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2015 34th Chinese Control Conference (CCC)最新文献

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Dynamic model based ground reaction force estimation for a quadruped robot without force sensor 基于动力学模型的无力传感器四足机器人地面反作用力估计
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7260591
Qi Chen-kun, G. Feng, Zhao Xianchao, S.T. Qiao, Tian Xinghua, Cheng Xianbao
{"title":"Dynamic model based ground reaction force estimation for a quadruped robot without force sensor","authors":"Qi Chen-kun, G. Feng, Zhao Xianchao, S.T. Qiao, Tian Xinghua, Cheng Xianbao","doi":"10.1109/CHICC.2015.7260591","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7260591","url":null,"abstract":"To satisfy the rescue tasks, a heavy-duty quadruped robot is developed recently. To guarantee the payload capability, the leg design is based on a parallel mechanism and the actuators are selected as powerful motors. Foot force sensing is very important for the gait control. Traditional foot force sensors are easy to corrupt due to the strong repeated impact from the ground. In this study, the foot force estimation method is proposed from the distributed current sensing in the motor driver. It is based on a dynamic model of the robot. To compensate unknown model parameters and frictions, an improved dynamic model based on neural networks is estimated using the system identification technique from the measured data. No extra foot force or motor torque sensors are used, and the size and weight of the robot do not increase. The experiments are conducted to verify the effectiveness.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122531595","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
Fuzzy adaptive fault isolation for dynamic systems 动态系统的模糊自适应故障隔离
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7260602
Jicheng Gao, Qikun Shen
{"title":"Fuzzy adaptive fault isolation for dynamic systems","authors":"Jicheng Gao, Qikun Shen","doi":"10.1109/CHICC.2015.7260602","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7260602","url":null,"abstract":"This paper addresses the problem of fault isolation for dynamic systems with actuator faults which integrates varying bias and gain faults. Then, sliding mode observers are designed to provide a bank of residuals for fault isolation, and a novel fault isolation algorithm is proposed, which removes the classical assumption that the time derivative of the output error should be known. Finally, simulation results are presented to demonstrate the efficiency of the proposed approach.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122555344","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
A generator tripping control method based on trajectory sensitivity analysis and pattern search 基于轨迹灵敏度分析和模式搜索的发电机脱扣控制方法
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7261070
Z. Xing, Jiang Han, Yu Zhihong, Zhou Xiaoxin
{"title":"A generator tripping control method based on trajectory sensitivity analysis and pattern search","authors":"Z. Xing, Jiang Han, Yu Zhihong, Zhou Xiaoxin","doi":"10.1109/CHICC.2015.7261070","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7261070","url":null,"abstract":"A generation tripping control method based on trajectory sensitivity analysis and pattern search is proposed in this paper. Considering the nonlinear dynamic model of multi-machine power system, the trajectory sensitivity of instable rotor angle to all generators' output power is derived, which is used to screen candidate control targets for generator tripping, and then the optimal control strategy is chosen by a pattern search algorithm. The proposed control method uses trajectory from time-domain simulation for analysis, which guarantees control accuracy compared to direct analysis method. Furthermore, the method realizes parallel calculation of both trajectory sensitivity and pattern search, which improves the decision-making efficiency and is particularly applicable to online pre-decision-making. Finally, two power system cases are illustrated to verify the effectiveness of the method.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114155914","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
The evaluating simulation system of ship anchoring operation 船舶锚泊作业评估仿真系统
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7261034
F. Cheng, Ren Hongxiang
{"title":"The evaluating simulation system of ship anchoring operation","authors":"F. Cheng, Ren Hongxiang","doi":"10.1109/CHICC.2015.7261034","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7261034","url":null,"abstract":"From the ship anchoring operation model and evaluation methods point of view, this paper establishes the mathematic evaluation models of ship anchoring operation by using membership functions in the ship handling simulation system, estimates the ship anchoring operation's evaluation index weight based on information entropy under the condition of rough set. The evaluating simulation system of ship anchoring operation is developed with Visual C++, and the tested result is deal.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114163575","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 first stage studies of U-state space control system design 第一阶段研究美国空间控制系统的设计
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7259761
Liu Xin, Quanmin Zhu, Pritesh Narayan, Yang Ye
{"title":"The first stage studies of U-state space control system design","authors":"Liu Xin, Quanmin Zhu, Pritesh Narayan, Yang Ye","doi":"10.1109/CHICC.2015.7259761","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7259761","url":null,"abstract":"In this study, a basic idea of U-state feedback control system design method is proposed based on U-model principle. Compared with U-model based nonlinear polynomial systems, the U-state space design is to determine the desired state variable equation xd(t), therefore to find the controller output u(t-1). The desired state equation can be designed/specified and transformed into the U-state space expression easily. The controller output can be obtained from resolving the equation. The desired state variables are updated by the corresponding state variables x(t). Assume that the state variables are measurable or obtained by a proper observer in this study. In case studies, two nonlinear discrete time state space models are selected to test the proposed approach. Computational experiments, that is, simulation studies, are used to demonstrate the procedure effectiveness.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114508698","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
