Entity

Time filter

Source Type


Yin X.-H.,Beijing Jiaotong University | Fan X.-L.,Beijing Jiaotong University | Zhang H.,Beijing Municipal Engineering Professional Design Institute Co.
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | Year: 2014

Consensus problems of multi-robot systems in which each robot communicates with the others over wireless networks are investigated. The multi-robot systems can be modeled as a kind of networked control systems under the fixed communication topology conditions, and further regarded as the asynchronous dynamic systems constrained by the packet loss probability when considering the influence factors such as channel noise, uncertain short delay and packet loss. By constructing the Lyapunov function and using the linear matrix inequality (LMI) method, the sufficient condition of exponential stability for the systems is obtained. A controller is designed to achieve the motion consensus of multi-robot systems. The effects of different exponential convergence rate on the convergence speed of multi-robot systems are discussed. Subsequently, the correlative theoretical demonstrations and simulation verifications are given. ©, 2014, Chinese Institute of Electronics. All right reserved. Source


Zhao S.-L.,Beijing Jiaotong University | Yin X.-H.,Beijing Jiaotong University | Wei X.-Y.,Beijing Jiaotong University | Zhang H.,Beijing Municipal Engineering Professional Design Institute Co.
Dianji yu Kongzhi Xuebao/Electric Machines and Control | Year: 2015

First, a new scheduling scheme called least-square-like scheduling (LSLS) scheme, which combines priority-based scheduling with communication sequence (or scheduling sequence), was proposed. Measurements from sensors were sent to LSLS scheduler in each sampling period, and then the scheduler was compared with the measurements determined by the scheduling sequence of LSLS with the states of the ideal dynamics which are determined by the same sequence. The variances between actual states and ideal states were hence calculated. In this context, the states corresponding to the scheduling sequence of bigger variance gained the access to network. Second, the networked control system with medium access constraint and short random delay was modeled as a switched system that switches according to the scheduling sequence. The stability was analyzed and the coupling design of control and scheduling was completed by Lyapunov stability theory and linear matrix inequalities (LMI) method. Finally, the control performance of the proposed coupling design of LSLS and control is demonstrated by simulation. It is shown that the control performance of the proposed coupling design algorithm is better than the one of the coupling design of maximum error first with try once discard (MEF-TOD) scheduling and control. ©, 2015, Editorial Department of Electric Machines and Control. All right reserved. Source


Li Y.,Shenzhen City Bridge Bo Design Institute Co. | Li M.,Beijing Municipal Engineering Professional Design Institute Co. | Shi M.,Shenzhen City Bridge Bo Design Institute Co. | Li H.,Shenzhen City Bridge Bo Design Institute Co. | And 2 more authors.
Jianzhu Jiegou Xuebao/Journal of Building Structures | Year: 2013

Cantilever truss bridge with corrugated steel webs is a new type of bridge structure. Beam-wave interaction and corrugated steel web are mainly to solve the longitudinal shear problem of concrete-filled steel tubular truss. Cantilever mainly solves the problem of lateral bending problem. The bridge with corrugated steel webs forms longitudinal box structure, and concrete-filled steel tubular truss forms horizontal cantilever structure. The two cross sections formed during construction can effectively reduce the transverse width of box girder, and result in convenient transportation and installation. The upper end of the cantilever plate and the bottom of the box girder are fixed to the top and bottom of the truss respectively. The cantilever truss composite bridge with corrugated steel webs is then formed. The main bridge structure was analyzed using Midas/Civil 2010 finite element analysis program. The results show that, the space radiation concrete filled steel tubular piers stay in the elastic state; the first order natural frequency of the main beam is 2.65 Hz; the whole structure has a good rigidity; the first order buckling eigenvalue is 18.18, indicating good structure stability. Source


Yin X.-H.,Beijing Jiaotong University | Fan X.-L.,Beijing Jiaotong University | Bai X.,Beijing Jiaotong University | Zhang H.,Beijing Municipal Engineering Professional Design Institute Co.
Dianji yu Kongzhi Xuebao/Electric Machines and Control | Year: 2014

The coordination control of multi-robot communicating with the others over wireless networks with channel noise and Markov random packet loss was studied. Suppose the topology formed by robots was fixed, the stochastic uncertain factors such as connection weights between robots, channel noise and the Markov random packet loss in the network were transformed into some uncertain parameters of uncertain systems. Multi-robot system model was established by using the theories about robust control, uncertain systems. By analyzing the stability of the whole system and using the linear matrix inequality (LMI) method, the criterion of selecting weights was obtained to achieve the state consensus of multi-robot. A consistent coordination control algorithm of stability for the system was designed. The characteristic curves of motion state of multi-robot were analyzed by utilizing the simulation software which simulates the system running under the network environment. Meanwhile, a comparison was made between the proposed algorithm and the other method to prove the effectiveness of the proposed method. ©, 2014, Editorial Department of Electric Machines and Control. All right reserved. Source


Yin X.,Beijing Jiaotong University | Li B.,Beijing Jiaotong University | Song Y.,Beijing Jiaotong University | Zhang H.,Beijing Municipal Engineering Professional Design Institute Co.
Beijing Jiaotong Daxue Xuebao/Journal of Beijing Jiaotong University | Year: 2010

In this paper, considering the effects on system performance occurred by system error, error rate, network utilization and sampling period, we design a new variable sampling period scheduling algorithm based on fuzzy feedback. The algorithm consists of network utilization prediction and sampling period adjustment. In the network utilization prediction procedure, a new network utilization is predicted according to real-time network operation status; Network utilization allocation and sampling period calculation are done in the sampling period adjustment procedure. Network utilization allocation is used to allocate the network utilization of each loop considering system error and error rate, and the allocation is conducted through using the fuzzy control theory to adjust the demand degree of each loop. According to the network utilization and data transmission time, the sampling periods of loops are adjusted dynamically through the sampling period calculation. Finally, the proposed algorithm is simulated using True Time toolbox to compare with the fixed sampling period scheduling algorithm. The simulation results show that the former has better control performance than the latter. Source

Discover hidden collaborations