Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6565045
Yanan Ga, Yue Lin, Songtao Fan, Shuai Feng
In this paper a fault tolerant GNC system architecture is studied. It presents a new architecture to meet the requirements of CHINA Space Station of two faults tolerant and long life. This robust GNC architecture with broadcast communications, wraparound technology and fault handle strategy greatly reduces the effects and occurrence of Byzantine disagreement. The simulation results of rendezvous and docking process indicate the validity of the fault tolerant system.
{"title":"The fault tolerant GNC system architecture for space station spacecrafts","authors":"Yanan Ga, Yue Lin, Songtao Fan, Shuai Feng","doi":"10.1109/ICCA.2013.6565045","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565045","url":null,"abstract":"In this paper a fault tolerant GNC system architecture is studied. It presents a new architecture to meet the requirements of CHINA Space Station of two faults tolerant and long life. This robust GNC architecture with broadcast communications, wraparound technology and fault handle strategy greatly reduces the effects and occurrence of Byzantine disagreement. The simulation results of rendezvous and docking process indicate the validity of the fault tolerant system.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132408087","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565166
Lin Zhang, Z. Ding
The main focus of this paper is to design nonlinear controllers and analyse stability for a miniature unmanned helicopter. Our work is to utilize nonlinear control methodology to command dynamics of unmanned helicopter which has been divided into slower translational dynamics (outer-loop) and faster orientation dynamics (inner-loop), thus exhibiting hierarchical structure. The attitude angles and position which separately belong to the inner-loop and the outer-loop can be independently controlled by backstepping control strategy. Stability analysis of the helicopter system including flapping dynamics has been presented after designing controllers.
{"title":"Nonlinear control design and stability analysis of a small-scale unmanned helicopter","authors":"Lin Zhang, Z. Ding","doi":"10.1109/ICCA.2013.6565166","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565166","url":null,"abstract":"The main focus of this paper is to design nonlinear controllers and analyse stability for a miniature unmanned helicopter. Our work is to utilize nonlinear control methodology to command dynamics of unmanned helicopter which has been divided into slower translational dynamics (outer-loop) and faster orientation dynamics (inner-loop), thus exhibiting hierarchical structure. The attitude angles and position which separately belong to the inner-loop and the outer-loop can be independently controlled by backstepping control strategy. Stability analysis of the helicopter system including flapping dynamics has been presented after designing controllers.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130268868","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565151
Lei Shi, Yongheng Jiang, Dexian Huang
It is widely accepted that scheduling plays a key role in enterprise manufacturing systems as it greatly improves the efficiency and competitiveness. The flow-shop scheduling problem is a kind of typical problem which relates to many kinds of practical problems. Since the flow-shop scheduling problems are NP-hard, it is of practical value to obtain satisfying solutions within short CPU time for large-scale cases. Lagrangian Relaxation (LR) is known as an approach which can handle large-scale separable problems. By the LR approach, a complex problem can be separated into several small subproblems which are easier to solve. However, there is a key challenge that the Lagrangian multipliers may converge slowly. In this paper, a novel probability approximate subgradient (PASG) method is developed, where intelligent optimization algorithms are used to obtain proper directions to improve the Lagrangian multipliers. The PASG method can allocate computation time reasonably and get satisfying schedules in limited computation time. As the computation time goes on, the probability of obtaining optimal solution converges to 1. The effectiveness of the PASG method is demonstrated by numerical testing results for large-scale and long-time-horizon problems.
{"title":"A novel probabilistic approximate subgradient method in Lagrangian Relaxation for flow-shop scheduling problems","authors":"Lei Shi, Yongheng Jiang, Dexian Huang","doi":"10.1109/ICCA.2013.6565151","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565151","url":null,"abstract":"It is widely accepted that scheduling plays a key role in enterprise manufacturing systems as it greatly improves the efficiency and competitiveness. The flow-shop scheduling problem is a kind of typical problem which relates to many kinds of practical problems. Since the flow-shop scheduling problems are NP-hard, it is of practical value to obtain satisfying solutions within short CPU time for large-scale cases. Lagrangian Relaxation (LR) is known as an approach which can handle large-scale separable problems. By the LR approach, a complex problem can be separated into several small subproblems which are easier to solve. However, there is a key challenge that the Lagrangian multipliers may converge slowly. In this paper, a novel probability approximate subgradient (PASG) method is developed, where intelligent optimization algorithms are used to obtain proper directions to improve the Lagrangian multipliers. The PASG method can allocate computation time reasonably and get satisfying schedules in limited computation time. As the computation time goes on, the probability of obtaining optimal solution converges to 1. The effectiveness of the PASG method is demonstrated by numerical testing results for large-scale and long-time-horizon problems.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134206339","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564874
Yue Hao, Zhiwei Liang, Juan Liu, Junya Li, Hecheng Zhao
This paper presents the key framework of the simulated humanoid soccer robots designed by the Apollo3D team, which is one of the most competitive teams in the RoboCup 3D competition. First, we briefly introduce the architecture of the agent client. Then, we focus on the three major components of the framework, which include a particle filter and Kalman filter based localization system, a dynamic footstep planner using sequence approximation, and a hierarchical decision making mechanism. We compare our algorithms with the previous version of our agent client to testify the improvements which contribute to our Apollo3D team's successes in wining various competitions at home and abroad.
