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information DESIGN OF UNIVERSAL ADJUSTMENT PROGRAM OF PLANE control NETWORKS

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中国有色金属学会会刊：英文版 1994年第2期4卷 95-97,102页

作者： Xiang,Nanping(department of Resources Exploitation engineering,Central South University of technology,Changsha 410083.

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关键词： information design universal adjustment plane control networks

Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing

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控制理论与应用（英文版） 2010年第2期8卷 139-144页

作者： Chaoli WANG 1 , Zhenying LIANG 2 , 3., Qingwei JIA 4 (1.department of control Science and engineering, University of Shanghai for Science and {3., Shanghai 200093. China 2.Business School, University of Shanghai for Science and {3., Shanghai 200093. China 3.School of Science, Shandong University of {3., Zibo Shandong 255049, China 4.Research & Development Centre, Hitachi Asia Ltd, Hitachi Tower, Singapore 0493.8) department of control Science and engineering University of Shanghai for Science and Technology Shanghai China Business School University of Shanghai for Science and Technology Shanghai China School of Science Shandong University of Technology Zibo Shandong China Research & Development Centre Hitachi Asia Ltd Hitachi Tower Singapore

This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth {3. and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers.

关键词： Nonholonomic system Uncalibrated visual parameters Stabilization Dynamic feedback

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实时动态环境下多智能体的路径搜索研究

机器人 2004年第1期26卷 74-77页

作者：李建伟张凯王健洪炳镕杨艳哈尔滨工业大学计算机学院黑龙江哈尔滨150001 沈阳电力高等专科学校信息工程系辽宁沈阳110036 沈阳工业大学信息工程学院辽宁沈阳110023

通过对实时动态环境下多智能体机器人足球中传球路线搜索的研究 ,提出了和双方队员控制区域有关的机动范围的概念及相应的计算方法 ,并用遗传算法解决了在搜索空间较大情况下的传球路线的搜索问题 .实验和比赛结果证明 ,该方法能有效的... 详细信息

通过对实时动态环境下多智能体机器人足球中传球路线搜索的研究 ,提出了和双方队员控制区域有关的机动范围的概念及相应的计算方法 ,并用遗传算法解决了在搜索空间较大情况下的传球路线的搜索问题 .实验和比赛结果证明 ,该方法能有效的解决实时动态环境下机器人足球中传球路线搜索的问题 .

关键词：多智能体系统足球机器人遗传算法机动范围

On Image Registration and Defect Detection Techniques in the Print Quality Detection of Cigarette Wrapper

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On Image Registration and Defect Detection Techniques in the...

Time-varying sliding mode control for a class of uncertain MIMO nonlinear system subject to control input constraint

第二十七届中国控制会议

作者： Zhu Zhengwei,Guo Yuying School of information engineering,southwest University of Science and {3.,mianyang 621010,P.R.China

In a print quality detection system,image registration and defect detection algorithms are two key *** precision and speed of them have a direct impact on the performance of the *** to the demands and characteristics of the print quality detection of cigarette wrapper,an image registration algorithm and an defect detection algorithm in the system were detailedly studied in this *** paper proposed an image registration method using a cross-correlation algorithm and a control-point based search strategy and an image defeat detection method combining a dynamic threshold image subtraction technique with a hierarchical detection *** experimental results showed that these algorithms could detect rapidly and effectively the print quality of cigarette wrapper under the condition of the acquired image containing some noises,local defeats and gray-level variations.

关键词： Print Quality detection Image registration Defect detection

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Science China(information Sciences) 2010年第1期53卷 89-100页

作者： JIN YongQiang1,2, LIU XiangDong1, QIU Wei2 & HOU ChaoZhen1 1department of Automatic control, Beijing institute of {3., Beijing 100081, China 2Aerospace System engineering Shanghai, Shanghai 201108, China department of Automatic control Beijing Institute of Technology Beijing China Aerospace System engineering Shanghai Shanghai China

To solve the regulator problem of a class of uncertain MIMO nonlinear systems subject to control input constraint, three types of time-varying sliding mode control laws are proposed. The sliding surfaces pass the initial value of the system at the initial time, and are shifted/rotated towards the predetermined ones. The controller parameters are optimized by genetic algorithm (GA). Lyapunov method is adopted to prove the stability and robustness to the parameter uncertainties and external disturbance. By mean of time-varying sliding mode control law, the reaching phase in the conventional sliding mode control is eliminated, and the system is guaranteed to have robustness from the very beginning. Taking the control of two-link manipulator and attitude tracking of rigid spacecraft as two examples, we illustrate the features of the time-varying sliding mode control. The simulation results show the validity of the control law to a class of uncertain MIMO systems. Better robustness against the uncertainties and external disturbance could be achieved by time-varying sliding mode control without violating the constraint on control input.

