Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406383
Wei Chen, Jinlong Liu, Junjie Liu, Qingjun Zeng
Underwater vehicles have the characteristics of complex operation environment, highly nonlinear motion and time-varying parameters. In the complex control system, the generalized predictive control has the ability of nonlinear representation as usual. In order to improve the performance of roll control of ROV, a method based on generalized predictive control was proposed to restrain the overshoot and fluctuation caused by changing too fast of roll angle in this paper. When applying linear generalized prediction algorithm, the dynamic model is firstly used to describe the nonlinear dynamic process of MC-ROV and then it is equivalent to a time-varying linear system. In order to avoid the inverse matrix of generalized predictive control optimization, a direct generalized predictive algorithm for constrained input and output is used to decrease the amount of calculation with only one constraint. At the same time, due to the poor response and robustness of generalized prediction at the initial time, the PID algorithm is introduced. The experiment results on this ROV system demonstrate the effectiveness of the proposed approach and the satisfactory performance is achieved.
{"title":"Generalized predictive control design and experiment of model-switched remotely operated vehicle","authors":"Wei Chen, Jinlong Liu, Junjie Liu, Qingjun Zeng","doi":"10.1109/YAC.2018.8406383","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406383","url":null,"abstract":"Underwater vehicles have the characteristics of complex operation environment, highly nonlinear motion and time-varying parameters. In the complex control system, the generalized predictive control has the ability of nonlinear representation as usual. In order to improve the performance of roll control of ROV, a method based on generalized predictive control was proposed to restrain the overshoot and fluctuation caused by changing too fast of roll angle in this paper. When applying linear generalized prediction algorithm, the dynamic model is firstly used to describe the nonlinear dynamic process of MC-ROV and then it is equivalent to a time-varying linear system. In order to avoid the inverse matrix of generalized predictive control optimization, a direct generalized predictive algorithm for constrained input and output is used to decrease the amount of calculation with only one constraint. At the same time, due to the poor response and robustness of generalized prediction at the initial time, the PID algorithm is introduced. The experiment results on this ROV system demonstrate the effectiveness of the proposed approach and the satisfactory performance is achieved.","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":"122852147","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.2018.8406438
Wei Zhang, Wen Wang
Lithium-ion battery is a typical dynamic and nonlinear electrochemical system, and common battery model can't accurately describe its characteristics of dynamic changes, nonlinear and strong coupling. The online support vector regression machine can update the model online in real time under the limited sample, and it has the global optimal and good generalization ability. The working voltage and temperature are selected as input variables, and the state of charge is used as the output variable to train the algorithm model. The simulation results show that the online support vector regression can accurately predict the state of charge of the battery compared with the BP neural network, and has higher SoC prediction accuracy and stability.
{"title":"Lithium-ion battery SoC estimation based on online support vector regression","authors":"Wei Zhang, Wen Wang","doi":"10.1109/YAC.2018.8406438","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406438","url":null,"abstract":"Lithium-ion battery is a typical dynamic and nonlinear electrochemical system, and common battery model can't accurately describe its characteristics of dynamic changes, nonlinear and strong coupling. The online support vector regression machine can update the model online in real time under the limited sample, and it has the global optimal and good generalization ability. The working voltage and temperature are selected as input variables, and the state of charge is used as the output variable to train the algorithm model. The simulation results show that the online support vector regression can accurately predict the state of charge of the battery compared with the BP neural network, and has higher SoC prediction accuracy and stability.","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":"132252402","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}
This paper introduces the modeling and control of tail-sitter UAV and the prototype of unmanned aerial vehicle (UAV), in order to realize autonomous hover flight. The prototype machine uses four parallel rotor blades, which can produce larger thrust. For most rotors, the dynamic model is composed of the underexcited subsystem and the fully excited subsystem. The control strategy presented in this paper is to control the horizontal displacement by the angle position of the aircraft, and the control algorithm proved that the control algorithm can fully realize the stable control. But this kind of controller is very complex, so a simplified control algorithm is given, which is more suitable for real time experimental device. The experimental device mainly consists of embedded control system, inertial measurement unit, unmanned aerial vehicle and sensor. The independent hovering experiment was successful, and the airborne flight system and the unmanned aerial vehicle (UAV) were designed.
