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Adaptive RBF neural network control of robot with actuator nonlinearities

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控制理论与应用（英文版） 2010年第2期8卷 249-256页

作者： Jinkun LIU, Yu LU (school of automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China) school of automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

In this paper, an adaptive neural network control scheme for robot manipulators with actuator nonlinearities is presented. The control scheme consists of an adaptive neural network controller and an actuator nonlinearities compensator. Since the actuator nonlinearities are usually included in the robot driving motor, a compensator using radial basis function (RBF) network is proposed to estimate the actuator nonlinearities and eliminate their effects. Subsequently, an adaptive neural network controller that neither requires the evaluation of inverse dynamical model nor the time-consuming training process is given. In addition, GL matrix and its product operator are introduced to help prove the stability of the closed control system. Considering the adaptive neural network controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded (UUB). The whole scheme provides a general procedure to control the robot manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.

关键词： Adaptive control RBF neural network Actuator nonlinearity Robot manipulator Deadzone

Quasi-equality constrained risk-sensitive filtering for nonlinear discrete-time systems

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控制理论与应用（英文版） 2012年第2期10卷 229-235页

作者： Linfeng SHEN, Yan LIN school of automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China school of automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

More and more data fusion models contain state constraints with valuable information in the filtering process. In this study, an optimal filter of risk sensitive with quasi-equality constraints is formulated using the reference probability method. Through recursion processes of probability density acquired from the probability measure change, the derived algorithm is optimal in the sense of the risk sensitive parameter. The system and constraint models are Consistent in statistics. Simulation results show that it is more robust and efficient than projection filters for the worst-case of noises and model uncertainty.

关键词： Optimal estimation Risk-sensitive filtering Constraints

Service Composition Instantiation Based on Cross-Modified Artificial Bee Colony Algorithm

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China Communications 2016年第10期13卷 233-244页

作者： Lei Huo Zhiliang Wang school of automation University of Science and Technology Beijing school of Computer and Science University of Science and Technology Beijing

Internet of things(IoT) imposes new challenges on service composition as it is difficult to manage a quick instantiation of a complex services from a growing number of dynamic candidate services. A cross-modified Artificial Bee Colony Algorithm(CMABC) is proposed to achieve the optimal solution services in an acceptable time and high accuracy. Firstly, web service instantiation model was established. What is more, to overcome the problem of discrete and chaotic solution space, the global optimal solution was used to accelerate convergence rate by imitating the cross operation of Genetic algorithm(GA). The simulation experiment result shows that CMABC exhibited faster convergence speed and better convergence accuracy than some other intelligent optimization algorithms.

关键词： optimization of service composition optimal service instantiation artificial bee colony algorithm swarm algorithm cross strategy

Random Stabilization of Sampled-data Control Systems with Nonuniform Sampling

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International Journal of automation and computing 2012年第5期9卷 492-500页

作者： Bin Tang Qi-Jie Zeng De-Feng He Yun Zhang school of automation, Guangdong University of Technology, Guangzhou 510006, China school of automation Guangdong University of Technology Guangzhou China

For a sampled-data control system with nonuniform sampling, the sampling interval sequence, which is continuously distributed in a given interval, is described as a multiple independent and identically distributed (i.i.d.) process. With this process, the closed-loop system is transformed into an asynchronous dynamical impulsive model with input delays. Sufficient conditions for the closed-loop mean-square exponential stability are presented in terms of linear matrix inequalities (LMIs), in which the relation between the nonuniform sampling and the mean-square exponential stability of the closed-loop system is explicitly established. Based on the stability conditions, the controller design method is given, which is further formulated as a convex optimization problem with LMI constraints. Numerical examples and experiment results are given to show the effectiveness and the advantages of the theoretical results.

