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2018 37th Chinese Control Conference (CCC)最新文献

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A Guidance-Based Robust Controller for Unmanned Helicopter on Three-Dimensional Path Following 基于制导的无人直升机三维路径跟踪鲁棒控制器
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483385
Junfeng Chen, Xiaoai Jiang, Nanyu Chen, Yaoming Zhou
{"title":"A Guidance-Based Robust Controller for Unmanned Helicopter on Three-Dimensional Path Following","authors":"Junfeng Chen, Xiaoai Jiang, Nanyu Chen, Yaoming Zhou","doi":"10.23919/CHICC.2018.8483385","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483385","url":null,"abstract":"A three-dimensional robust path following controller is proposed for an unmanned helicopter with uncertain external disturbance, which is implemented by using dual-loop structure, including an outer-loop for three-dimensional nonlinear path following and an inner-loop for the attitude control. The outer-loop controls the attitude angles and lift to track the expected path and velocity based on the line-of-sight guidance law derived in the flight-path coordination, and the inner-loop was designed based on a backstepping controller in the inertial coordination. The external disturbance were also compensated by using sliding mode disturbance observer based on super-twisting in the inner-loop and the torques were controlled to track the desired attitude. To provide a number of key parameters for path following, the calculation methods are presented. Finally a simulation was carried out to demonstrate the feasibility and performance of the proposed controller.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126320417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Cooperative Encirclement Control for a Group of Targets by Decentralized Robots with Collision Avoidance 分散机器人避碰协同包围圈控制
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483768
Junchong Ma, Weijia Yao, Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng
{"title":"Cooperative Encirclement Control for a Group of Targets by Decentralized Robots with Collision Avoidance","authors":"Junchong Ma, Weijia Yao, Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng","doi":"10.23919/CHICC.2018.8483768","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483768","url":null,"abstract":"This study focuses on multi-target capture and encirclement control problem for multiple mobile robots. With the distributed architecture, this problem involves a group of robots to encircle several moving targets in a coordinated circle formation. In order to efficiently allocate the targets to robots, a Hybrid Dynamic Task Allocation (HDTA) algorithm was proposed, in which a temporary “manager” robot was assigned to negotiate with other robots. For encirclement formation, a robust control law was introduced for any number of mobile robots to form a specific circle formation with arbitrary inter-robot angular spacing. In view of safety, an online collision avoidance algorithm combining the sub-targets and Artificial Potential Fields (APF) approaches was proposed, which ensures that the paths of robots are collision-free. To prove the validity and robustness of the proposed scheme, both theoretical analysis and simulation experiments were conducted.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126224142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Stabilization of Cascaded Nonlinear Networks with Multiple Integral ISS Dynamic Uncertainties 具有多重积分ISS动态不确定性的级联非线性网络的镇定
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483248
Xinghu Wang, Youfeng Su, Dabo Xu
{"title":"Stabilization of Cascaded Nonlinear Networks with Multiple Integral ISS Dynamic Uncertainties","authors":"Xinghu Wang, Youfeng Su, Dabo Xu","doi":"10.23919/CHICC.2018.8483248","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483248","url":null,"abstract":"This paper is to address a theoretical result on a global stabilization technique for a class of nonlinear interconnected systems or namely large-scale dynamic networks. The problem is of interest and has strong impacts in resolving complex nonlinear output regulation problems. To handle the problem, we first present a new tractable condition, based on an iISS (integral input-to-state stable) network stability criterion proposed in literature, for nonlinear networks with cascade interconnection and iISS dynamic uncertainties. Then, we develop a recursive procedure for achieving iISS based global robust stabilization design. Distinguished from relevant studies in recent literature, our study is strictly extended and also leads to constructive iISS-Lyapunov functions for the closed-loop system.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126386846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Multi-Scenario Regression Prediction on Temperature of Molten Iron in Transportation Based on Cyber-Physical Energy Systems 基于信息物理能量系统的运输铁液温度多场景回归预测
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483425
Yang Yang, Xiangman Song