{"title":"Modeling and hover attitude control of tail-sitter aircraft","authors":"Xia Zhao, Huailin Zhao, Xiangyang Wang, Jiahan Yin","doi":"10.1109/YAC.2018.8406520","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406520","url":null,"abstract":"This paper introduces the modeling and control of tail-sitter UAV and the prototype of unmanned aerial vehicle (UAV), in order to realize autonomous hover flight. The prototype machine uses four parallel rotor blades, which can produce larger thrust. For most rotors, the dynamic model is composed of the underexcited subsystem and the fully excited subsystem. The control strategy presented in this paper is to control the horizontal displacement by the angle position of the aircraft, and the control algorithm proved that the control algorithm can fully realize the stable control. But this kind of controller is very complex, so a simplified control algorithm is given, which is more suitable for real time experimental device. The experimental device mainly consists of embedded control system, inertial measurement unit, unmanned aerial vehicle and sensor. The independent hovering experiment was successful, and the airborne flight system and the unmanned aerial vehicle (UAV) were designed.","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":"134623145","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.2018.8406455
Luyao Wang, Baofeng Zhang, Dan Ma
In this paper, the co-optimization problem between controller and topology for consensus of multi-agent systems is investigated. Firstly, the distributed control protocol for consensus of multi-agent systems is optimized for the given quadratic performance index. The proposed optimal controller depends on the Laplace matrix of the topological graph. Secondly, in order to further reduce the communication energy of the topology, but not affect the convergence speed of multi-agent systems, the topology optimization algorithm and the eigenvalue optimization method for multi-agent systems are presented, which balances the communication energy and control energy of the systems. Finally, the simulation results show that the topology optimization based on the controller optimization is able to improve the system performance.
{"title":"Controller and topology co-optimization for consensus of multi-agent systems","authors":"Luyao Wang, Baofeng Zhang, Dan Ma","doi":"10.1109/YAC.2018.8406455","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406455","url":null,"abstract":"In this paper, the co-optimization problem between controller and topology for consensus of multi-agent systems is investigated. Firstly, the distributed control protocol for consensus of multi-agent systems is optimized for the given quadratic performance index. The proposed optimal controller depends on the Laplace matrix of the topological graph. Secondly, in order to further reduce the communication energy of the topology, but not affect the convergence speed of multi-agent systems, the topology optimization algorithm and the eigenvalue optimization method for multi-agent systems are presented, which balances the communication energy and control energy of the systems. Finally, the simulation results show that the topology optimization based on the controller optimization is able to improve the system performance.","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":"122131417","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.2018.8406497
Y. Wu, Y. Zhong, Juan Chen, Aibing Qiu, Liyong Cao
A Fuzzy-PID controller is developed in variable frequency constant pressure water supply system to guarantee water supply quality and reduce energy consumption. The variable frequency constant pressure water supply system includes the programmable logic controller (PLC) and its extension block, pressure sensor, variable-frequency Drive, pumps and human-machine interface. Test results show that the proposed fuzzy-PID method outperforms the conventional PID method in the aspects of dynamic response and steady-state error.
