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2017 13th IEEE International Conference on Control & Automation (ICCA)最新文献

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A density-based recursive RANSAC algorithm for unmanned aerial vehicle multi-target tracking in dense clutter 稠密杂波下无人机多目标跟踪的基于密度的递归RANSAC算法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003029
Feng Yang, Weikang Tang, Hua Lan
{"title":"A density-based recursive RANSAC algorithm for unmanned aerial vehicle multi-target tracking in dense clutter","authors":"Feng Yang, Weikang Tang, Hua Lan","doi":"10.1109/ICCA.2017.8003029","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003029","url":null,"abstract":"Target tracking is a hot topic for unmanned aerial vehicle surveillance. Recently, the novel random sample consensus (RANSAC) algorithm shows a good tracking performance in dense clutter environment. However, the heavy computational burden limits the usage for unmanned aerial vehicle (UAV). In this paper, a density-based recursive random sample consensus (DBR-RANSAC) algorithm is proposed, which utilizes the density property of measurements within several steps to direct sampling. In the DBR-RANSAC, the randomness of sampling can be avoided and the computation complexity can be reduced particularly in dense clutter. The simulation results show the validity of the proposed algorithm.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127565641","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
Robust adaptive control for hypersonic gliding vehicles based on NESO 基于NESO的高超声速滑翔飞行器鲁棒自适应控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003099
Yuan Zhang, Xiwang Dong, Jianglong Yu, Qingdong Li, Z. Ren
{"title":"Robust adaptive control for hypersonic gliding vehicles based on NESO","authors":"Yuan Zhang, Xiwang Dong, Jianglong Yu, Qingdong Li, Z. Ren","doi":"10.1109/ICCA.2017.8003099","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003099","url":null,"abstract":"In the reentry stage, the hypersonic gliding vehicle (HGV) has the obvious characteristics like high-dynamic, large flight envelop, complex flight environment and so on. These features result in severe parameter uncertainties. In order to improve the attitude control performance in reentry stage, the sources of the uncertainty and the unknown parameters are analyzed. Then a robust adaptive controller is established to cope with the parameter uncertainty problems. Three parts are included in this control system, which are the nominal controller, the nonlinear extended state observer (NESO), and the compensation controller. The nominal controller is constructed by using the nonlinear dynamic inversion (NDI) method. NESO is introduced to estimate the unknown parameters. On the basis of the NESO, the compensation controller is built and used to eliminate the effects caused by the parameter uncertainty. The stability of designed robust adaptive controller is proven by using the Lyapunov theory. The nominal controller and compensation controller are used together to guarantee the tracking attitude performance of the HGV. The effectiveness and performance of obtained theoretical results are demonstrated by using a numerical example.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127952070","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
Rotary speed control of ultrasonic motor with nonlinear estimator 基于非线性估计器的超声电机转速控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003026
Yonghong Tan, Ruili Dong, Hui Chen
{"title":"Rotary speed control of ultrasonic motor with nonlinear estimator","authors":"Yonghong Tan, Ruili Dong, Hui Chen","doi":"10.1109/ICCA.2017.8003026","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003026","url":null,"abstract":"In this paper, a nonlinear estimator is developed to estimate the effect of friction on the performance of an ultrasonic motor (USM). Based on the friction model of USM, a friction estimator based compensator is developed for eliminating the effect of friction existing in between the surfaces of stator and rotor of the USM. Then, a proportional plus integral (PI) control strategy with friction estimator is proposed to control rotary speed of USM. Finally, the experimental results are presented for strategy evaluation.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128720840","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
Vision-aided tracking of a moving ground vehicle with a hybrid UAV 使用混合无人机对移动地面车辆进行视觉辅助跟踪
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003030
Kangli Wang, S. K. Phang, Yijie Ke, Xudong Chen, Kehong Gong, Ben M. Chen