{"title":"Multi-Scenario Regression Prediction on Temperature of Molten Iron in Transportation Based on Cyber-Physical Energy Systems","authors":"Yang Yang, Xiangman Song","doi":"10.23919/CHICC.2018.8483425","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483425","url":null,"abstract":"Although the CPS has been used in some actual industrial enterprises for some time, the prediction-based energy scheduling is a challenging and unsolved problem due to the specific restrictions of different operating procedures including imperfect measurement hardware, the complex chemical and physical reactions, manual operation and weather effects. In this paper, aiming at the optimization of the steel enterprises' energy scheduling system and fulfilling the online prediction of temperature in hot metal transportation based on CPS, we first clean and classify the data in combination with the process characteristics. Then based on the data features, we propose a multi-scenario multivariate linear regression prediction method based on prediction error. The classification method was LS-SVM method with RBF kernel. Finally, we conducted offline experiments based on the actual field data to verify the effectiveness of our method according to the hit rate within 10 °C.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126389469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
LED Visible Light Communication Indoor Positioning Method Based on Mobile Phone at Any Horizontal Orientation 基于手机任意水平方向的LED可见光通信室内定位方法
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8482891
Cui Liu, Tingzhang Liu, Chen Xing, Jianfei Zhao
{"title":"LED Visible Light Communication Indoor Positioning Method Based on Mobile Phone at Any Horizontal Orientation","authors":"Cui Liu, Tingzhang Liu, Chen Xing, Jianfei Zhao","doi":"10.23919/CHICC.2018.8482891","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8482891","url":null,"abstract":"LED visible light communication indoor positioning method based on the mobile phone at any horizontal orientation angle. The system includes a single LED downlight, a mobile phone orientation sensor, a mobile phone front single camera and a positioning system. The steps include: the orientation sensor of the handset is used to measure the orientation of the handset in the horizontal direction; the developed camera is used to call the front camera of the handset to record the LED downlight image; and the image is processed and decoded to obtain the ID information of the LED downlight, which is the three-dimensional position coordinates information of the downlight in the indoor space. Take the previously obtained information including the handset horizontal orientation and downlight ID information into the developed indoor positioning method to obtain the real-time accurate position of the mobile phone. The positioning method is simple and easy to operate. The mobile phone can be accurately positioned in real time at any horizontal orientation angle just by using the front camera of mobile phone in the case of just a single LED downlight. This method overcomes the problem that even if the position of the camera is kept unchanged, the positioning result of the mobile phone is different due to the difference of the horizontal orientation of the mobile phone. This method is more feasible and accurate.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126568182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Data-Mining-Based Fuzzy Control Design for Marine Dynamic Positioning System of Ships 基于数据挖掘的船舶动力定位系统模糊控制设计
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483520
Xin Hu, Jia-lu Du, J. Li, Chuansheng Yang
{"title":"Data-Mining-Based Fuzzy Control Design for Marine Dynamic Positioning System of Ships","authors":"Xin Hu, Jia-lu Du, J. Li, Chuansheng Yang","doi":"10.23919/CHICC.2018.8483520","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483520","url":null,"abstract":"Considering the dynamic positioning (DP) problem of a surface ship with unknown model dynamic parameters and unknown environmental disturbances, this paper develops a data-mining-based fuzzy control scheme. Under the certain operating and environmental conditions of a ship, the scientific and effective fuzzy rules for the DP of ships are extracted using the data-mining technique. Based on the extracted fuzzy rules, the DP fuzzy control law is designed. Finally, the simulation studies on a supply ship Northern Clipper are carried out to verify the effectiveness of the designed DP fuzzy control law.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128010126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
The Load Aggregation Strategy of Central Air-conditioning for Smoothing Wind Power Fluctuation 平滑风电波动的中央空调负荷聚合策略
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483847
Han Lujie, Luo Ping, Cheng Sheng, Chen Qiaoyong
