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

作者： Qi Liu Xiao-guang Zhao Zeng-guang Hou Hong-guang Liu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation CAS Institute of crime Chinese People's Public Security University

ISBN: (纸本)9781479987313

In this paper, the principle of the kernel extreme learning machine (ELM) is analyzed. Based on that, we introduce a kind of multi-scale wavelet kernel extreme learning machine classifier and apply it to electroencephalographic (EEG) signal feature classification. Experiments show that our classifier achieves excellent performance.

关键词： EEG classification ELM Multi-scale wavelet kernel Elm Ecosystem models Learning machines eeg feature Classifiers multi-scale Seeds wavelets Kernel

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On Convergence of Extended state Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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Path Following and Obstacle Avoidance control Based on Different Fuzzy Grains

Path Following and Obstacle Avoidance Control Based on Diffe...

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2015年中国智能自动化学术会议

作者： Yifei Kong Chaoyi Chen Yuequan Yang Zhiqiang Cao College of Information Engineering Yangzhou University State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper presented a hierarchical fuzzy path following control scheme based on different fuzzy grain size in a class of unknown environment with static *** employing fine-grained fuzzy division and design of fuzzy rule table for the rotation angle and speed of a robot,a more accurate path following control was achieved,while more effective fuzzy obstacle avoidance was realized with coarse-grained fuzzy division *** proposed controller was a two-leveled architecture in which the higher level was the decision-making of the sub-task switching of path following or obstacle avoidance,while the lower level was motion control of path following and fuzzy obstacle ***,the simulation experiments were carried out to demonstrate the feasibility and effectiveness of the proposed scheme.

关键词： Robot Fuzzy control Path following Obstacle avoidance

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Leader-Following Consensus of Discrete-Time Linear Multi-Agent systems with Communication Noises

Leader-Following Consensus of Discrete-Time Linear Multi-Age...

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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Hongming Wang Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China North Vehicle Research Institute Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.

关键词： Multi-Agent system,Leader-following consensus,Mean square,Communication noise.

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A New Second-order Fuzzy control Scheme for Dynamic Obstacle Avoidance

A New Second-order Fuzzy Control Scheme for Dynamic Obstacle...

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第27届中国控制与决策会议

ISBN: (纸本)9781479970186

For the dynamic obstacle avoidance problem in a unknown environment,a second-order fuzzy control strategy is proposed based on fuzzy *** the observation and analysis of the perception information of the delta speed and the delta deviation angle of a detected dynamic obstacle,the robot then make decision to efficiently avoid dynamical ***,a two hierarchical control scheme is designed,where the upper level is to determine the deflection angle according to delta of speed and direction of dynamic obstacles,and the lower one is to derive the speed of a robot by employing the output of the upper level and the distance between the robot and dynamic *** simulations are demonstrated that the proposed scheme is effective and efficient.

关键词： robot dynamic obstacle avoidance fuzzy control

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Guest Editorial for Special Issue on Cyber-Physical systems

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 233-234页

作者： Youxian Sun Xinping Guan Jiming Chen Yilin Mo Zhejiang University the Chinese Academy of Engineering the Institute of Industrial Process Control and the National Engineering Research Center of Industrial Automation Zhejiang University Department of Automation Shanghai Jiao Tong University University Research Management Office Shanghai Jiao Tong University the Key Laboratory of Systems Control and Information Processing Ministry of Education of China the prestigious Innovative Research Team of the National Natural Science Foundation of China(NSFC) Department of Control Science and Engineering group of Networked Sensing and Control in the State Key laboratory of Industrial Control Technology Institute of Industrial Process Control at Zhejiang University the School of Electrical and Electronic Engineering at Nanyang Technological University

Ⅰ.Introduction CYBER-PHYSICAL system is a system of collaborating computational elements to control physical *** coordination and the tight link between computational,virtual and physical resources in cyber-physical system will have a pervasive effect on our everyday *** development of cyber-physical system will create new opportunities for the introduction of services that will enhance the quality of life

关键词： for WSAN Guest Editorial for Special Issue on Cyber-Physical systems of into on WSN is

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Nearly Optimal Tracking control for Continuous Time Nonlinear systems Using a Policy Iteration Based HJB Approach

Nearly Optimal Tracking Control for Continuous Time Nonlinea...

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第三十四届中国控制会议

作者： Ruizhuo Song Qinglai Wei Wendong Xiao Zanzan Du School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467374439

A policy iteration method is proposed to solve the optimal tracking control of continuous-time systems based on HJB equation. The performance index function is composed by the state tracking error and the tracking control error. The iterative performance index function and the iterative control are obtained by the presented policy iteration. It is proven that the iterative control makes the system asymptotic stability, and the iterative performance index function is convergent. Simulation study demonstrates that the effectiveness of the proposed optimal tracking control method.

关键词： Adaptive dynamic programming,Approximate dynamic programming,Optimal tracking control,Policy Iteration

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A new approach of optimal control for a class of continuous-time chaotic systems by an online ADP algorithm

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Chinese Physics B 2014年第5期23卷 138-144页

作者：宋睿卓肖文栋魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an online adaptive dynamic programming （ADP） based optimal control scheme for continuous-time chaotic systems. The idea is to use the ADP algorithm to obtain the optimal control input that makes the performance index function reach an optimum. The expression of the performance index function for the chaotic system is first presented. The online ADP algorithm is presented to achieve optimal control. In the ADP structure, neural networks are used to construct a critic network and an action network, which can obtain an approximate performance index function and the control input, respectively. It is proven that the critic parameter error dynamics and the closed-loop chaotic systems are uniformly ultimately bounded exponentially. Our simulation results illustrate the performance of the established optimal control method.

关键词： adaptive dynamic programming adaptive critic designs optimal control continuous-time chaoticsystem

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Implementation of Active Training for an Upper-limb Rehabilitation Robot Based on Impedance control

Implementation of Active Training for an Upper-limb Rehabili...

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第27届中国控制与决策会议

作者： Liang Peng Zeng-Guang Hou Nikola Kasabov Long Peng Jin Hu Weiqun Wang The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Knowledge Engineering and Discovery Research Institute Auckland University of Technology

Many rehabilitation robots have been designed to alleviate the conflict between increasing number of poststroke patients and shortage of *** training is the main feature of advanced rehabilitation robots,which has been proved to be more effective than simple passive movement *** paper presents the implementation of active training on a 2-DOF upper-limb rehabilitation robot,which can assist the shoulder and elbow joint rehabilitation training of post-stroke *** controller is built based on impedance control,which can provide a compliant human-robot *** implementation of active training is combined with a virtual reality game,and the average error between the actual and target reaction force is 1.41 ± 0.79 N in the X axis,and 1.22 ± 0.91 N in the Y axis.

关键词： Active Training Rehabilitation Robot Force Feedback Impedance control

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