neuro *** Spykee robot is equipped with a wireless communication protocol to control *** visualization and motor control methods have been carried out and analyzed in order to control the robot with *** the fourteen channels on the Emotiv headset have been utilized and the pattern recognition has been done by the echo state network(ESN).Four different actions(moving forward/backward and turning left/right) have been achieved to control the robot reaching an arbitrary target on the floor.

关键词： electroencephalography(EEG) Emotiv Epoc Neuro Headset Spykee Echo state Network(ESN)

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Time-Varying Sliding Mode Guidance with Impact Angle Constraints Against Nonmaneuvering Targets

Time-Varying Sliding Mode Guidance with Impact Angle Constra...

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第三十二届中国控制会议

作者： Yao Zhao Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

In this paper,a time-varying sliding model control(TVSMC) based guidance law against nonmaneuvering targets is proposed with impact angle *** algorithm is first designed for constant-speed interceptors to attack stationary and constant-velocity targets,and the global robustness of the system is ***,an adaptation strategy,adaptive time-varying sliding model control(ATVSMC),is adopted to deal with unknown but bounded disturbances by adjusting the switching gain *** analysis of the closed loop system is obtained through Lyapunov ***,numerical simulation results are presented to verify the effectiveness and robustness of the proposed guidance law.

关键词： Guidance Impact angle Time-varying sliding model control Robustness Adaptive

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Stability analysis of networked control systems with aperiodic sampling

Stability analysis of networked control systems with aperiod...

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第三十二届中国控制会议

作者： Jian Sun Jie Chen Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

This paper is concerned with stability analysis of networked control systems with aperiodic sampling and time-varying delay. The sampling times are assumed to vary within a known interval. The network-induced delay is assumed to belong to a given interval. The closed-loop system is modeled as a system with two time-delays and normbounded uncertainties coming from variations of sampling intervals. Using common Lyapunov function approach, a sufficient stability condition for the closed-loop system is derived and presented in terms of linear matrix inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Networked control system, Sampled-data system, Aperiodic sampling, Stability

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A Framework of Finite-model Kalman Filter with Case Study: MVDP-FMKF Algorithm

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Acta Automatica Sinica 2013年第8期39卷 1246-1256页

作者： Bo FENG Hong-Bin MA Meng-Yin FU Shun-Ting WANG School of Automation Beijing Institution of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

Kalman filtering techniques have been widely used in many applications, however, standard Kalman filters for linear Gaussian systems usually cannot work well or even diverge in the presence of large model uncertainty. In practical applications, it is expensive to have large number of high-cost experiments or even impossible to obtain an exact system model. Motivated by our previous pioneering work on finite-model adaptive control, a framework of finite-model Kalman filtering is introduced in this paper. This framework presumes that large model uncertainty may be restricted by a finite set of known models which can be very different from each other. Moreover, the number of known models in the set can be flexibly chosen so that the uncertain model may always be approximated by one of the known models, in other words, the large model uncertainty is “covered” by the “convex hull” of the known models. Within the presented framework according to the idea of adaptive switching via the minimizing vector distance principle, a simple finite-model Kalman filter, MVDP-FMKF, is mathematically formulated and illustrated by extensive simulations. An experiment of MEMS gyroscope drift has verified the effectiveness of the proposed algorithm, indicating that the mechanism of finite-model Kalman filter is useful and efficient in practical applications of Kalman filters, especially in inertial navigation systems.

关键词： Finite-model Kalman filter minimizing vector distance principle adaptive switching MEMS gyroscope de-noising

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Vehicle detection method based on active basis model and symmetry in ITS

Vehicle detection method based on active basis model and sym...

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2013 16th International IEEE Conference on intelligent Transportation systems: intelligent Transportation systems for All Modes, ITSC 2013

作者： Yao, Yanjie Gang, Xiong Wang, Kunfeng Zhu, Fenghua Wang, Fei-Yue State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Dongguan China

ISBN: (纸本)9781479929146

Vehicle detection is a foundational and significant task in video surveillance systems. In this paper, a vehicle detection method using a deformable model and symmetry is proposed. First, we learn the active basis model (ABM) from the target training sample set by using the shared sketch algorithm. Then, we utilize the edge information obtained by ABM and HSV color information to do symmetry analysis for vehicle objects. The ABM can detect vehicles in various poses, shapes, and sizes for its deformability. By doing edge and color symmetry analysis, subtle difference between two images and environment noises can be adapted. The results of experiments indicate that our approach is capable of detection different vehicles and localization vehicle in bad environment. What's important, the detection results support the capability of the proposed method to enable the introduction of novel intelligent transportation systems applications. © 2013 IEEE.

关键词： Vehicles

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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Comparison of Several Filtering Methods for Linear Multi-agent systems with Local Unknown Parametric Couplings

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IFAC Proceedings Volumes 2013年第20期46卷 212-217页

作者： Yini Lv Hongbin Ma Chenguang Yang Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China 100081 School of Computing and Mathematics Plymouth University UK PL4 8AA

In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent because of communication limitations existing in the considered multi-agent system. Because of the information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional Kalman filter or other state observers. Noting of the existence of coupling uncertainties in many practical applications, this paper introduces one general framework of decentralized filtering problem of multi-agent systems. For the considered system, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from principles in adaptive control, we introduce several filtering methods to resolve the fundamental problem considered in this paper. By conducting extensive simulations, the consuming time and estimation errors of every method are compared for one typical example, which suggests which method is more precise and faster.

关键词： multi-agent dynamic system Kalman filter parametric coupling uncertainty decentralized filtering centralized filtering

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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

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The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

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The Modeling and Estimation of Asynchronous Multirate Multisensor Dynamic systems

The Modeling and Estimation of Asynchronous Multirate Multis...

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第三十二届中国控制会议

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

ISBN: (纸本)9781479900305

This paper is concerned with the state estimation of a linear dynamic system and the fusion of asynchronous multirate multisensor *** dynamic system is described at the finest scale with multiple sensors observing a single target independently at different scales with different sampling *** main result is that the multiscale measurements are properly formulated,and an optimal recursive fusion algorithm is presented.A numerical example is given to show the feasibility and efficiency of the algorithm.

关键词： state estimation recursive fusion asynchronous multirate multiscale Kalman filter

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