{"title":"The framework design of humanoid robots in the robocup 3D soccer simulation competition","authors":"Yue Hao, Zhiwei Liang, Juan Liu, Junya Li, Hecheng Zhao","doi":"10.1109/ICCA.2013.6564874","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564874","url":null,"abstract":"This paper presents the key framework of the simulated humanoid soccer robots designed by the Apollo3D team, which is one of the most competitive teams in the RoboCup 3D competition. First, we briefly introduce the architecture of the agent client. Then, we focus on the three major components of the framework, which include a particle filter and Kalman filter based localization system, a dynamic footstep planner using sequence approximation, and a hierarchical decision making mechanism. We compare our algorithms with the previous version of our agent client to testify the improvements which contribute to our Apollo3D team's successes in wining various competitions at home and abroad.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131657506","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564859
A. H. Tan
In this paper, output expressions of a periodic signal filtered by two different periodically-varying delay functions are obtained by means of Fourier series decomposition. The percentage power in the harmonics corresponding to the input is analyzed. Next, the identification of a single invariant delay is considered; this is useful in situations where an invariant delay is utilized in the system model in place of a time-varying one which is much more difficult to track. Input signals with harmonic suppression are used and results are compared between the cases with and without output harmonic filtering at the suppressed harmonics of the input. Such filtering is a common pre-processing step when periodic signals are applied to estimate linear dynamics in the presence of nonlinear distortion. The bias introduced by harmonic filtering on the estimated value of the delay is analyzed through Monte Carlo simulations.
{"title":"Invariant delay estimates for systems with periodically-varying delay","authors":"A. H. Tan","doi":"10.1109/ICCA.2013.6564859","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564859","url":null,"abstract":"In this paper, output expressions of a periodic signal filtered by two different periodically-varying delay functions are obtained by means of Fourier series decomposition. The percentage power in the harmonics corresponding to the input is analyzed. Next, the identification of a single invariant delay is considered; this is useful in situations where an invariant delay is utilized in the system model in place of a time-varying one which is much more difficult to track. Input signals with harmonic suppression are used and results are compared between the cases with and without output harmonic filtering at the suppressed harmonics of the input. Such filtering is a common pre-processing step when periodic signals are applied to estimate linear dynamics in the presence of nonlinear distortion. The bias introduced by harmonic filtering on the estimated value of the delay is analyzed through Monte Carlo simulations.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131720328","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565172
Bingqiang Huang, Yong Gu, H. Su
Step test method, which is a kind of commonly used industrial process identification method, has the disadvantages of time-consuming and production disruption. For this reason, this paper takes the sensitive tray temperature control system of the s-trioxane concentration column as the research object, and the step test models and experience models are obtained, and the two kinds of model predictive effects are simulated and compared. Finally, a MPC controller based on experience models is designed and put into operation. The actual plant application shows that the MPC controller could effectively improve the stability of the sensitive tray temperature.
{"title":"Model predictive control based on experience model for the s-trioxane concentration column","authors":"Bingqiang Huang, Yong Gu, H. Su","doi":"10.1109/ICCA.2013.6565172","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565172","url":null,"abstract":"Step test method, which is a kind of commonly used industrial process identification method, has the disadvantages of time-consuming and production disruption. For this reason, this paper takes the sensitive tray temperature control system of the s-trioxane concentration column as the research object, and the step test models and experience models are obtained, and the two kinds of model predictive effects are simulated and compared. Finally, a MPC controller based on experience models is designed and put into operation. The actual plant application shows that the MPC controller could effectively improve the stability of the sensitive tray temperature.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133374852","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565002
Jing Hu, Chenglin Wen, Ping Li
The existing parity space-based fault detection approaches for non-uniformly sampled systems are mostly based on the known system models, and residual signals are generated and evaluated to reflect the inconsistency between the expected behavior and the actual mode of operation. For the system with unknown model parameters, system identification method is required to identify model first and then calculate the corresponding parity vector. In this paper, a novel nonuniformly sampled-data-driven approach to fault detection is proposed directly from test data instead of system identification, based on it, to achieve fast residual-generation as well as dimensionality reduction of parity matrix. Firstly, according to the input-output train data, a linear time invariant subspace lifting model is built for non-uniformly sampled system by use of the lifting technology and subspace method. Then, the parity space-based residual generation is designed by introducing instrumental variable to eliminate the unknown disturbances and faults in training set. Meanwhile, a causal residual system with reduced order is obtained according to non-uniqueness of the solutions of parity matrix. Furthermore, a fast synchronization of residual can be realized by inverse lifting computing. A simulation is given to show the effectiveness of the proposed method.
