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

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Observer-Based Adaptive Output-Feedback Quantized Control for Switched Stochastic Nonlinear Time-Delay Systems 基于观测器的开关随机非线性时滞系统自适应输出反馈量化控制
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483193
Yekai Yang, Zhaoxu Yu
{"title":"Observer-Based Adaptive Output-Feedback Quantized Control for Switched Stochastic Nonlinear Time-Delay Systems","authors":"Yekai Yang, Zhaoxu Yu","doi":"10.23919/CHICC.2018.8483193","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483193","url":null,"abstract":"This paper is concerned with the adaptive output-feedback tracking control problem for switched stochastic nonlinear time-delay systems under arbitrary switching in the presence of input and output quantization. Combining common Lyapunov- Krasoviskii functional approach, neural network(NN) approximation-based method and backstepping technique, a novel observer-based adaptive output-feedback controller is presented to guarantee that all signals of closed-loop systems are 4-moment (or 2-moment) semi-globally uniformly ultimately bounded (SGUUB) and the tracking error can converge to a small neighborhood of the origin. Finally, a simulation example is given to verify the effectiveness of the proposed methodology.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"47 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":"114550931","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
The State Response and Controllability of Regular Polynomial Matrix Systems 正则多项式矩阵系统的状态响应与可控性
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8482577
Liping Zhang, Guoshan Zhang
{"title":"The State Response and Controllability of Regular Polynomial Matrix Systems","authors":"Liping Zhang, Guoshan Zhang","doi":"10.23919/CHICC.2018.8482577","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8482577","url":null,"abstract":"In this paper, the problems of state response and controllability conditions for higher-order descriptor systems are analyzed. For the nonhomogeneous higher-order polynomial matrix system, the complete solutions are derived under the nonzero initial state and initial input conditions based on the Smith-MacMillan form of a rational matrix at infinity and the finite and infinite Jordan matrices of the polynomial matrix. Meanwhile, the admissible initial conditions of the system are discussed, which can avoid the system producing impulsive behavior. Finally, the controllability subspace is constructed by analyzing the proposed solution structure of the associated system equation, and algebraic criteria of controllability is given.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"35 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":"121869695","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
Natural Wristband: How much we can feel 自然腕带:我们能感觉到多少
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483172
Wanna Zhang, W. Luo, Feng Wang
{"title":"Natural Wristband: How much we can feel","authors":"Wanna Zhang, W. Luo, Feng Wang","doi":"10.23919/CHICC.2018.8483172","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483172","url":null,"abstract":"With the rapid development of mobile computing, wearable wrist-worn has become more and more popular, but the current vibrotactile feedback patterns of most wrist-worn devices are too simple to enable effective interaction in nonvisual scenarios. In this paper, we propose the Dancing wristband prototype system, which provides multiple vibration patterns for users to recognize multi-semantic information in eyes-free scenarios easily. With four vibrating motors placed in different positions in the wristband, Dancing wristband can produce five vibration patterns(positional vibration: up and down; diagonal vibration: horizontal; circular vibration (four motors vibrate four times sequentially in a ring); and total vibration (all motors vibrate simultaneously at once)). According to the lab experimental results, users can distinguish the five patterns with the rate of over 75%, which proves that these five vibration patterns can be used to output multi-semantic information. The system can be applied to eyes-free interaction scenarios for wrist-worn devices.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"17 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":"116872767","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
Weak Decoupled State and Mode Feedback Controller Design for Discrete-Time Markovian Jump Linear Systems 离散马尔可夫跳变线性系统的弱解耦状态与模式反馈控制器设计
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483237
Xinghua Wu, Jin Zhu, Pengfei Jiang
