Pub Date : 2018-07-06DOI: 10.1109/YAC.2018.8406397
L. Yang, Y. Che, J. Guo, Xiwen Huang
An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.
{"title":"A local multi-robot cooperative formation control","authors":"L. Yang, Y. Che, J. Guo, Xiwen Huang","doi":"10.1109/YAC.2018.8406397","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406397","url":null,"abstract":"An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126153031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-06DOI: 10.1109/YAC.2018.8406359
Sai Fang, Ding Wang, Derong Liu, Mingming Ha
In this paper, we propose a robust optimal control policy for nonlinear systems with bounded unknown perturbation by using data-driven policy learning strategy. The robust control problem is transformed into a corresponding optimal control design with specific cost function. Neural-network-based data-driven policy learning strategy is presented to solve the problem without system dynamics. The solution of the optimal control problem can asymptotically stabilize the unknown system. An example is given to illustrate the established method.
{"title":"Data-driven policy learning strategy for nonlinear robust control with unknown perturbation","authors":"Sai Fang, Ding Wang, Derong Liu, Mingming Ha","doi":"10.1109/YAC.2018.8406359","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406359","url":null,"abstract":"In this paper, we propose a robust optimal control policy for nonlinear systems with bounded unknown perturbation by using data-driven policy learning strategy. The robust control problem is transformed into a corresponding optimal control design with specific cost function. Neural-network-based data-driven policy learning strategy is presented to solve the problem without system dynamics. The solution of the optimal control problem can asymptotically stabilize the unknown system. An example is given to illustrate the established method.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126843099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406422
Han Yang, Liu Xiaoma, Zheng Zhiqiang
In this paper, an approach for backstepping control together with sliding mode control (SMC) of a flight control system is developed. A multivariable control structure is proposed to provide an extension of single channels. The control algorithm is performed on a rigid body dynamics in the form of vector states which are the velocity vector and the angular velocity vector in a body-fixed coordinate frame to ensure the states of the system are driven towards the expected manifolds exponentially in spite of the presence of perturbations, i.e., parametric uncertainties and external disturbances, and stay there for all future time. The simulation results illustrate the effectiveness of the proposed approach.
{"title":"A novel vector backstepping and sliding mode approach for flight control","authors":"Han Yang, Liu Xiaoma, Zheng Zhiqiang","doi":"10.1109/YAC.2018.8406422","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406422","url":null,"abstract":"In this paper, an approach for backstepping control together with sliding mode control (SMC) of a flight control system is developed. A multivariable control structure is proposed to provide an extension of single channels. The control algorithm is performed on a rigid body dynamics in the form of vector states which are the velocity vector and the angular velocity vector in a body-fixed coordinate frame to ensure the states of the system are driven towards the expected manifolds exponentially in spite of the presence of perturbations, i.e., parametric uncertainties and external disturbances, and stay there for all future time. The simulation results illustrate the effectiveness of the proposed approach.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130644397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406500
Shiyuan Ning, Quanbo Ge, Haoyu Jiang
With the rapid development of the distributed renewable energy technologies, there is more significant increase in the amount of data generated by the smart grids, and there are a higher delay problem in the task processing, with the traditional centralized control methods, which brings in an adverse effect on the stable operation of the smart grid. Aiming at the problem, this paper proposes a distributed computing scheme that combines edge computing and cloud computing to improve power system data processing capabilities and system response capabilities. Besides, the paper analyzes the finiteness of edge node computing ability. According to the task load balancing theory, a task performance minimization as an objective function is proposed, and a high-performance load balancing strategy for immune chaotic particle swarms algorithm (ICPSO) is proposed based on this distributed computing architecture. Finally, the feasibility and effectiveness of the system architecture and load balancing strategy are verified through the simulation results.
{"title":"Research on distributed computing method for coordinated cooperation of distributed energy and multi-devices","authors":"Shiyuan Ning, Quanbo Ge, Haoyu Jiang","doi":"10.1109/YAC.2018.8406500","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406500","url":null,"abstract":"With the rapid development of the distributed renewable energy technologies, there is more significant increase in the amount of data generated by the smart grids, and there are a higher delay problem in the task processing, with the traditional centralized control methods, which brings in an adverse effect on the stable operation of the smart grid. Aiming at the problem, this paper proposes a distributed computing scheme that combines edge computing and cloud computing to improve power system data processing capabilities and system response capabilities. Besides, the paper analyzes the finiteness of edge node computing ability. According to the task load balancing theory, a task performance minimization as an objective function is proposed, and a high-performance load balancing strategy for immune chaotic particle swarms algorithm (ICPSO) is proposed based on this distributed computing architecture. Finally, the feasibility and effectiveness of the system architecture and load balancing strategy are verified through the simulation results.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121750391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406468
Wei Wang, Zhixian Ni, Xiaoyuan Luo
There are often errors in the installation of CT systems that can affect the quality of imaging, therefore, it is necessary to calibrate the installed CT system, that is, to calibrate the parameters of the CT system with a sample of a known structure (called a template), and to image the sample of the unknown structure. In this paper, the geometric template of ellipse and circle is selected, the geometric model is geometrically partitioned through geometrical center point to establish an optimization model, and the model is solved by using genetic algorithm, and using radar transform to invert, reconstruct the image to correct the model, and optimize the parameter calibration of the CT system.
