Key Laboratory of Intelligent Control and Decision of Complex Systems

Beijing, China

Key Laboratory of Intelligent Control and Decision of Complex Systems

Beijing, China
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Xiwei P.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Fei L.,Beijing Dahao Technology Corporation Ltd. | Wei M.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017 | Year: 2017

Proportional valve-controlled electro-hydraulic position servo system has advantages of low cost and high dependability, but the friction of proportional valve restricts its application in industrial control system. In this paper, the model of proportional valve-controlled electro-hydraulic positon servo system has been established. Aiming at the friction in position servo system, the theoretical analysis on the basis of Stribeck model has carried on. In order to eliminate the effect of friction, the control method based on disturbance observer was implemented. The simulation experiment results show the performance of system and the resistance to disturbance were improved. © 2017 IEEE.


Zhao J.,Beijing Institute of Technology | Zhao J.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Chen J.,Beijing Institute of Technology | Chen J.,Key Laboratory of Intelligent Control and Decision of Complex Systems | And 3 more authors.
Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017 | Year: 2017

This paper describes fast test and compensation system for optical encoders. The resolution of system is 0.375', and it can measure the actual accuracy of an optical encoder in four minutes. Furthermore, a method called Extreme Learning Machine-Fourier Neural Network (ELM-FNN) are proposed to compensate the error. Fourier neural network (FNN) is chosen to fit the curve of the optical encoder's output, and the weights of FNN is calculated by Extreme Learning Machine (ELM). Experimental results demonstrate that ELM-FNN effectively improve the accuracy of the optical encoder. Compared to a back propagation neural network (BP net) and a standard FNN, ELM-FNN has advantages of higher accuracy and less training time. © 2017 IEEE.


Gao X.,Beijing Institute of Technology | Gao X.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Chinese Control Conference, CCC | Year: 2013

There being ample research in cluster-based Media Access Control (MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for MANETs. Nodes in MANETs often have highly mobility and sometimes present the characteristic of group mobility. From the innovation perspective, we proposed a clustering algorithm by employing Learning Automata (LA) in a distributed manner considering nodes distance and nodes mobility to produce stable clusters. By utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past time. Compared to another mobility based clustering algorithm, simulation results present us the superior performance of the proposed algorithm. © 2013 TCCT, CAA.


Gao Z.,Liaoning University | Liao X.,Beijing Institute of Technology | Liao X.,Key Laboratory of Intelligent Control and Decision of Complex Systems
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2014

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 < α < 2 via fuzzy T-S models. Using the properties of the Kronecker product and LMI approach, the feedback and observer gain matrices are designed. By this method, the state of nonlinear system described as the fuzzy T-S model is convergent to the equilibrium and the observer error is convergent to zero. Finally, the simulation result of a numerical example is given to illustrate the effectiveness of this method. © IFAC.


Wang Y.,Beijing Institute of Technology | Chen W.,Beijing Institute of Technology | Chen W.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Chinese Control Conference, CCC | Year: 2014

Path planning is always an essential issue and complicated optimum problem for unmanned aerial vehicle (UAV). Genetic algorithms are well applied to solve such problems as a stochastic search method. In this paper, a new method of path planning for UAV based on genetic algorithms is introduced. Reasonable coding way and fitness function are used in this improved genetic algorithm, and prior knowledge is added to the genetic algorithm. By selecting essential points and moving strategy in advance, this new method can highly reduce the computation cost and find the optimal path more efficiently. The simulation result shows that this new approach is proved to improve the search efficiency. © 2014 TCCT, CAA.


Li L.,Beijing Institute of Technology | Li L.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Xia Y.,Beijing Institute of Technology | Xia Y.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Automatica | Year: 2012

In this paper, the stochastic stability of the discrete-time unscented Kalman filter for general nonlinear stochastic systems with intermittent observations is proposed. It is shown that the estimation error remains bounded if the system satisfies some assumptions. And the statistical convergence property of the estimation error covariance is studied, showing the existence of a critical value for the arrival rate of the observations. An upper bound on this expected state error covariance is given. A numerical example is given to illustrate the effectiveness of the techniques developed. © 2012 Elsevier Ltd. All rights reserved.


Xin B.,Beijing Institute of Technology | Xin B.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Chen J.,Beijing Institute of Technology | Chen J.,Key Laboratory of Intelligent Control and Decision of Complex Systems | And 2 more authors.
Zidonghua Xuebao/Acta Automatica Sinica | Year: 2013

A literature review regarding intelligent optimized control (IOC) is provided along the branches including fuzzy optimized control, neural optimized control, fuzzy-neural optimized control, intelligent optimizers based optimized control and so on. Accordingly, concepts which are closely related to IOC are analyzed in depth. Also, a classification of IOC methods is presented. Finally, several important issues about IOC are discussed and the development of IOC in future is predicted. Copyright © 2013 Acta Automatica Sinica. All rights reserved.


Huo G.,Beijing Institute of Technology | Huo G.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Miao L.,Beijing Institute of Technology | Miao L.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Chinese Journal of Aeronautics | Year: 2012

That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system (GPS). In this paper, an algorithm based on length-4 symmetric/anti-symmetric (SA4) orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust (GHM), Chui-Lian (CL) and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties (GMPs), it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform. © 2012 Chinese Journal of Aeronautics.


Li W.,Beijing Institute of Technology | Li W.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Chinese Control Conference, CCC | Year: 2014

Special Re-use TDMA (STDMA) emerges as a promising channel access technique for providing Quality of Service (QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm. © 2014 TCCT, CAA.


Mao Y.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Dou L.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Fang H.,Key Laboratory of Intelligent Control and Decision of Complex Systems | Chen J.,Key Laboratory of Intelligent Control and Decision of Complex Systems
Asian Journal of Control | Year: 2015

The problem of distributed connectivity-preserving leader-follower flocking of multiple autonomous agents with second-order dynamics is investigated. First, a new class of bounded artificial potential fields is carefully designed which could guarantee connectivity preservation, distance stabilization and collision avoidance simultaneously as the system evolves. Furthermore, in the absence of acceleration measurements of the dynamic leader, a set of distributed and bounded leader-follower flocking control protocols is derived for each follower with the aid of the combination of potential based gradient descent methods and the sliding mode control paradigms. It is shown that all followers achieve velocity consensus and collision avoidance with the dynamic leader, the underlying network remains connected for all time, and the desired stable flocking behavior is asymptotically achieved on the condition that the initial network is connected. Finally, nontrivial simulations and experiments are worked out to verify the effectiveness of the proposed control algorithms. © 2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd.

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