{"title":"Design of constant pressure water supply control system based on fuzzy-PID","authors":"Y. Wu, Y. Zhong, Juan Chen, Aibing Qiu, Liyong Cao","doi":"10.1109/YAC.2018.8406497","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406497","url":null,"abstract":"A Fuzzy-PID controller is developed in variable frequency constant pressure water supply system to guarantee water supply quality and reduce energy consumption. The variable frequency constant pressure water supply system includes the programmable logic controller (PLC) and its extension block, pressure sensor, variable-frequency Drive, pumps and human-machine interface. Test results show that the proposed fuzzy-PID method outperforms the conventional PID method in the aspects of dynamic response and steady-state error.","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":"122146858","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.2018.8406530
Xin Li, Jun Yu Li, Jing Tang
Strawberry picking by machines confronts a complex environment where a targe may be sheltered by leaves or overlap with each other. Also, it is a challenge for machines to recognize mature strawberries among those in different maturity. This work presents a fast recognition method for elevated mature strawberries by the approach of deep learning. It uses an Ostu algorithm to separate targets from background and then the resulted effective image areas designated by the minimum external rectangular marking method are used to train CaffeNet for automatic target recognition. For comparison, we also design a SVM classifer that uses HOG gradient direction feature and H component of the color feature of the mature strawberries. The experimental results show that the average recognition rate of mature strawberries by CaffeNet can reach 95%, higher than that by SVM by 11%.
{"title":"A deep learning method for recognizing elevated mature strawberries","authors":"Xin Li, Jun Yu Li, Jing Tang","doi":"10.1109/YAC.2018.8406530","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406530","url":null,"abstract":"Strawberry picking by machines confronts a complex environment where a targe may be sheltered by leaves or overlap with each other. Also, it is a challenge for machines to recognize mature strawberries among those in different maturity. This work presents a fast recognition method for elevated mature strawberries by the approach of deep learning. It uses an Ostu algorithm to separate targets from background and then the resulted effective image areas designated by the minimum external rectangular marking method are used to train CaffeNet for automatic target recognition. For comparison, we also design a SVM classifer that uses HOG gradient direction feature and H component of the color feature of the mature strawberries. The experimental results show that the average recognition rate of mature strawberries by CaffeNet can reach 95%, higher than that by SVM by 11%.","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":"130836013","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.2018.8406458
Lin Chai, Pan Wang, S. Fei
This paper investigates the problem of global stabilization for a class of uncertain nonlinear systems subject to time-delay by using a linear sampled-data output feedback controller. The uncertainty of the system satisfies the lower-triangular growth condition affected by time-delay. A linear output feedback controller with a tunable scaling gain is constructed. The proposed control law together with the observer control law is discrete-time, linear, and memoryless, therefore it is easy to be implemented by computers in practice.
{"title":"Global stabilization for a class of uncertain nonlinear time-delay systems by linear sampled-data output feedback","authors":"Lin Chai, Pan Wang, S. Fei","doi":"10.1109/YAC.2018.8406458","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406458","url":null,"abstract":"This paper investigates the problem of global stabilization for a class of uncertain nonlinear systems subject to time-delay by using a linear sampled-data output feedback controller. The uncertainty of the system satisfies the lower-triangular growth condition affected by time-delay. A linear output feedback controller with a tunable scaling gain is constructed. The proposed control law together with the observer control law is discrete-time, linear, and memoryless, therefore it is easy to be implemented by computers in practice.","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":"123789745","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.2018.8405796
Yanfang Liu, Desong Du, M. Huo, N. Qi, Kairui Cao
Hysteresis is an important nonlinearity existing in piezoelectric actuators. Modeling and compensation is a common approach to handle it. This paper proposes a distributed parameter Maxwell-slip (DPMS) model. It is extended from the Maxwell-slip (MS) model. The DPMS model replaces the spring-slider elements in the MS model by a sliding cell and a elastic cell with distributed parameters. The properties of the elastic cell are described by two functions, i.e. the saturation deformation function and the stiffness function. These two functions also govern the hysteresis generated by the DPMS model and only require a few parameters. An approach to identify model parameters are proposed. Experiments demonstrate the effectiveness of the DPMS model. With a linear function describing the saturation deformation function, only two parameters (the character length and a coefficient) are required and the normalized mean squire error is 1.96%. The hysteresis nonlinearity is reduced from 13.8% to 2.55% by 81.5% if it is compensated by the inverse DPMS model.
