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第40届中国控制会议

作者： Daxing Zhong Min Zheng Peike Li College of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Power Station Automation Technology

In this paper, the string stability of bilateral-control systems consisting of third-order models with inertial time-delay parameters is studied. Unlike the double integral model which is always stable under bilateral control conditions, the stability of the third order model can only be guaranteed under constraints. In this paper, the closedloop stability of large scale platoon is solved by matrix factorization and converted into the stability analysis of the order of the child nodes, and the closed-loop stability conditions are given. On this basis, the string stability of the platoon of vehicles was further studied. By transforming the system matrix into Toeplitz form, the general solution formula of the system equation is obtained. Combined with contradiction proof and inequality analysis, it is proved that the platoon is always string stable under the condition of closed-loop stability. Finally, the conclusion is verified by computer simulation.

关键词： Third-order vehicle model bilateral control string stability distributed linear controller

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Dynamic simulation of urban water metabolism under water environmental carrying capacity restrictions

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Frontiers of Environmental Science & Engineering 2016年第1期10卷 114-128页

作者： Weihua ZENG Bo WU Ying CHAI State Key Laboratory of Water Environmental Simulation School of Environment Beijing Normal University Beijing 100875 China School of Environment Beijing Normal University Beijing 100875 China

A revised concept for urban water metabolism （UWM） is presented in this study to address the inadequacies in current research on UWM and the problems associated with the traditional urban water metabolic process. Feedback loops can be analyzed to increase the water environmental carrying capacity （WECC） of the new urban water metabolism system （UWMS） over that of a traditional UWMS. An analysis of the feedback loops of an UWMS was used to construct a system dynamics （SD） model for the system under a WECC restriction. Water metabolic processes were simulated for different scenarios using the Tongzhou District in Beijing as an example. The results for the newly developed UWM case showed that a water environment of Tongzhou District could support a population of 1.1926 × 106, an irrigation area of 375.521 km2, a livestock of 0.7732 × 106, and an industrial value added of ￥193.14 × 109 （i.e. about US$28.285 × 109） in 2020. A sensitivity analysis showed that the WECC could be improved to some extent by constructing new sewage treatment facilities or by expanding the current sewage treatment facilities, using reclaimed water and improving the water circulation system.

关键词： urban water metabolism system (UWMS),system dynamic simulation water environmental carryingcapacity (WECC) feedback loops bilateral control

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Fuzzy Singularly Perturbed Model and Stability Analysis of bilateral Teleoperation System

Fuzzy Singularly Perturbed Model and Stability Analysis of B...

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第三十届中国控制会议

作者： WANG Ruiqi,XIA Changjun,GU Wenjin,LI Kehua Department of control Engineering,Naval Aeronautical and Astronautical University,Yantai 264001,P.R.China

The bilateral teleoperation system is the system with time delay and force ***-orbit services is a important application of bilateral *** stabilization problem must overcome the bilateral time delay in presence of state and control *** paper propose a novel stabilization control method based on fuzzy singularly perturbed model of bilateral ***,system equations are transformed into state space expression of errors dynamic and built the singularly perturbed model of bilateral ***,several linearity matrix inequations(LMI) called stabilization theorem are constructed,then,fuzzy state feedback controller are ***,Lyaponov function method is used to prove the stabilization *** results show that our approach is valid and has encouraging stabilization performance.

关键词： bilateral control Fuzzy control Teleoperation Singularly Perturb LMI

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Design and Realization of the Experimental Platform of Space Robot bilateral Teleoperation System

Design and Realization of the Experimental Platform of Space...

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第三十届中国控制会议

作者： LI Lei~1,WEI Qing~1,HOU Zhilin~1,ZHAO Lei~2 l.National University of Defense Technology,Changsha 410073,P.R.China 2.College of Telecommunication Engineering,Air Force Engineering University,Xi''an 710077,P.R.China

＜正＞An experimental platform of bilateral teleoperation system is developed to meet the needs of the task requirement of the space robot monitoring in orbit,and it is composed of three modules for master force-reflecting parallel connection hand controller of Delta,Siemens Manutec r3 industrial robot and the communication *** is the device of human-computer interaction and the perception of r3 industrial robot can be received,while Siemens Manutec r3 industrial robot can be controlled under the operator and the given tasks can be *** communication simulator emulates time delay and bandwidth of the teleoperation *** experiment results are given to verify the effectiveness of the developed system.

关键词： Teleoperation bilateral control Ground experimental platform Time delay simulator

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