Key Laboratory of Measurement and Control of CSE

Key Laboratory of Measurement and Control of CSE

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Chen C.,Nanjing Southeast University | Chen C.,Key Laboratory of Measurement and Control of CSE | Wang Y.,Nanjing Southeast University | Wang Y.,Key Laboratory of Measurement and Control of CSE | And 2 more authors.
International Journal of Advanced Robotic Systems | Year: 2017

In this article, we discuss the temperature regulation problem of robotic thermal tactile system under unknown time-varying disturbances. In order to improve the disturbance rejection property of the thermal system, a composite controller is presented. First, a generalized proportional integral observer is introduced to estimate the system disturbances, which generally include model uncertainties and external disturbances. Second, a feedback control is designed using feedback linearization control technique. A composite temperature controller is obtained as a composition of feedback linearization–based controller plus feed-forward compensation based on generalized proportional integral observer. A rigorous analysis shows that the proposed scheme can enhance the disturbance rejection property of the thermal system. Simulation and experimental comparisons with two other control methods, that is, the composite control method with feedback linearization–based control plus feed-forward compensation based on disturbance observer and the proportional integral control method, are given to verify that the proposed method exhibits a much better disturbance rejection performance. © 2017, © The Author(s) 2017.


Meng X.-G.,Tianjin University of Technology | Meng X.-G.,Nanjing Southeast University | Meng X.-G.,Key Laboratory of Measurement and Control of CSE | Yan H.-S.,Nanjing Southeast University | Yan H.-S.,Key Laboratory of Measurement and Control of CSE
Xitong Gongcheng Lilun yu Shijian/System Engineering Theory and Practice | Year: 2012

For the sake of strengthening knowledge representation of fuzzy Petri nets, attributes fuzzy Petri nets (AFPN) are presented. On the basis of fuzzy Petri nets, places and weights are endowed with attributes which are related to actual system, so that the AFPN model of multiple attributes system is of simple model structure. AFPN models are stored in knowledge base of knowledgeable manufacturing systems, and irregular models are regularized after attributes decomposing, attributes merging, and model training. Thus, a new products processing AFPN model can be established simply and fast on the basis of original AFPN model. In the examples of products demand forecastng, demand forecasting AFPN model is established by using demand-related data of products and materials, and it can forecast products demands quickly.


Sun H.,Nanjing Southeast University | Sun H.,Key Laboratory of Measurement and Control of CSE | Li S.,Nanjing Southeast University | Li S.,Key Laboratory of Measurement and Control of CSE | And 2 more authors.
Acta Astronautica | Year: 2011

In this paper, a 6DOF spacecraft formation control problem is investigated via a composite control method, which consists of a feedback control law based on a finite time control technique and a feedforward compensator based on a nonlinear disturbance observer technique. The composite controller can guarantee that the closed-loop error system is globally asymptotically stable with respect to a set of two equilibria, that is, the 6DOF spacecraft can reach the desired formation. Simulation results are provided to demonstrate the effectiveness of the proposed method. The results show that the control performance of the proposed method in terms of both stabilization and disturbance rejection are considerably better than the traditional method. © 2011 Elsevier Ltd.


Du H.,Key Laboratory of Measurement and Control of CSE | Du H.,Nanjing Southeast University | Li S.,Key Laboratory of Measurement and Control of CSE | Li S.,Nanjing Southeast University
Journal of Guidance, Control, and Dynamics | Year: 2012

The global finite-time attitude stabilization problem for a rigid spacecraft system is investigated. The actuator saturation is explicitly taken into account in the proposed finite-time stabilizer. Based on a homogeneous method, a local continuous saturated finite-time controller is first designed. Then, based on switching method, a global saturated finite-time controller is developed. Simulation results are given to demonstrate the efficiency of the proposed method. © © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.


Sun H.,Nanjing Southeast University | Sun H.,Key Laboratory of Measurement and Control of CSE | Sun H.,Beihang University | Li S.,Nanjing Southeast University | And 3 more authors.
Nonlinear Dynamics | Year: 2013

This study investigates the tracking control problem for the longitudinal model of an airbreathing hypersonic vehicle (AHV) with external disturbances. By introducing finite time integral sliding mode manifolds, a novel finite time control method is designed for the longitudinal model of an AHV. This control method makes the velocity and altitude track the reference signals in finite time. Meanwhile, considering the large chattering phenomenon caused by high switching gains, an improved sliding mode control method based on nonlinear disturbance observer is proposed to reduce chattering. Through disturbance estimation for feedforward compensation, the improved sliding mode controller may take a smaller value for the switching gain without sacrificing disturbance rejection performance. Simulation results are provided to confirm the effectiveness of the proposed approach. © 2013 Springer Science+Business Media Dordrecht.