{"title":"Template calibration and optimization of CT system parameters","authors":"Wei Wang, Zhixian Ni, Xiaoyuan Luo","doi":"10.1109/YAC.2018.8406468","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406468","url":null,"abstract":"There are often errors in the installation of CT systems that can affect the quality of imaging, therefore, it is necessary to calibrate the installed CT system, that is, to calibrate the parameters of the CT system with a sample of a known structure (called a template), and to image the sample of the unknown structure. In this paper, the geometric template of ellipse and circle is selected, the geometric model is geometrically partitioned through geometrical center point to establish an optimization model, and the model is solved by using genetic algorithm, and using radar transform to invert, reconstruct the image to correct the model, and optimize the parameter calibration of the CT system.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126325209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406516
Jie Zhu, Fan Feng, Bo Shen
People counting and pedestrian flow statistics are challenging tasks because of the perspective distortions, appearance changes and occlusion. In this paper, we address the two tasks: people counting in images of highly dense crowds and pedestrian flow statistics in a place over a period of time. Our first contribution is to propose a new convolution neural network (CNN) model which is composed of a deep and shallow fully convolution network to fulfill the task of people counting. We extract different layer features from the deep fully convolution network and the last layer features from the shallow fully convolution network, and concatenate them together. After that we add two deconvolution layers to make the output image have the same resolution with the input image. Our second contribution is to combine pedestrian flow statistics task with people counting task. According to the density maps that CNN model generates, we can calculate the number of people crossing a place based on the recurrent neural network (RNN). Besides, we also have collected two datasets and labelled them. Extensive experiments have been implemented, our people counting method outperforms other existing methods, and our pedestrian flow statistics method combined with CNN model also outperforms the model which only uses long-short term memory (LSTM).
{"title":"People counting and pedestrian flow statistics based on convolutional neural network and recurrent neural network","authors":"Jie Zhu, Fan Feng, Bo Shen","doi":"10.1109/YAC.2018.8406516","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406516","url":null,"abstract":"People counting and pedestrian flow statistics are challenging tasks because of the perspective distortions, appearance changes and occlusion. In this paper, we address the two tasks: people counting in images of highly dense crowds and pedestrian flow statistics in a place over a period of time. Our first contribution is to propose a new convolution neural network (CNN) model which is composed of a deep and shallow fully convolution network to fulfill the task of people counting. We extract different layer features from the deep fully convolution network and the last layer features from the shallow fully convolution network, and concatenate them together. After that we add two deconvolution layers to make the output image have the same resolution with the input image. Our second contribution is to combine pedestrian flow statistics task with people counting task. According to the density maps that CNN model generates, we can calculate the number of people crossing a place based on the recurrent neural network (RNN). Besides, we also have collected two datasets and labelled them. Extensive experiments have been implemented, our people counting method outperforms other existing methods, and our pedestrian flow statistics method combined with CNN model also outperforms the model which only uses long-short term memory (LSTM).","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127401216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406532
Qing-Shan Jia
Plug-in electric vehicle (PHEV) has become an important component in fundamental infrastructure in modern cities. PHEV may consume electricity while charging, may supply electricity while discharging, and may serve as a storage to the electric power grid. It is therefore of significant practical interest to coordinate PHEVs with the rest of the grid. Supply demand coordination is an important way to achieve high energy efficiency at the system level while satisfying the stability of the grid and the trip requirement of the PHEVs. This problem is challenging due to the highly uncertainty from both the supply and the demand side in the system, the multiple-stage decision making, the large-scale of the system, the multiple objective functions and constraints involved. In this work, we briefly review the recent development in this field. We hope this work may shed some insight on supply demand coordination in vehicle-to-grid in general.
{"title":"On supply demand coordination in vehicle-to-grid — A brief literature review","authors":"Qing-Shan Jia","doi":"10.1109/YAC.2018.8406532","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406532","url":null,"abstract":"Plug-in electric vehicle (PHEV) has become an important component in fundamental infrastructure in modern cities. PHEV may consume electricity while charging, may supply electricity while discharging, and may serve as a storage to the electric power grid. It is therefore of significant practical interest to coordinate PHEVs with the rest of the grid. Supply demand coordination is an important way to achieve high energy efficiency at the system level while satisfying the stability of the grid and the trip requirement of the PHEVs. This problem is challenging due to the highly uncertainty from both the supply and the demand side in the system, the multiple-stage decision making, the large-scale of the system, the multiple objective functions and constraints involved. In this work, we briefly review the recent development in this field. We hope this work may shed some insight on supply demand coordination in vehicle-to-grid in general.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114500790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406441
Wang Hui, Huang Yiqing, Ge Yuan, Gao Wengen
In order to realize the trajectory tracking control of mobile robots, a global fast terminal sliding mode control method is proposed in the kinematic analysis. Based on the combination of the backstepping method and the thought of the fast terminal sliding mode control, the method is more superior than the backstepping design method on convergence time and convergence rate. The system state variables are designed based on based backstepping method, then, the controller is applied to mobile robot system by recursive structure of second order fast terminal sliding mode, the control law is designed by Lyapunov method. Finally, simulation results show the validity of the presented method.