关键词： Sampled-data control system nonuniform sampling independent and identically distributed (i.i.d.) process mean-square exponential stability controller design

Research on allocation efficiency of the redistributed pseudo inverse algorithm

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Science China(Information Sciences) 2010年第2期53卷 271-277页

作者： SHI JingPing , ZHANG WeiGuo, LI GuangWen & LIU XiaoXiong school of automation, Northwestern Polytechnical University, Xi’an 710072, China school of automation Northwestern Polytechnical University Xi’an China

Allocation efficiency is an important performance index to measure the quality of the allocation algorithm. In order to compute the efficiency, the volume of the subset of attainable moments must be solved. The efficiency of the redistributed pseudo inverse (RPI) algorithm depends on the choice of the pseudo-inverse matrix. The subset of attainable moments of RPI is a complex non-convex polyhedron. By analyzing twodimensional and three-dimensional allocation problems with a "micro-element" method, here we propose an approximate calculation algorithm to compute the volume of the non-convex polyhedron. In order to improve the allocation efficiency of RPI, genetic algorithm is used to find the best pseudo-inverse matrix. The simulation results show that the best pseudo-inverse matrix can be easily chosen by the proposed method and the high allocation efficiency is achieved.

关键词： control allocation redistributed pseudo inverse genetic algorithm allocation efficiency

PERFORMANCE EVALUATION OF SEVERAL FUSION APPROACHES FOR CCD/SAR IMAGES

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Chinese Geographical Science 2003年第1期13卷 91-96页

作者： WANG Yan-li, CHEN Zhe(school of automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, P. R. China) school of automation Science and Electrical Engineering Beijing University of Aeronautics and Asturonautics 北京

Several image fusion approaches for CCD/SAR images are studied and the performance evaluation of these fusion approaches is completed in this paper. Firstly, the preprocessing of CCD/SAR images before fusion is fulfilled. Then, the image fusion methods including linear superposition, nonlinear operator method and multiresolution methods, of which the multiresolution methods include Laplacian pyramid, ratio pyramid, contrast pyramid, gradient pyramid, morphological pyramid and discrete wavelet transform, are adopted to fuse two types of images. Lastly, the four performance measures, standard deviation, entropy, cross entropy and spatial frequency, are calculated to compare the fusion results by different fusion approaches in this paper. Experimental results show that contrast pyramid, morphology pyramid and discrete wavelet transformation in multiresolution approaches are more suitable for CCD/SAR image fusion than other ones proposed in this paper and the objective performance evaluation of CCD/SAR image fusion approaches are effective.

关键词： image fusion performance evaluation CCD image SAR image

Design of Digital Control System for Cement Raw Material Preparation

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武汉理工大学学报 2006年第S3期28卷 1157-1160页

作者： ZHOU Ying LI Hongsheng school of automation,Wuhan University of Technology,Wuhan 430070,China school of automation Wuhan University of TechnologyWuhan 430070China

This paper describes the design of cement raw material prepared digital control system by *** uses the digital technology to implement the digital control system for raw material prepared of the cement *** system improves the communication between the industrial system and locale instrument *** applies digital communication to replace ttle 4-20 mA or 24VDC signal between locale lever device and controller.

关键词： digital CIMS PROFIBUS

Cloud Control Systems

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IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 134-142页

作者： Yuanqing Xia school of automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future. © 2014 Chinese Association of automation.

关键词： Big data Cloud computing Computation theory Control systems Control theory Controllers Data handling Distributed computer systems Embedded systems Internet of things

Arranging transient process used in iterative learning control system

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Journal of Pharmaceutical Analysis 2009年第1期21卷 42-45页

作者： Li-chuan Hui, Hui Lin school of automation, Northwestern Polytechnical University, Xi’an 710129, China. school of automation Northwestern Polytechnical University Xi'an 710129 China

Considering the same initial state error in each repetitive operation in the iterative learning system, a method of arranging the transient process is given. During the current iteration, the system will track the transient function firstly, and then the expected trajectory. After several iterations, the learning system output will trend to the arranged curve, which has avoided the effect of the initial error on the controller. Also the transient time can be changed as you need, which makes the designing simple and the operation easy. Then the detailed designing steps are given via the robot system. At last the simulation of the robot system is given, which shows the validity of the method.

关键词： iterative learning initial state transient process robot system