Sun H.,Nanjing Southeast University | Sun H.,Key Laboratory of Measurement and Control of CSE | Li S.,Nanjing Southeast University | Li S.,Key Laboratory of Measurement and Control of CSE
Chinese Journal of Aeronautics | Year: 2013

In this paper, the attitude stabilization problem of a rigid spacecraft described by Rodrigues parameters is investigated via a composite control strategy, which combines a feedback control law designed by a finite time control technique with a feedforward compensator based on a linear disturbance observer (DOB) method. By choosing a suitable coordinate transformation, the spacecraft dynamics can be divided into three second-order subsystems. Each subsystem includes a certain part and an uncertain part. By using the finite time control technique, a continuous finite time controller is designed for the certain part. The uncertain part is considered to be a lumped disturbance, which is estimated by a DOB, and a corresponding feedforward design is then implemented to compensate the disturbance. Simulation results are employed to confirm the effectiveness of the proposed approach. © 2013 Production and hosting by Elsevier Ltd. on behalf of CSAA & BUAA.


Yang R.-Z.,Nanjing Southeast University | Yan H.-S.,Nanjing Southeast University | Yan H.-S.,Key Laboratory of Measurement and Control of CSE
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | Year: 2013

The knowledge mesh's selection method based on fuzzy relation clustering is proposed for the selecting problem caused by the increasing similar knowledge mesh and unclear requirements of user in knowledgeable manufacturing system. The similarity degree which synthesizes the function, perfection degree and structure of knowledge mesh, has the characteristics of reflecting operation laws. The similarity values as cluster data reduce the dimension of high-dimensional feature space. The decomposition of fuzzy relational matrix obtains the groups of knowledge meshes. The comparisons between target knowledge mesh and knowledge mesh with high class membership degree in each class narrow the scope of user selection. The last example shows that the method is effective and feasible.


Sun W.,Qufu Normal University | Fu B.,Nanjing Southeast University | Fu B.,Key Laboratory of Measurement and Control of CSE
IET Control Theory and Applications | Year: 2016

The adaptive control problem of a class of time-varying non-linear systems with uncertainties and input delay is addressed via a Hamiltonian approach in this study. The delay is assumed to be a constant and the uncertainties are small parametric perturbations. First, the non-linear system is equivalently transformed into a Hamiltonian system form and the Casimir-like function is proposed to help shaping the Hamiltonian as a candidate of Lyapunov function in the extended systems. Second, the adaptive control problem is investigated based on the time-varying dissipative Hamiltonian system with input delay. The feedback controller is designed to guarantee the stability of the closed-loop system for all admissible uncertainties, as well as constant delay. Sufficient conditions are presented to ensure the rationality of the proposed control law, which are derived based on Lyapunov function method. Stabilisation problem is also considered while there are no uncertain parameters in the delay non-linear systems. Finally, several examples are presented to illustrate the effectiveness of the results obtained in this study. © The Institution of Engineering and Technology 2016.


Xiao H.,CAS Institute of Automation | Yuan K.,CAS Institute of Automation | He W.,CAS Institute of Automation | He W.,Key Laboratory of Measurement and Control of CSE
Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | Year: 2011

In order to achieve real-time detection of SIFT keypoints through hardware computation on FPGA, the original algorithm was redesigned to accommodate the parallel computation and pipelined structure of hardware. The computation accuracy of fixed-point number is improved by the new scheme, while the computation amount of the whole algorithm is greatly reduced and hardware cost is saved. In the aspect of performance, the new scheme is as robust to image noise as the original algorithm, while the scale invariance of keypoints has been improved dramatically. © 2011 IEEE.


Chen Y.,Key Laboratory of Measurement and Control of CSE | Chen Y.,Henan Institute of Science and Technology | Fei S.,Key Laboratory of Measurement and Control of CSE | Zhang K.,Key Laboratory of Measurement and Control of CSE
International Journal of Computer Mathematics | Year: 2012

This paper considers the asymptotic stability problem for a class of neural networks with discrete and distributed delays. Based on a new augmented Lyapunov functional and integral inequalities, the new asymptotic stability condition is established in terms of linear matrix inequality. Meanwhile, the importance of some augmented terms in the Lyapunov functional are discussed. Compared with previous methods to deal with the distributed delay, our method is less conservative due to the use of the new Lyapunov functional. Finally, numerical examples illustrate the relaxation of obtained results and our claims. © 2012 Taylor & Francis.

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