关键词： time-varying sliding surface sliding mode control MIMO nonlinear system uncertain control input constraints

Delay-dependent robust H∞ control for uncertain fuzzy hyperbolic systems with multiple delays

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Progress in Natural Science:Materials International 2008年第1期18卷 97-104页

作者： Huaguang Zhanga ,*,Qingxian Gong a,b ,Yingchun Wang a aSchool of information Science and engineering,Northeastern University,Shenyang 110004,China bdepartment of Electrical engineering,Changchun institute of technology,Changchun 13.012,China School of information Science and engineering Northeastern University Shenyang 110004 China department of Electrical engineering Changchun Institute of Technology Changchun 130012 China

The robust H∞ control problem was considered for a class of fuzzy hyperbolic model(FHM)systems with parametric uncertainties and multiple ***,FHM modeling method was presented for time-delay nonlinear ***,by using Lyapunov–Krasov- skii approaches,delay-dependent suficient condition for the existence of a kind of state feedback controller was proposed,which was expressed as linear matrix inequalities(LMIs).The controller can guarantee that the resulting closed-loop system is robustly asymptot- ically stable with a prescribed H∞ performance level for all admissible uncertainties and ***,a simulation example was provided to illustrate the effectiveness of the proposed approach.

关键词： Fuzzy hyperbolic model Robust H1 control Asymptotical stability Linear matrix inequality Uncertain time-delay system

Applications of DMC-PID Algorithm in the Measurement and control System for the Greenhouse Environmental Factors

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Applications of DMC-PID Algorithm in the Measurement and Con...

Decentralized control for Residential Energy Management of a Smart Users' Microgrid with Renewable Energy Exchange

2011 Chinese control and Decision Conference（CCDC）

作者： Zhang Chunfeng is with the School of information engineering,southwest University of Science and {3.,mianyang,Sichuan 621000 China. Chen Yonghui is with the School of Computer Science and {3.,southwest University of Science and {3.,mianyang,Sichuan 621000 China.

Considering the characteristics of time-delay,nonlinear and difficult established precise mathematics model in greenhouse climate,and a control system based on predictive-PID cascade control is *** combines the cascade control structure with predictive control algorithm,the inner loop uses a general proportion adjuster and the outer loop uses a Dynamic Matrix control （DMC）.The control system not only keeps the strong robustness and fast tracking performance of the predictive control algorithm,but also rejects the interference *** result shows that the control quality and the robustness of the system are superiors to the general PID system.

关键词： Large time-delay Cascade control DMC

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 641-656页

作者： Raffaele Carli Mariagrazia Dotoli IEEE the department of Electrical and information engineering of the Polytechnic of Bari

This paper presents a decentralized control strategy for the scheduling of electrical energy activities of a microgrid composed of smart homes connected to a distributor and exchanging renewable energy produced by individually owned distributed energy resources. The scheduling problem is stated and solved with the aim of reducing the overall energy supply from the grid, by allowing users to exchange the surplus renewable energy and by optimally planning users' controllable loads. We assume that each smart home can both buy/sell energy from/to the grid taking into account time-varying non-linear pricing signals. Simultaneously, smart homes cooperate and may buy/sell locally harvested renewable energy from/to other smart homes. The resulting optimization problem is formulated as a non-convex non-linear programming problem with a coupling of decision variables in the constraints. The proposed solution is based on a novel heuristic iterative decentralized scheme algorithm that suitably extends the Alternating Direction Method of Multipliers to a non-convex and decentralized setting. We discuss the conditions that guarantee the convergence of the presented algorithm. Finally, the application of the proposed technique to a case study under several scenarios shows its effectiveness.

关键词： Alternating direction method of multipliers decentralized control energy management microgrid non-convex optimization renewable energy residential energy management smart homes

The Research of Software Automation on Monitoring System

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The Research of Software Automation on Monitoring System