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Proceedings of the 31st Chinese Control Conference最新文献

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Singular LQ problem for nonregular singular systems 非正则奇异系统的奇异LQ问题
Proceedings of the 31st Chinese Control Conference Pub Date : 2014-07-08 DOI: 10.1155/2014/853415
Q. Fang, Baolin Zhang, Jun‐e Feng
{"title":"Singular LQ problem for nonregular singular systems","authors":"Q. Fang, Baolin Zhang, Jun‐e Feng","doi":"10.1155/2014/853415","DOIUrl":"https://doi.org/10.1155/2014/853415","url":null,"abstract":"This paper is concerned with the singular LQ problem for nonregular singular systems with persistent disturbances. The full information feedback control method is employed to achieve the optimal control. Through investigating the LQ problem for standard state space systems with persistent disturbances, and by a series of equivalent transformations, some sufficient conditions for the unique existence of optimal control-state pair are derived. These conditions are all described unitedly with matrix rank equalities, and the optimal control-state pair can be explicitly formulated via just solving an algebraic Riccati equation and a matrix equation. Moreover, the closed-loop system are proved possessing the least free entries, and a necessary and sufficient condition for the dynamic part of state of the closed-loop system to be unique is given.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126859276","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
Using In vivo subject-specific musculotendon parameters to investigate control strategy changes after stroke: An EMG-driven model of elbow joint 使用体内受试者特定的肌肉肌腱参数来研究中风后控制策略的变化:一个肌电驱动的肘关节模型
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.4018/978-1-4666-6090-8.CH007
L. Le, Mao Yurong, Liu Peng, Huang Dongfeng
{"title":"Using In vivo subject-specific musculotendon parameters to investigate control strategy changes after stroke: An EMG-driven model of elbow joint","authors":"L. Le, Mao Yurong, Liu Peng, Huang Dongfeng","doi":"10.4018/978-1-4666-6090-8.CH007","DOIUrl":"https://doi.org/10.4018/978-1-4666-6090-8.CH007","url":null,"abstract":"This study was to investigate the motor control changes after stroke by neuromusculoskeletal (NMS) modeling on elbow joint. An EMG-driven model was built through combining the in vivo ultrasound-measured musculotendon parameters to predict the joint trajectory during reaching.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123984164","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
Look-ahead path information based receding horizon control for backing-up tractor-trailer systems 基于前瞻路径信息的后备牵引车-挂车系统后退水平控制
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.3969/J.ISSN.0253-2778.2012.07.001
Bin Yang, Shim Taehyun, Nenglian Feng
{"title":"Look-ahead path information based receding horizon control for backing-up tractor-trailer systems","authors":"Bin Yang, Shim Taehyun, Nenglian Feng","doi":"10.3969/J.ISSN.0253-2778.2012.07.001","DOIUrl":"https://doi.org/10.3969/J.ISSN.0253-2778.2012.07.001","url":null,"abstract":"On account of the backing-up tractor-trailer system with an off-axle connection, a mixed logical dynamics (MLD) approach and a receding horizon control (RHC) method have been addressed respectively for the purpose of modeling and control of such system. At first, Lyapunov theory is used to analyze the motion characteristics of the tractor-trailer system. Then, MLD approach is proposed to describe the kinematic of the tractor-trailer system. For the resulting MLD model, an extended cost function with quadratic form is addressed. To minimize the tracking error of the trailer, and smooth the behavior of the steering angle, an equivalent linear quadratic tracking problem is presented. In view of this problem, an explicit RHC controller is designed considering a look-ahead path information with finite horizon, by employing the multi-parametric mixed-integer quadratic programming (mp-MIQP) technique. Finally, the controller is evaluated through simulation, and achieves a desirable performance, even under the tracking of a non-smooth reference path.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134543350","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
Planetary landing: Modelling and control of the propulsive descent 行星着陆:推进降落的建模与控制
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.3969/J.ISSN.0253-2778.2013.01.001
E. Canuto, A. Molano-Jimenez, W. Acuña-Bravo, C. Perez-Montenegro, S. Malan
{"title":"Planetary landing: Modelling and control of the propulsive descent","authors":"E. Canuto, A. Molano-Jimenez, W. Acuña-Bravo, C. Perez-Montenegro, S. Malan","doi":"10.3969/J.ISSN.0253-2778.2013.01.001","DOIUrl":"https://doi.org/10.3969/J.ISSN.0253-2778.2013.01.001","url":null,"abstract":"In the propulsive phase, after parachute release, of planetary landing like Mars or Moon horizontal motion, horizontal motion is obtained by tilting the axial thrust, so that it aligns either to the negative velocity vector (gravity turn) or to the requested acceleration vector. The latter strategy is assumed here, as it allows pinpoint landing. As such, tilt angles (pitch and yaw) become proportional to the horizontal acceleration. Instead of designing a hierarchical guidance and control in which horizontal acceleration becomes the attitude control target, a unique control system can be designed based on the fourth order dynamics from angular acceleration to position. The paper shows that the combined dynamics can be (quasi) input-state linearized except the nonlinear factor of the tilt angles (the axial thrust imposed by vertical braking), and other less severe flaws. The paper shows that control design around the reference trajectory (tilt and position) given by the guidance can exploit the quasi linearization, but tracking error stability must be proved. The paper is restricted to closed-loop control strategies, and their effectiveness is proved through Monte Carlo simulations, and comparison with a small-tilt design.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133381349","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: 11
A stable fault detection observer design in finite frequency domain 有限频域稳定故障检测观测器设计
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.1080/00207179.2012.723829
Jianliang Chen, Yong-Yan Cao