{"title":"The Load Aggregation Strategy of Central Air-conditioning for Smoothing Wind Power Fluctuation","authors":"Han Lujie, Luo Ping, Cheng Sheng, Chen Qiaoyong","doi":"10.23919/CHICC.2018.8483847","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483847","url":null,"abstract":"Compared with the household air-conditioning, central air-conditioning has larger rated capacity and more concentrated operating period. These characteristics of the central air-conditioning make it a high quality resource that can be participated in the centralized load regulation. Firstly, the equivalent thermal parameters model of central air-conditioning and the thermal comfort model of human body are established, and then the aggregation strategy of central air-conditioning loads is proposed to minimize the operation fees of load aggregator under the constraints of the minimum aggregated load requirement, adjustment time period and users' comfort index. The particle swarm optimization algorithm is adopted to solve the optimal problem in this paper. Finally, the aggregated central air-conditioning loads are used to smooth the wind power fluctuation in the wind farm, and the optimal dispatch costs are compared with the investment cost of energy storage equipment needed to compensate the power fluctuation. The analysis results show that the load aggregation strategy of central air-conditioning is more economical than the configuration of traditional energy storage equipment.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128029964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
An Adaptive Hybrid Fault Estimator for Multiple Faults and Health Degradation in Aeroengines 航空发动机多故障和健康退化的自适应混合故障估计器
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8482812
Ye Yuan, Xiaofeng Liu, S. Ding
{"title":"An Adaptive Hybrid Fault Estimator for Multiple Faults and Health Degradation in Aeroengines","authors":"Ye Yuan, Xiaofeng Liu, S. Ding","doi":"10.23919/CHICC.2018.8482812","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8482812","url":null,"abstract":"In this paper adaptive hybrid fault estimator (AHFE) is applied to realize the function of fault estimation during the situation of multiple faults and health degradation. The AHFE is able to adjust its structure based on the fault location information to adapt to the fault situation, and estimate the variations of faults and health degradation. There are three parts of AHFE, the hybrid fault estimator (HFE), the on-board aeroengine model (OBEM) and the switching structure of the HFE. The proposed approach is applied to the nonlinear aeroengine model, and the effectiveness of AHFE is demonstrated by the simulation results.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128038710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Uncalibrated Image-based Visual Servoing Based on Joint Space and Image Moment 基于关节空间和像矩的无标定图像视觉伺服
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483954
Dongjie Wu, Xungao Zhong, Xiaoli Zhang, Xiafu Peng, Chaosheng Zou
{"title":"Uncalibrated Image-based Visual Servoing Based on Joint Space and Image Moment","authors":"Dongjie Wu, Xungao Zhong, Xiaoli Zhang, Xiafu Peng, Chaosheng Zou","doi":"10.23919/CHICC.2018.8483954","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483954","url":null,"abstract":"This paper studies the uncalibrated image-based visual servoing problem and proposes a new solution based on joint-image Jacobian matrix and image moment. Firstly, we provide a mathematical definition of Joint-image Jacobian Matrix from the perspective of space map. Then, an online estimator based on Kalman filter is intended to estimate joint-image Jacobian matrix in real time. In order to enhance the stability of image feature extraction and improve the performance of the whole system, we analyse characteristics of image moment feature and image point feature, and choose moment-based feature to construct a feature vector for physical applications. Finally, we finish single-eye-in-hand image-based visual servoing experiments without calibration on the physical robot system platform. The experimental results illustrate the effectiveness and robustness of the proposed scheme.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128072249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
The Performance of Model Predictive Control Based on Continuous-Time System 基于连续时间系统的模型预测控制性能研究
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483831
Kui Ge, T. Zhao
{"title":"The Performance of Model Predictive Control Based on Continuous-Time System","authors":"Kui Ge, T. Zhao","doi":"10.23919/CHICC.2018.8483831","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483831","url":null,"abstract":"F0622. The stability of the continuous-time system is proved and the stability criterion is given. It is proved that the continuous time system has some inherent robustness combing the theory of quadratic optimal control, secondly. At the same time, the attractive domain which makes the system stable is introduced. Finally, the effectiveness of the proposed scheme is verified by simulation experiments.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"24 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125670294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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