{"title":"Vision-aided tracking of a moving ground vehicle with a hybrid UAV","authors":"Kangli Wang, S. K. Phang, Yijie Ke, Xudong Chen, Kehong Gong, Ben M. Chen","doi":"10.1109/ICCA.2017.8003030","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003030","url":null,"abstract":"In this work, we present the development of a target tracking and following system using a self-customized hybrid UAV, KH-Lion. KH-Lion is a small and autonomous tail-sitter UAV stabilized and controlled by two vectored propulsion systems. A target tracking system was developed on this platform for autonomous target following on a predetermined moving object on the ground. A customized AprilTag marker was attached on a radio-controlled car, and the target tracking algorithm was verified in actual flight experiment in which the moving car is tracked. Experiments were conducted in the environment of VICON motion tracking system, which provides us with a ground truth to evaluate the performance of the tracking. The system was verified and tested with a moving speed of approximately 0.5 m/s.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121580626","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
Limit cycle in the ultra-low-frequency oscillation of islanded power systems 孤岛电力系统超低频振荡中的极限环
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003136
Xiaomin Lu, Lei Chen, Yiwei Zhang, Y. Min, Maohai Wang
{"title":"Limit cycle in the ultra-low-frequency oscillation of islanded power systems","authors":"Xiaomin Lu, Lei Chen, Yiwei Zhang, Y. Min, Maohai Wang","doi":"10.1109/ICCA.2017.8003136","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003136","url":null,"abstract":"Ultra-low-frequency oscillation with almost constant amplitude is a kind of frequency oscillation in power system. It has occurred in several hydro-dominant islanded power systems. With the nonlinearity of hydraulic turbines, a nonlinear model of power system is built in the paper. Stability and performance of both linear and nonlinear models are analyzed and compared. Particularly stable limit cycle could appear in the nonlinear dynamic model. Within a range of parameters, the equilibrium point of the dynamic system is unstable, while there is a stable limit cycle around it. System trajectories converge to this attractor and oscillate with constant amplitude. Limit cycle in the nonlinear model can explain the ultra-low-frequency oscillation of an island power system with ±800kV HVDC transmission to other grids in China and provides a new mechanism of frequency oscillation in islanded hydro-dominant power systems.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"92 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123564296","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
Path planning of UAV based on hierarchical genetic algorithm with optimized search region 基于分层遗传算法优化搜索区域的无人机路径规划
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003203
Jinghua Li, Yibin Huang, Zhao Xu, Junchang Wang, Mou Chen
{"title":"Path planning of UAV based on hierarchical genetic algorithm with optimized search region","authors":"Jinghua Li, Yibin Huang, Zhao Xu, Junchang Wang, Mou Chen","doi":"10.1109/ICCA.2017.8003203","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003203","url":null,"abstract":"In general, the use of genetic algorithms (GA) for unmanned aerial vehicle (UAV) path planning in the whole mission area will cause detours. To improve this issue, a hierarchical genetic algorithm with optimized search region (OSR-HGA) is proposed. This algorithm reduces the search area of hierarchical genetic algorithm automatically by evaluating the distribution of threat sources in the mission area. To guide the searching direction of the algorithm and reduce the occurrence of detours, the heading correction cost and minimum turning radius cost are added to the cost function. The experimental results show the new method can enhance the stability of path planning algorithm by finding shorter paths with less cost and reducing the occurrence of detours effectively.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116284230","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: 13
A RGB-D sensor and speech interaction based object manipulation system with improved CBR-BDI reasoning 基于RGB-D传感器和语音交互的改进CBR-BDI推理对象操作系统
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003027
Yunhan Lin, Huasong Min, Haotian Zhou, Fan Wu, Zhi Xiong
{"title":"A RGB-D sensor and speech interaction based object manipulation system with improved CBR-BDI reasoning","authors":"Yunhan Lin, Huasong Min, Haotian Zhou, Fan Wu, Zhi Xiong","doi":"10.1109/ICCA.2017.8003027","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003027","url":null,"abstract":"We design a kind of object manipulation system, which is based on Robot Operating System (ROS) distributed processing framework. This system can communicate with human beings; can percept the 3D environment by RGB-D sensor; has the ability of reasoning; can transfer the natural language intention to machine instruction to control the movement of manipulator. In particular, an improved Case-Based Reasoning-Belief-Desire-Intention (CBR-BDI) reasoning method is proposed. Three parts are added on the CBR-BDI reasoning system, which are map matching, desire analysis and guidance. Such an improvement makes the reasoning engine can carry out in-depth reasoning actively when the user's intention is incomplete and/or mismatched with actual scene. The system could analysis the information which user inputted, interact with human and environment, guide user by conversation, improve user's beliefs, finally get the standardization of complete intention and transfer the intention to machine instructions. Experiment results prove the validity and practicability of our proposed method.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117279881","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