{"title":"A distributed parameter Maxwell-Slip hysteresis model for piezoelectric actuators","authors":"Yanfang Liu, Desong Du, M. Huo, N. Qi, Kairui Cao","doi":"10.1109/YAC.2018.8405796","DOIUrl":"https://doi.org/10.1109/YAC.2018.8405796","url":null,"abstract":"Hysteresis is an important nonlinearity existing in piezoelectric actuators. Modeling and compensation is a common approach to handle it. This paper proposes a distributed parameter Maxwell-slip (DPMS) model. It is extended from the Maxwell-slip (MS) model. The DPMS model replaces the spring-slider elements in the MS model by a sliding cell and a elastic cell with distributed parameters. The properties of the elastic cell are described by two functions, i.e. the saturation deformation function and the stiffness function. These two functions also govern the hysteresis generated by the DPMS model and only require a few parameters. An approach to identify model parameters are proposed. Experiments demonstrate the effectiveness of the DPMS model. With a linear function describing the saturation deformation function, only two parameters (the character length and a coefficient) are required and the normalized mean squire error is 1.96%. The hysteresis nonlinearity is reduced from 13.8% to 2.55% by 81.5% if it is compensated by the inverse DPMS model.","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":"115871256","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.2018.8406460
Jie Yang, Jianxiang Xi, Cheng Wang, Xueli Xie
The paper investigates the multi-base multi-UAV cooperative patrol route planning problem. The mission requirements and shortcomings of current research are analyzed. A novel method of cooperative patrol route planning is proposed. Firstly, the multi-base multi-UAV cooperative patrol route planning model is established and the complex constraints handling approaches are designed. Secondly, the initial route is generated by the Floyd algorithm, and the optimal solution to the problem is obtained by the improved Push Forward Insertion Heuristic algorithm. Finally, the simulation results show that the proposed algorithm can generate feasible solutions, which can satisfy all the constraints and maximize the patrol revenue under conditions of limited patrol resources.
{"title":"Multi-base multi-UAV cooperative patrol route planning novel method","authors":"Jie Yang, Jianxiang Xi, Cheng Wang, Xueli Xie","doi":"10.1109/YAC.2018.8406460","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406460","url":null,"abstract":"The paper investigates the multi-base multi-UAV cooperative patrol route planning problem. The mission requirements and shortcomings of current research are analyzed. A novel method of cooperative patrol route planning is proposed. Firstly, the multi-base multi-UAV cooperative patrol route planning model is established and the complex constraints handling approaches are designed. Secondly, the initial route is generated by the Floyd algorithm, and the optimal solution to the problem is obtained by the improved Push Forward Insertion Heuristic algorithm. Finally, the simulation results show that the proposed algorithm can generate feasible solutions, which can satisfy all the constraints and maximize the patrol revenue under conditions of limited patrol resources.","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":"130457689","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.2018.8406434
X. Lv, J. Fei, Yonghui Sun
This paper investigates the fuzzy Proportion Integration Differentiation (PID) controller for uncertain networked control systems (UNCSs). By combining T-S fuzzy model with the fuzzy PID controller, the uncertain networked control systems under transmission delays and external disturbances are proposed in this letter. Moreover, the asymptotically stability condition about the uncertain networked control systems is presented in the form of Lyapunov function and linear matrix inequality. The applicability of the proposed PID controller gain for uncertain networked control system is numerically tasted for various system parameters.
{"title":"Fuzzy PID controller design for uncertain networked control systems","authors":"X. Lv, J. Fei, Yonghui Sun","doi":"10.1109/YAC.2018.8406434","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406434","url":null,"abstract":"This paper investigates the fuzzy Proportion Integration Differentiation (PID) controller for uncertain networked control systems (UNCSs). By combining T-S fuzzy model with the fuzzy PID controller, the uncertain networked control systems under transmission delays and external disturbances are proposed in this letter. Moreover, the asymptotically stability condition about the uncertain networked control systems is presented in the form of Lyapunov function and linear matrix inequality. The applicability of the proposed PID controller gain for uncertain networked control system is numerically tasted for various system parameters.","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":"132428952","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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