{"title":"Weak Decoupled State and Mode Feedback Controller Design for Discrete-Time Markovian Jump Linear Systems","authors":"Xinghua Wu, Jin Zhu, Pengfei Jiang","doi":"10.23919/CHICC.2018.8483237","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483237","url":null,"abstract":"This paper considers the design of a weak decoupled state and mode feedback controller for discrete-time Markovian jump linear systems(MJLSs). The proposed controller consists of two parts. The first part is a state feedback controller, which is used to stabilize the MJLS by utilizing the invariant part of the mode transition probabilities matrix(MTPM) and it can therefore stabilize the MJLS when transition probabilities matrix is partly changed. The second part of the controller is a mode feedback controller, which aims to reduce the stabilization cost on the basis of system stability and it is dependent on only the varying part of the MTPM. Due to the fact that state feedback control and mode feedback control are designed according to the different parts of MTPM, there is no direct relations between them and they are then called “weak decoupled” for this reason. Numerical examples are provided to show the validity of the proposed controller.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"20 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":"117038646","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
ESO Based Model Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation 基于ESO的全向移动机器人摩擦补偿模型预测控制
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8484121
Chao Ren, Ruidong Liu, Shugen Ma, Chaofang Hu, Lei Cao
{"title":"ESO Based Model Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation","authors":"Chao Ren, Ruidong Liu, Shugen Ma, Chaofang Hu, Lei Cao","doi":"10.23919/CHICC.2018.8484121","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8484121","url":null,"abstract":"In this paper, a linear extended state observer (LESO) based model predictive control with friction compensation is proposed for trajectory tracking control of an omnidirectional mobile robot. First, a dynamic model with unknown friction of the omnidirectional mobile robot is derived. Then a cascade control system is designed, where the external loop is used to generate the velocity references given to the linear model predictive control (LMPC) according to the robot inverse kinematics. The internal loop controller consists of two parts. One part of the control input is designed to compensate the unknown friction estimated by LESO and the other is LMPC which is applied to accomplish the velocity control while satisfying input constraints. Besides, the stability analysis is provided. Finally, simulation results demonstrate the effectiveness of the proposed control system.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"653 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":"117103904","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
Coordinated path following control of multiple underactuated underwater vehicles 多欠驱动水下航行器协调路径跟踪控制
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/chicc.2018.8484213
Xue Qi, Peng Xiang
{"title":"Coordinated path following control of multiple underactuated underwater vehicles","authors":"Xue Qi, Peng Xiang","doi":"10.23919/chicc.2018.8484213","DOIUrl":"https://doi.org/10.23919/chicc.2018.8484213","url":null,"abstract":"This paper investigates the coordinated path following problem of multiple underactuated underwater vehicles (UUVs) which move on the desired paths. To deal with the path following control problem, the path tracking error equation is established in Serret-Frenet frame based on ‘virtual’ guidance. The controller design process is divided into kinematic and dynamic two parts with backstepping method, which leads a simplification for the design procedure. To deal with the coordination control problem, the speeds of UUVs are adjusted about their nominal values so as to synchronize their positions and achieve coordination. It is shown that the system that is obtained by putting together the path following and coordination subsystems can be viewed as cascade connection system. Using this fact and recent results from nonlinear systems and graph theory, the path following and coordination errors are driven to a neighborhood of zero. Moreover, these controllers are distributed in the sense that the controller design for each UUV only requires relative state in formation between itself and its neighbors. Finally, a simulation example demonstrates the effectiveness of the control method.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"119 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":"117294866","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: 2
Multi-Input Nonlinear Control Systems Linearizable via One-Fold Reduction 多输入非线性控制系统的一倍线性化
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483716
F. Nicolau, Shunjie Li, W. Respondek