Smart home energy management with vehicle-to-home technology 采用车对户技术的智能家居能源管理
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003048
Chenxi Li, F. Luo, Yingying Chen, Zhao Xu, Yinan An, Xiao Li
{"title":"Smart home energy management with vehicle-to-home technology","authors":"Chenxi Li, F. Luo, Yingying Chen, Zhao Xu, Yinan An, Xiao Li","doi":"10.1109/ICCA.2017.8003048","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003048","url":null,"abstract":"With the increasingly prevalence of building automation devices and two-way communication infrastructure, home energy management has drawn lots of attentions in recent years. As a newly emerged residential energy resource, the home plugged electric vehicle (EV) has the potential to discharge energy and serve the home consumption. This paper proposes a home energy management (HEMS) by considering the penetration of vehicle-to-home (V2H) technology. The proposed system optimally schedules the plugged EV together with the automatically operated appliances in a real-time pricing environment, with the aim to minimize the one-day cost of the house. A recently proposed heuristic based algorithm, i.e., Natural Aggregation Algorithm (NAA) is applied to solve the HEMS model. Simulations results show that the V2H technology can significantly reduce the home energy cost for the residential users.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126994064","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: 15
Cooperative output regulation of linear multi-agent systems with an event-triggered adaptive distributed observer 具有事件触发自适应分布式观测器的线性多智能体系统协同输出调节
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003142
Wenfeng Hu, Lu Liu, G. Feng
{"title":"Cooperative output regulation of linear multi-agent systems with an event-triggered adaptive distributed observer","authors":"Wenfeng Hu, Lu Liu, G. Feng","doi":"10.1109/ICCA.2017.8003142","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003142","url":null,"abstract":"The event-triggered cooperative output regulation problem of linear multi-agent systems has been addressed under the assumption that the system matrix of the exosystem is known to all agents in previous studies. To remove the assumption, this paper proposes an event-triggered adaptive distributed observer, which is designed to estimate the system matrix of the exosystem. With the proposed triggering mechanism, each agent only sends the information to its neighbors at its own triggering times. Moreover, by introducing a fixed timer, Zeno behavior can be strictly excluded. The effectiveness of the proposed event-triggered adaptive distributed observer is demonstrated by an example.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127062399","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
Sliding mode control for a class of second-order nonlinear systems with unmatched disturbances 一类具有不匹配扰动的二阶非线性系统的滑模控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003031
Lu Zhang, Jun Yang, Shihua Li, Ting Li, Chaoyuan Man
{"title":"Sliding mode control for a class of second-order nonlinear systems with unmatched disturbances","authors":"Lu Zhang, Jun Yang, Shihua Li, Ting Li, Chaoyuan Man","doi":"10.1109/ICCA.2017.8003031","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003031","url":null,"abstract":"This paper presents a novel sliding mode control method for a class of second-order systems subject to unmatched disturbances to ensure finite-time exact tracking and disturbance rejection. Firstly, a feedback domination approach with a dynamic disturbance compensation is developed based on a finite-time disturbance observer. Secondly, a new nonlinear sliding manifold is proposed by virtue of a virtual dynamic compensator. Finally, a new family of second-order sliding mode controller with a very simple form is constructed. Stability analysis of the closed-loop system is established by means of Lyapunov functions. The time taken to reach the desired reference signal from any initial state in the presence of disturbances is guaranteed to be finite time under the proposed controller. A simulation example is presented to validate the control performance of the proposed method.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115260685","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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