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2011 Chinese Control and Decision Conference（CCDC）

作者： Chuan Zhou is with the school of automation,Nanjing University of Science and Technology,Nanjing,210094 China.Yifei Wu is with the school of automation,Nanjing University of Science and Technology,Nanjing,210094 China.Qingwei Chen is with the school of automation,Nanjing University of Science and Technology,Nanjing,210094 China

For the non-linearity of TCP fluid-flow model and fluctuations of network load,an active queue management scheme based on variable structure control and neuron equivalent compensation is *** scheme is integration of sliding-mode controller and neuron equivalent compensator,which the variable structure controller is used to guarantee the swiftness of queue response and an adaptive neuron is introduced to alleviate the effect of *** scheme can obtain good dynamic performance and ensure the stability and robustness for AQM control ***,simulation results show the effectiveness of the proposed algorithm through NS-2 simulator.

关键词： Active queue management Variable structure control Neuron Jitter Robustness

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Multi-Robot Dynamic Role Assignment Based on Path Cost

Multi-Robot Dynamic Role Assignment Based on Path Cost

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2011 Chinese Control and Decision Conference（CCDC）

作者： Wanmi Chen is with the Shanghai Key Laboratory of Power Station automation Technology and school of Electromechanical Engineering and automation,Shanghai,200072 CHINA.Tongluan Chen is with the school of Electromechanical Engineering and automation,Shanghai University,Shanghai,200072 CHINA

Robot soccer is one such task and it provides a unique challenge for multi-robot *** soccer teams consist of a number of robots each performing a different role within the *** roles discussed in this paper are:goalie,defender,special defender,center,supporter and *** roles are two often statically assigned to the robots at the start of the *** based on path cost can be used to assign these roles dynamically to allow the team to adopt the optimal behavior for each situation.A strategy can be chosen based on robot and ball location which in turn determines which roles should be used in *** the roles are defined,they will be assigned to the best robot for each role in turn based on role *** approach has been successfully developed for Strive3D,our team for the RoboCup 3D-simulation league which changed to 6 VS 6 from 3 VS 3 in *** paper presents the role assignment based on path cost employed and the favorable results obtained.

关键词： RoboCup Role Assignment Path Cost Multi-agent System

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Adaptive Fault Diagnosis for a Class of Linear Discrete-time Systems via hλ-Order Analysis

Adaptive Fault Diagnosis for a Class of Linear Discrete-time...

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第二十九届中国控制会议

作者： MA Hongbin1,DENG Zhihong2,KAN Rui 1.school of automation,Beijing Institute of Technology 2.school of automation,Beijing Institute of Technology

In this paper,for a class of discrete-time linear time-varying systems,a method for fault detection and diagnosis（FDD）based on adaptive estimation is investigated,and its theoretical properties in detecting faults are established rigorously via the so-called hλ-order *** system model considered is fundamental in term that the majority of practical nonlinear systems can be approximated by linear time-varying systems and the fault model used in this contribution represents the popular nature that usually only limited different kinds of faults with known effects may happen simultaneously with additive *** known effect of each fault type is abstracted by a function with respect to time,control inputs and states,and hence the fault detection problem is equivalently converted to a problem of parameter *** the novel approach of hλ order analysis introduced in a companion paper,we are able to identify the conditions to guarantee the convergence or boundedness of parameter estimation errors,in different cases of noise disturbance such as zero noise,bounded noise and diminishing noise.

关键词： Fault Detection and Diagnosis Adaptive Estimation hλ Order Analysis Linear Time-Varying Systems Discrete-Time Systems

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Decentralized Robust Controller Design for a Class of Large-scale System with Uncertainties

Decentralized Robust Controller Design for a Class of Large-...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Wang Wenqing is with the school of automation,Xi''an University of Posts and Telecommunications,Xi''an 710061 China.Wu Qing is with the school of automation,Xi''an University of Posts and Telecommunications,Xi''an 710061 China.Wei Qiuyue is with the school of automation,Xi''an University of Posts and Telecommunications,Xi''an 710061 China

In some large-scale nonlinear uncertain systems there exists a special subsystem,which possesses the maximum state *** introducing a group of adjustable relation parameters （GARP）,a new decentralized robust control strategy is proposed according to focus on this special *** the GARP is adjustable,it is easy to get good *** controller is linear via state feedback even though the system to be controlled is nonlinear and ***,the assumptions made for controller designing are weakened in the proposed ***,the simulation shows the validity.

关键词： large-scale system uncertainty decentralized robust control GARP

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Investigation on A New Kick Equipment with Two Degrees of Freedom Controlled by FPGAfor RoboCup

Investigation on A New Kick Equipment with Two Degrees of Fr...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Wanmi Chen is with the Shanghai Key Laboratory of Power Station automation Technology and school of Electromechanical Engineering and automation,Shanghai,200072 CHINA.Junjiang Liu is with the school of Electromechanical Engineering and automation,Shanghai University,Shanghai,200072 CHINA

For the disadvantage of current kick equipments for Robot World Cup（RoboCup） Middle-sized robots,a new kick equipment with two degrees of freedom which can motion in the X-Y plane is *** fully used the only space in front of the robot,controlled by FPGA and drived by actuating *** simulated by using Quartus II 8.0 *** equipment can implement flat fire and flip shot,and easy control.