Code-Carrier Divergence for Ground Based Augmentation System: A comparative analysis study 地基增强系统码载波散度的比较分析研究
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7260476
Liang Li, Weixin Yang, Fuxin Yang, Lin Zhao
{"title":"Code-Carrier Divergence for Ground Based Augmentation System: A comparative analysis study","authors":"Liang Li, Weixin Yang, Fuxin Yang, Lin Zhao","doi":"10.1109/CHICC.2015.7260476","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7260476","url":null,"abstract":"Carrier-Smoothed-Code (CSC) can effectively suppress the multipath effect and receiver noise in the code-based differential positioning, which is widely adopted by the Ground Based Augmentation System (GBAS). However, the accuracy of smoothed code can be degraded significantly by the Code-Carrier-Divergence (CCD) effect. The CCD monitoring technology of for BeiDou Satellite System (BDS) is still under developing. This paper analyzed and compared two methods of CCD monitoring in GPS and BDS, respectively. Based on the CCD monitoring results, it was found that the tow-order linear invariant filter is better for CCD in terms of detection time and estimation accuracy. With the given constant false alarm rate, CCD detection threshold can be obtained. Furthermore, the sigma-inflation method is used to compensate the non-perfect distribution of the constructed test statistics. The real-world experiment of GPS and BeiDou is implemented to make a comparative analysis. The experimental result shows that the two-order detection method is more applicable to BDS due to the better availability.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114564676","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
City group optimization 城市群优化
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7260034
Yijun Yang, H. Duan
{"title":"City group optimization","authors":"Yijun Yang, H. Duan","doi":"10.1109/CHICC.2015.7260034","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7260034","url":null,"abstract":"In this paper, we propose a novel swarm intelligence optimization algorithm-city group optimization (CGO). CGO loosely mimics the evolution of city group. The basic components of CGO include road network, position updating rules, and transportation hub updating. These components are inspired by the evolutionary phenomena in city group. The detailed implementation procedure is also given. Series of comparative experiments on six benchmark functions with particle swarm optimization (PSO) are conducted, and the results verify the feasibility and effectiveness of our proposed CGO in solving continuous optimization problems.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122015037","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
Future internet architecture: Control-based perspectives related to Quality of Experience (QoE) management 未来互联网架构:与体验质量(QoE)管理相关的基于控制的视角
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7260659
D. Francesco, Gori Giorgi Claudio, Monaco Salvatore, S. Vincenzo
{"title":"Future internet architecture: Control-based perspectives related to Quality of Experience (QoE) management","authors":"D. Francesco, Gori Giorgi Claudio, Monaco Salvatore, S. Vincenzo","doi":"10.1109/CHICC.2015.7260659","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7260659","url":null,"abstract":"This paper presents the Future Internet Architecture developed in the framework of the Platino project, focusing on the Quality of Experience (QoE) Management; the presented architecture is fully compliant with the concepts developed in the framework of the FP7 PPP Future Internet initiative and in the projects related to Software Defined Networks (SDNs) and Network Function Virtualization (NFV). The paper highlights the proposed underlying innovations of the architecture related to the Orchestration functionalities; in particular, the developments related to such innovations offer a plenty of opportunities for applying control based, operation research and optimization techniques.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122036465","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
Distributed adaptive containment for linear multi-agent systems using output information 使用输出信息的线性多智能体系统的分布式自适应遏制
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7260847
Chengjie Xu, Housheng Su, Ying Zheng, Xingguo Liu
{"title":"Distributed adaptive containment for linear multi-agent systems using output information","authors":"Chengjie Xu, Housheng Su, Ying Zheng, Xingguo Liu","doi":"10.1109/CHICC.2015.7260847","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7260847","url":null,"abstract":"This paper investigates the adaptive containment for linear multi-agent systems under fixed topologies. Adaptive output feedback control protocols are proposed, under which all the followers will asymptotically converge to the convex hull spanned by the leaders. By using tools from matrix, graph and Lyapunov stability theories, a distributed sufficient condition for containment of linear multi-agent systems is obtained. We also present the containment protocols for linear multi-agent systems via adaptive state feedback as a special case. Finally, numerical simulations are presented to illustrate the theoretical findings.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122069207","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
Why not private bailouts? 为什么不是私人救助?
2015 34th Chinese Control Conference (CCC) Pub Date : 2015-07-28 DOI: 10.1109/CHICC.2015.7261004
Changli Zhou, Zhigang Cao, Xinglong Qu, Xiaoguang Yang
{"title":"Why not private bailouts?","authors":"Changli Zhou, Zhigang Cao, Xinglong Qu, Xiaoguang Yang","doi":"10.1109/CHICC.2015.7261004","DOIUrl":"https://doi.org/10.1109/CHICC.2015.7261004","url":null,"abstract":"During financial crises, comparing with numerous governmental bailouts, private bailouts from the falling's stakeholders are extremely rare. We provide a network game model to explain this phenomenon. We model the risk appetites of companies in a cross-holding financial network through a failure-threshold game. The game possesses multiple equilibria. In each equilibrium, companies have incentive to exhaust the implicit guarantee from their shareholders. As a result, there is little room for bailouts when a surprise shock hits the network and the system becomes extremely fragile. We also study the cross-holding's non-monotonic effects on the intensity of the moral-hazard problem.","PeriodicalId":421276,"journal":{"name":"2015 34th Chinese Control Conference (CCC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122084838","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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