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Duan C.,Beijing Institute of Technology | Duan C.,State Key Laboratory of Intelligent Control and Decision of Complex Systems
Chinese Control Conference, CCC | Year: 2015

Ample research has been conducted in routing protocols for Mobile Ad Hoc Networks while traditional protocols cannot satisfy the demand of highly-dynamic environment. Though nodes in highly-dynamic environment often have supersonic velocity, they mainly perform their task with the same mission and their velocity and direction are basically approximate. Hence, the feature makes it possible to forecast links' quality. In this paper, Gauss-Markov mobility model (GM) was introduced in order to reduce the influence of random movement on simulation performance; meanwhile we have improved the routing protocol based on DSR by utilizing the idea of link's lifetime. Although the improved protocol may increase the number of hops in data transmission, it makes the network more stable. Compared to the original DSR protocol based 'minimum hops', simulation results operated in Qualnet present us the superior performances of the improved protocol, especially in Packet Delivery Ratio, Received Throughput, Average End-to-end Delay and Average Jitter. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.


Liu H.,Beijing Institute of Technology | Ceccarelli M.,University of Cassino and Southern Lazio | Huang Q.,Beijing Institute of Technology | Huang Q.,Beijing Innovation Center for Intelligent Robots and Systems | Huang Q.,State Key Laboratory of Intelligent Control and Decision of Complex Systems
Frontiers of Mechanical Engineering | Year: 2016

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots. © 2016 Higher Education Press and Springer-Verlag Berlin Heidelberg


Qiao D.,Beijing Institute of Technology | Qiao D.,State Key Laboratory of Intelligent Control and Decision of Complex Systems | Guo Z.,Beijing Institute of Aerospace Control Devices | Ma H.,Beijing Institute of Technology | Shi S.,Sogou
Chinese Control Conference, CCC | Year: 2015

This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.


Yue Y.,Beijing Institute of Technology | Yue Y.,State Key Laboratory of Intelligent Control and Decision of Complex Systems | Song Z.,Beijing Institute of Technology | Song Z.,State Key Laboratory of Intelligent Control and Decision of Complex Systems
2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics | Year: 2015

Laser beam stabilization systems have important engineering applications, for example in aircraft/spacecraft targeting, and free space laser-based communication, etc. Recent studies show that such systems are negative-imaginary systems with free body motion. Based on negative-imaginary theory, this paper proposes an integral resonant controller for the Quanser's laser beam stabilization system and optimizes the controller parameters. The proposed control scheme not only compensates for vibration sources and stabilizes the laser beam position, but also guarantees the robustness with respect to system parameter uncertainty. Simulation results obtained from the Quanser's laser beam stabilization simulation model are reported and comparisons are made with a PID controller. © 2015 IEEE.


Dong Z.,Beijing Institute of Technology | Dong Z.,State Key Laboratory of Intelligent Control and Decision of Complex Systems | Zhang J.,Beijing Institute of Technology | Zhang J.,State Key Laboratory of Intelligent Control and Decision of Complex Systems
Chinese Control Conference, CCC | Year: 2015

Ball and plate system is a multivariable system with inherent nonlinearity. It is a two-dimensional extension of the classic ball and beam system. In this paper, the idea of Active Disturbance Rejection Control (ADRC) is introduced. The extended state observer (ESO) is applied to estimate the disturbance including nonlinearity and the friction. Then, the disturbance estimated can be eliminated from the control. For the sake of reducing the impact of the measurement noise, the Fal function filter is applied to filter the output of the system with measurement noise. Meanwhile, the feedforward compensator is designed to reduce the error of the system. In the end, the simulations of the set-point experiments and the circle trajectory tracking experiments are completed. The simulation results show that the ADRC controller combined with a feedforward compensator performances better. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.

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