关键词： Soccer Robots kick equipment FPGA

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Modeling and LPV Control of Web Winding System with Sinusoidal Tension Disturbance

Modeling and LPV Control of Web Winding System with Sinusoid...

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2009中国控制与决策会议

作者： XU Yulin Shanghai Key Laboratory of Power Station automation Technology,school of Mechatronics Engineering and automation,Shanghai University,Shanghai 200072

＜正＞In this paper,the nonlinear model of a flexible web winding system composed of three motors and two load cells is derived based on the general laws of *** model parameters are identified using optimization *** controller is designed to obtain good reference tracking properties as well as to properly reject sinusoidal disturbance for suppressing *** frequency of disturbance is constant or time-varying and unknown but *** proposed approach is based on a time-varying frequency weighting function giving an extended linear parameter varying（LPV） model that is used to design a stabilizing LPV H∞*** method is applied to the flexible web winding system to compensate the web tension disturbance caused by the sinusoidal vibration on unwinder.

关键词： Flexible web winding svstem sinusoidal disturbance reiection LPV H∞controller.

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Minimum-Fuel for MARS Powered descent Landing

Minimum-Fuel for MARS Powered descent Landing

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中国宇航学会深空探测技术专业委员会第九届学术年会

作者： Rongfang Chen,Yuanqing Xia school of automation,Beijing Institute of Technology,Beijing 100081

For Mars Lander,mass restriction is one of the biggest *** of the payload as large as possible,the minimum-fuel during the terminal fuel powered descent phase is *** Pontryagin’s maximum principle is applied to transform the minimum-fuel problem into the two-point boundary-value problem（TPBVP）.Also,the shooting method and the PROPT software are used to solve this *** simulation results are presented to illustrate the optimal strategies.

关键词： mass restriction minimumfuel Pontryagin’s maximum principle TPBVP shooting method

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The Research of the Road’s Accessibility in Flood Select a Correct Road for Emegency Supply

The Research of the Road’s Accessibility in Flood Select a ...

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2011 International Conference on Management Science and Intelligent Control(ICMSIC 2011)

作者： Fuxing Yang 1st school of automation Beijing University of Posts and Telecommunications Berijing China Danna Tu 2st school of automation Beijing University of Posts and Telecommunications Berijing China Xun Weng 3st school of automation Beijing University of Posts and Telecommunications Berijing China

This article uses AHP and Fuzz model to analyze the accessibility of the road for emergency *** article discusses how the accessibility of the road changes after the flood.

关键词： AHP fuzzy math the accessibility of the road flood

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Maximum Allowable Delay Bound for Consensus of General Linear Multi-Agent Systems

Maximum Allowable Delay Bound for Consensus of General Linea...

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第三十一届中国控制会议

作者： Ya Zhang Yu-Ping Tian school of automation Southeast University Nanjing 210096 China

＜正＞This paper studies the consensus of general linear multi-agent systems with uniform delay and focuses on searching a maximum allowable delay *** fixed and switching topology cases are *** a series of system transformations the consensus problem is converted to the robust stability problem of some uncertain state-delayed *** using Lyapunov-Krasovskii function analysis,consensus conditions which contain the feedback gain condition and delay condition are proposed for systems under fixed topology and switching connected topologies,*** allowable delay bounds are further obtained for both *** long as the delay is less than this bound,there exist linear feedback consensus protocols driving the multi-agent system to achieve *** examples are given to illustrate the results.

关键词： Multi-agent Systems Consensus Delay Switching Topology

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Modeling and Nonlinear Computed Torque Control of Ship-mounted Mobile Satellite Communication System

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International Journal of automation and computing 2012年第5期9卷 459-466页

作者： Jun Jiang 1 Bin Yao 2,3 Jian Guo 1 Qing-Wei Chen 1 1 school of automation, Nanjing University of Science and Technology, Nanjing 210094, China 2 school of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA 3 State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China school of automation Nanjing University of Science and Technology Nanjing China school of Mechanical Engineering Purdue University West Lafayette USA State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou China

A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrier is moving. Because of many advantages of mobile satellite communication, the MSCSs are becoming more and more popular in modern mobile communication. In this paper, a typical ship-mounted MSCS is studied. The dynamic model of the system is derived using the generalized Lagrange method both in the joint space and in the workspace. Based on the dynamic model, a nonlinear computed torque controller with trajectory planning is designed to track an aimed satellite with a satisfied transient response. Simulation results in two different situations are presented to show the tracking performance of the controller.

关键词： Mobile satellite communication system (MSCS) dynamic modeling computed torque control tracking control ship-mounted

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