{"title":"Trajectory tracking control for mobile robots based on second order fast terminal sliding mode","authors":"Wang Hui, Huang Yiqing, Ge Yuan, Gao Wengen","doi":"10.1109/YAC.2018.8406441","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406441","url":null,"abstract":"In order to realize the trajectory tracking control of mobile robots, a global fast terminal sliding mode control method is proposed in the kinematic analysis. Based on the combination of the backstepping method and the thought of the fast terminal sliding mode control, the method is more superior than the backstepping design method on convergence time and convergence rate. The system state variables are designed based on based backstepping method, then, the controller is applied to mobile robot system by recursive structure of second order fast terminal sliding mode, the control law is designed by Lyapunov method. Finally, simulation results show the validity of the presented method.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114539149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406510
Yunong Bao, Qinmin Yang, Siliang Li, Kuangwei Miao, Youxian Sun
The yaw control system plays a significant role in the power generation performance of wind turbines. As one of the main components applied on controlling the wind turbine nacelle position in parallel with the inflow wind, it directly determines the maximum available wind energy to capture. However, the inherent misalignments on yaw error caused by improper calibration of the wind vanes during wind turbine installation, are usually severe and impact on the performance of yaw control strategies. In this study, a data-driven inherent misalignment identification and compensation scheme for yaw error is proposed. The real-time data from turbines are collected and a power generation curve is located for each yaw error interval. Subsequently, multiple power curves are evaluated via output performance indicator analysis for determining the actual inherent misalignment value. The entire system is implemented and testified with the SCADA data collected from real wind turbines.
{"title":"A data-driven approach for identification and compensation of wind turbine inherent yaw misalignment","authors":"Yunong Bao, Qinmin Yang, Siliang Li, Kuangwei Miao, Youxian Sun","doi":"10.1109/YAC.2018.8406510","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406510","url":null,"abstract":"The yaw control system plays a significant role in the power generation performance of wind turbines. As one of the main components applied on controlling the wind turbine nacelle position in parallel with the inflow wind, it directly determines the maximum available wind energy to capture. However, the inherent misalignments on yaw error caused by improper calibration of the wind vanes during wind turbine installation, are usually severe and impact on the performance of yaw control strategies. In this study, a data-driven inherent misalignment identification and compensation scheme for yaw error is proposed. The real-time data from turbines are collected and a power generation curve is located for each yaw error interval. Subsequently, multiple power curves are evaluated via output performance indicator analysis for determining the actual inherent misalignment value. The entire system is implemented and testified with the SCADA data collected from real wind turbines.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128913204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406344
Ying Cheng, Hongxin Wang, Zhiyuan Weng, Jie Fang, Zhigang Weng
The scheduling problem of flow shop involves the benefit of production enterprise. In order to solve the existing problems in the flow shop scheduling problem, a modified job shop scheduling problem optimization algorithm based on differential evolution algorithm is proposed. First of all, the mathematical model of flow shop scheduling problem is established, and the shortest processing time is taken as the evaluation index. Then the mathematical model is solved and differential evolution algorithm is adopted. The differential evolution algorithm has been improved accordingly to speed up the solution of the mathematical model. Finally, the performance of the algorithm is tested and analyzed. The result shows that the algorithm can get better flow shop scheduling problem. Compared with other algorithms, the improved differential evolution algorithm has better evaluation index, and has higher practical application value.
{"title":"Optimization of flow shop scheduling control strategy based on improved differential evolution algorithm","authors":"Ying Cheng, Hongxin Wang, Zhiyuan Weng, Jie Fang, Zhigang Weng","doi":"10.1109/YAC.2018.8406344","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406344","url":null,"abstract":"The scheduling problem of flow shop involves the benefit of production enterprise. In order to solve the existing problems in the flow shop scheduling problem, a modified job shop scheduling problem optimization algorithm based on differential evolution algorithm is proposed. First of all, the mathematical model of flow shop scheduling problem is established, and the shortest processing time is taken as the evaluation index. Then the mathematical model is solved and differential evolution algorithm is adopted. The differential evolution algorithm has been improved accordingly to speed up the solution of the mathematical model. Finally, the performance of the algorithm is tested and analyzed. The result shows that the algorithm can get better flow shop scheduling problem. Compared with other algorithms, the improved differential evolution algorithm has better evaluation index, and has higher practical application value.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115282590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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