{"title":"A stable fault detection observer design in finite frequency domain","authors":"Jianliang Chen, Yong-Yan Cao","doi":"10.1080/00207179.2012.723829","DOIUrl":"https://doi.org/10.1080/00207179.2012.723829","url":null,"abstract":"This paper addresses the stable fault detection observer design problem for linear time-invariant continuous-time systems in finite frequency domain. The fault detection filter design is an optimal Luenberger observer synthesized which ensures guaranteed two requested performance indexes of fault sensitivity and stability. With the aid of Generalized Kalman-Yakubovich-Popov Lemma and increasing dimensions of slack variable matrix, the stability and H- performance analysis of closed-loop system with fault detection observer has been translated into a convex linear matrix inequality (LMI) optimization problem and avoid the complexity of system associated with weight functions. A iterative LMI algorithm has been presented for the fault detection observer design. The effectiveness of proposed approaches is demonstrated by two numerical examples.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128990724","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: 47
Optimal robust decentralized control design for fuzzy complex systems 模糊复杂系统的最优鲁棒分散控制设计
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.3233/IFS-120728
Dan Xiong, Ye-hwa Chen, Han Zhao
{"title":"Optimal robust decentralized control design for fuzzy complex systems","authors":"Dan Xiong, Ye-hwa Chen, Han Zhao","doi":"10.3233/IFS-120728","DOIUrl":"https://doi.org/10.3233/IFS-120728","url":null,"abstract":"A new decentralized control is designed for a class of fuzzy complex systems. This system is in the form with dimensionality, uncertainty and information structure constraints. The uncertainty, which is bounded, may be due to the unknown parameters and input disturbance. The control scheme is high-order, while the control design is formulated as a constrained optimization problem, which reflects the system's average fuzzy characteristics. We show that the solution to this optimization problem exists and is unique regardless uncertainties and disturbance. An illustrative example is employed for further verification of this control method.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131222340","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: 9
On convergence of nonlinear active disturbance rejection control for MIMO systems MIMO系统非线性自抗扰控制的收敛性研究
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.1137/110856824
B. Guo, Zhi-liang Zhao
{"title":"On convergence of nonlinear active disturbance rejection control for MIMO systems","authors":"B. Guo, Zhi-liang Zhao","doi":"10.1137/110856824","DOIUrl":"https://doi.org/10.1137/110856824","url":null,"abstract":"In this paper, the global and semi-global convergence of nonlinear active disturbance rejection control (ADRC) for a class of multi-input multi-output (MIMO) nonlinear systems with large uncertainties that come from both dynamical modeling and external disturbance are proved. A class of linear systems with external disturbance that can be dealt with by ADRC is classified, from which a comparison with internal model principle is made both analytically and numerically. Numerical simulations illustrate the efficiency and advantage of ADRC in dealing with unknown dynamics, fast tracking, and lower overstriking.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"276 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120895412","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: 252
L-infinity norm minimization in the multiview triangulation 多视图三角剖分中的l -无穷范数最小化
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.1007/978-3-642-16530-6_58
Yang Min
{"title":"L-infinity norm minimization in the multiview triangulation","authors":"Yang Min","doi":"10.1007/978-3-642-16530-6_58","DOIUrl":"https://doi.org/10.1007/978-3-642-16530-6_58","url":null,"abstract":"","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123742060","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: 7
Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters 基于未标定摄像机参数的视觉伺服模型的不确定非完整移动机器人实用镇定
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.1155/2013/395410
Hua Chen, Chaoli Wang, Baojun Li, Baolei Wang
{"title":"Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters","authors":"Hua Chen, Chaoli Wang, Baojun Li, Baolei Wang","doi":"10.1155/2013/395410","DOIUrl":"https://doi.org/10.1155/2013/395410","url":null,"abstract":"In this paper, the practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Finally, the simulation results show the effectiveness of the proposed controller design approach.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123079878","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: 6
Vibration damping in manipulation of deformable linear objects using sliding mode control 滑模控制在可变形线性物体操纵中的减振
Proceedings of the 31st Chinese Control Conference Pub Date : 2012-07-25 DOI: 10.1080/01691864.2013.861769
Feng Ding, Jian Huang, Yongji Wang, T. Matsuno, T. Fukuda
{"title":"Vibration damping in manipulation of deformable linear objects using sliding mode control","authors":"Feng Ding, Jian Huang, Yongji Wang, T. Matsuno, T. Fukuda","doi":"10.1080/01691864.2013.861769","DOIUrl":"https://doi.org/10.1080/01691864.2013.861769","url":null,"abstract":"Manipulation of deformable linear objects (DLOs) such as hoses, wires and so on is common in daily life and some manufacturing applications. Whereas, the DLOs are more challengeable to handle than rigid objects, as the uncertainty resulting from oscillation at the end of DLOs may cause failure in the operation. In this paper, based on the dynamic model of a DLO in our recent work, we proposed a position-based control strategy for eliminating the vibration at the end of DLOs. First, the simplified linear model of a DLO can be obtained by local linearization about the equilibrium. Then, by using Schur decomposition of matrices and linear transform of variables, the couplings between states are eliminated, and the actuated and underactuated parts of the DLO system are separated. Finally, based on the simplified linear model with a position constraint condition, a control strategy using sliding mode control (SMC) with exponential approach law is illustrated. The proposed control strategy is verified by numerical simulations. The simulation results show that the proposed method can damp the vibration effectively.","PeriodicalId":274201,"journal":{"name":"Proceedings of the 31st Chinese Control Conference","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128940461","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: 24
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