{"title":"Multi-Input Nonlinear Control Systems Linearizable via One-Fold Reduction","authors":"F. Nicolau, Shunjie Li, W. Respondek","doi":"10.23919/CHICC.2018.8483716","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483716","url":null,"abstract":"In this paper we study the feedback linearization of multi-input control-affine systems via a particular class of nonregular feedback transformations. We give a complete geometric characterization of systems that become static feedback linearizable after a one-fold reduction of a suitably chosen control. That problem can be seen as the dual of the linearization via invertible one-fold prolongation of a suitably chosen control (which is the simplest dynamic feedback). We discuss in detail similarities and differences of both problems. We propose necessary and sufficient conditions describing the class of systems linearizable via a one-fold reduction, and discuss when the proposed conditions can be verified (by differentiation and algebraic operations only). We provide a normal form and illustrate our results by several examples.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"32 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":"129547186","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
Research on diurnal variation of seabed magnetic field 海底磁场日变化研究
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483812
Zikun Yang, Zhihua Li, Fan Li, Hongwei Li, Pei Gao, Wenqi Zhou
{"title":"Research on diurnal variation of seabed magnetic field","authors":"Zikun Yang, Zhihua Li, Fan Li, Hongwei Li, Pei Gao, Wenqi Zhou","doi":"10.23919/CHICC.2018.8483812","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483812","url":null,"abstract":"Marine magnetic measurement survey is an important method of marine geophysical exploration. Geomagnetic diurnal change is an important part of marine magnetic survey. However, magnetic measurements in the far sea area are often caused by the lack of daily observation data near the survey area. The results are not properly corrected, in the deep water area layout of the submarine magnetic field observation system is one of the better ways to solve the problem. In this paper, the key technical problems such as low power consumption design and system recovery in submarine geomagnetic daily observation system are analyzed and studied, and the design scheme of submarine geomagnetic daily observation system is given. Experiments show that the new submarine geomagnetic daily observation system can meet the needs of magnetic field measurement.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"48 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":"129557764","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
Robust Fault Tolerant Tracking Control for Unmanned Autonomous Helicopter with Disturbance 具有扰动的无人自主直升机鲁棒容错跟踪控制
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8482710
Kun Yan, Qingxian Wu, Mou Chen
{"title":"Robust Fault Tolerant Tracking Control for Unmanned Autonomous Helicopter with Disturbance","authors":"Kun Yan, Qingxian Wu, Mou Chen","doi":"10.23919/CHICC.2018.8482710","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8482710","url":null,"abstract":"This study presents an adaptive robust fault tolerant control (FTC) scheme for the medium-scale unmanned autonomous helicopter (UAH) with external unknown disturbances and actuator faults. The nonlinear disturbance observer (NDO) is developed to cope with the external unknown disturbances and actuator faults. On the basis of backstepping and sliding mode control technologies, the adaptive robust FTC scheme is designed to make the tracking errors convergent. Lyapunov stability analysis indicates that the closed-loop system is stable and all closed-loop signals are uniformly ultimately bounded. Simulation results are carried out to demonstrate the effectiveness of the proposed method.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"1 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":"129937114","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-spacecraft position-attitude coupling model based on dual quaternion 基于对偶四元数的多航天器位置-姿态耦合模型
2018 37th Chinese Control Conference (CCC) Pub Date : 2018-07-01 DOI: 10.23919/CHICC.2018.8483838
Chengchen Deng, Zhen Shi, Xinzhu Sun, Xiande Wu, Wenbin Bai, Shiyi Li, Qingrui Zhou, Yong Hao
{"title":"Multi-spacecraft position-attitude coupling model based on dual quaternion","authors":"Chengchen Deng, Zhen Shi, Xinzhu Sun, Xiande Wu, Wenbin Bai, Shiyi Li, Qingrui Zhou, Yong Hao","doi":"10.23919/CHICC.2018.8483838","DOIUrl":"https://doi.org/10.23919/CHICC.2018.8483838","url":null,"abstract":"With the development of space science and technology, the requirements of spacecraft are increasing, and it is significant to research the multi-spacecraft system model. Based on the dual quatemion theory, this paper deduces the coupling kinematics equation of multi-spacecraft, and points out the coupling effect of relative position and attitude. After that, the simulation analysis of 6 kinds of multi-spacecraft is carried out based on the established multi-spacecraft position and orbit integration model, in which the six cases are 5, 15, 25, 35, 45 and 55 satellites respectively. Finally, the correctness and practicability of the model are verified by comparing between Matlab and STK simulation results.","PeriodicalId":158442,"journal":{"name":"2018 37th Chinese Control Conference (CCC)","volume":"58 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":"128439230","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
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