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Intelligent Control on Three-Stage Inverted Pendulums

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Advances in Manufacturing 1998年第4期 26-31页

作者： Lin Ruisen Lu Liang (school of automation)

In this paper, a new intelligent control method is introduced, which combines stipulations, optimal control method with knowledge based control. Using nonlinear programming method and expert experience for the complicated nonlinear object, the good control result can be achieved. The effect of this method is shown by a simulation of three stage inverted pendulums.

关键词： intelligent control stipulations principle pattern search inverted pendulum

Consensus of multiagent systems based on disturbance observer

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控制理论与应用（英文版） 2010年第2期8卷 145-150页

作者： Hongyong YANG 1 , Fucai WANG 2 , Zhenxing ZHANG 3 , Guangdeng ZONG 4 (1.school of Information Science and Engineering, Ludong University, Yantai Shandong 264025, China 2.school of Electronic and Electrical Engineering, Ludong University, Yantai Shandong 264025, China 3.school of automation, Southeast University, Nanjing Jiangsu 210096, China 4.Institute of automation, Qufu Normal University, Qufu Shandong 273165, China) school of Information Science and Engineering Ludong University Yantai Shandong China school of Electronic and Electrical Engineering Ludong University Yantai Shandong China school of automation Southeast University Nanjing Jiangsu China Institute of automation Qufu Normal University Qufu Shandong China

The objectives of this work are the development and design of disturbance observers (DO’s) for a team of agents that accomplish consensus on agents’ states in the presence of exogenous disturbances. A pinning control strategy is designed for a part of agents of the multiagent systems without disturbances, and this pinning control can bring multiple agents’ states to reaching an expected consensus value. Under the effect of the disturbances, nonlinear disturbance observers are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multiagent systems with disturbances under the composite controller can be achieved. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the design of the parameters of DO’s are illuminated.

关键词： Multiagent systems Disturbance observer Pinning control Consensus

Analytical Solutions for the Two-Dimensional Magnetic Fields in Disc-Type Permanent Magnet Machines

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Advances in Manufacturing 1998年第4期 32-36页

作者： Zhang Yuejin Xie Guodong (school of automation)

A two dimensional analytical method for predicting the magnetic field in the airgap/magnet region of a permanent magnet (PM) disc type machine is presented. The solutions of the governing field equations are given in both Cartesian and cylindrical coordinates. The expressions derived in this paper can be used conveniently for optimal design of machine. The computed results using the proposed 2D analytical method are validated by the more accurate, though a lot more complicated, 3D finite element analyses.

关键词： analytical method two dimension disc type permanent magnet machine

Evaluation of Switched-Reluctance Machine through Generalized Sizing Equations

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Advances in Manufacturing 1998年第2期2卷 33-37页

作者： Huang Surong Xie Guodong (school of automation)

With the evolution of converter fed machines (CFMs), it becomes important to evaluate the power potential of such machines of vastly different topologies with a variety of waveforms of back emf and current. It is based on the generalized sizing equations and permits the evaluation of the main dimensions with respect to the power of those machines. In this paper, a general approach is presented to extend the evaluation method of machine power density to the switched reluctance (SR) machine, and furthermore to compare the power production capability between the SR machine and the well known squirrel cage induction machine.

关键词： switched reluctance machine converter fed machine sizing equations power density

The Principle of Calibration Using the Ionic Current——A New Calibration Method for Electro-Magnetic Flowmeters

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Advances in Manufacturing 1998年第2期2卷 38-42页

作者： Li Bin Sheng Yu (school of automation)

An equivalent relationship between electro magnetic flowmeters (EMFs) and the Hall effect is discussed in principle and three equivalent conclusions about their measuring equations are derived. Thereby,the calibration using the ionic current (CUIC) is introduced to the calibration of EMFs in a special Hall effect system. A basic system with these equations is specially given and discussed for realizing the method. Two key points about CUIC are proved by a simple experiment.

关键词： calibration of EMFs equivalent relationship between EMFs and Hall effect ionic current being equivalent to the real flowrate of an EMF

Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances

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IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1220-1229页

作者： Zhenhua Zhao Jun Yang Shihua Li Wen-Hua Chen the College of automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China the school of automation Southeast UniversityKey Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE)Ministry of EducationNanjing 210096China the Department of Aeronautical and Automotive Engineering Loughborough UniversityLoughboroughLE11 3TUUK

This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.

关键词： Bilateral control disturbance observer force haptic teleoperation

A New Type of Variable Structure Temperature Programming Controller

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Advances in Manufacturing 1998年第3期 79-81页

作者： Lin Ruisen Xu Yaoliang (school of automation)

This paper presents a practical control strategy and algorithm on the basis of the system identification, variable structure and first order predictive control. The method is especially suitable for the objects of industrial and experimental electric furnace. It has been successfully applied to the design of a new type of adaptive temperature programming control.

关键词： adaptive control identification predictive control

Unmanned air/ground vehicles heterogeneous cooperative techniques:Current status and prospects

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Science China(Technological Sciences) 2010年第5期53卷 1349-1355页

作者： DUAN HaiBin & LIU SenQi National Key Laboratory of Science and Technology on Holistic Flight Control,school of automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China National Key Laboratory of Science and Technology on Holistic Flight Control School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging *** cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue *** paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual *** main problems and future directions in this field were also analyzed in *** innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems.

关键词： unmanned air vehicle(UAV) unmanned ground vehicle(UGV) heterogeneous cooperation

Joint spatial registration and multi-target tracking using an extended PM-CPHD filter

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Science China(Information Sciences) 2012年第3期55卷 501-511页

作者： LIAN Feng1 , HAN ChongZhao1, LIU WeiFeng2, LIU Jing1 & YUAN XiangHui1 1SKLMSE Lab, MOE KLINNS Lab, school of Electronics and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, China 2school of automation, Hangzhou Dianzi University, Hangzhou 310018, China SKLMSE Lab MOE KLINNS Lab School of Electronics and Information Engineering Xi’an Jiaotong University Xi’an China school of automation Hangzhou Dianzi University Hangzhou China

An extended product multi-sensor cardinalized probability hypothesis density (PM-CPHD) filter for spatial registration and multi-target tracking (MTT) is proposed. The number and states of targets and the biases of sensors are jointly estimated by this method without the data association. Monte Carlo (MC) simulation results show that the proposed method (i) outperforms, although computationally more expensive than, the extended multi-sensor PHD filter which has been proposed for joint spatial registration and MTT; (ii) outperforms the multi-sensor joint probabilistic data association (MSJPDA) filter which is also extended in this study for joint spatial registration and MTT when the clutter is relatively dense.

关键词： multi-sensor spatial registration multi-target tracking (MTT) cardinalized probability hypothesis density (PHD) filter random finite set (RFS)