{"title":"Data-driven aided parity space-based approach to fast rate residual generation in non-uniformly sampled systems","authors":"Jing Hu, Chenglin Wen, Ping Li","doi":"10.1109/ICCA.2013.6565002","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565002","url":null,"abstract":"The existing parity space-based fault detection approaches for non-uniformly sampled systems are mostly based on the known system models, and residual signals are generated and evaluated to reflect the inconsistency between the expected behavior and the actual mode of operation. For the system with unknown model parameters, system identification method is required to identify model first and then calculate the corresponding parity vector. In this paper, a novel nonuniformly sampled-data-driven approach to fault detection is proposed directly from test data instead of system identification, based on it, to achieve fast residual-generation as well as dimensionality reduction of parity matrix. Firstly, according to the input-output train data, a linear time invariant subspace lifting model is built for non-uniformly sampled system by use of the lifting technology and subspace method. Then, the parity space-based residual generation is designed by introducing instrumental variable to eliminate the unknown disturbances and faults in training set. Meanwhile, a causal residual system with reduced order is obtained according to non-uniqueness of the solutions of parity matrix. Furthermore, a fast synchronization of residual can be realized by inverse lifting computing. A simulation is given to show the effectiveness of the proposed method.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"1936 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128827315","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565055
Jiasen Wang, Miao Yu, X. Ye
In this paper, a switching periodic adaptive control approach is proposed for a class of nonlinear systems with periodic parametric uncertainties whose period and bound are not known. A fully saturated periodic adaptation law is utilized to estimate the unknown parameter vector. A logic switching based algorithm is provided to tune the unknown period and bound of the parameter vector online. By virtue of Lyapunov energy function, asymptotic convergence can be ensured for the tracking error and all the signals in the system is guaranteed bounded. A simulation to a one-link robotic manipulator is carried out to demonstrate the effectiveness of the switching learning control algorithm.
{"title":"Logic switching based online periodic adaptive learning control algorithm dealing with unknown period and bound of the uncertain parameter","authors":"Jiasen Wang, Miao Yu, X. Ye","doi":"10.1109/ICCA.2013.6565055","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565055","url":null,"abstract":"In this paper, a switching periodic adaptive control approach is proposed for a class of nonlinear systems with periodic parametric uncertainties whose period and bound are not known. A fully saturated periodic adaptation law is utilized to estimate the unknown parameter vector. A logic switching based algorithm is provided to tune the unknown period and bound of the parameter vector online. By virtue of Lyapunov energy function, asymptotic convergence can be ensured for the tracking error and all the signals in the system is guaranteed bounded. A simulation to a one-link robotic manipulator is carried out to demonstrate the effectiveness of the switching learning control algorithm.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131409752","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565148
Li-juan Su, Min Yao
Recently a novel learning algorithm called extreme learning machine (ELM) was proposed for efficiently training single-hidden layer feedforward neural networks (SLFNs). Compared with other traditional gradient-descent-based learning algorithms, ELM has shown promising results because it chooses weights and biases of hidden nodes randomly and obtains the output weights and biases analytically. In most cases, ELM is fast and presents good generalization, but we find that the stability and generalization performance still can be improved. In this paper, we propose a hybrid model which combines the advantage of ELM and the advantage of Bayesian “sum of kernels” model, named Extreme Learning Machine with Multiple Kernels (MK-ELM). This method optimizes the kernel function using a weighted sum of kernel functions by a prior knowledge. Experimental results show that this approach is able to make neural networks more robust and generates better generalization performance for both regression and classification applications.
{"title":"Extreme learning machine with multiple kernels","authors":"Li-juan Su, Min Yao","doi":"10.1109/ICCA.2013.6565148","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565148","url":null,"abstract":"Recently a novel learning algorithm called extreme learning machine (ELM) was proposed for efficiently training single-hidden layer feedforward neural networks (SLFNs). Compared with other traditional gradient-descent-based learning algorithms, ELM has shown promising results because it chooses weights and biases of hidden nodes randomly and obtains the output weights and biases analytically. In most cases, ELM is fast and presents good generalization, but we find that the stability and generalization performance still can be improved. In this paper, we propose a hybrid model which combines the advantage of ELM and the advantage of Bayesian “sum of kernels” model, named Extreme Learning Machine with Multiple Kernels (MK-ELM). This method optimizes the kernel function using a weighted sum of kernel functions by a prior knowledge. Experimental results show that this approach is able to make neural networks more robust and generates better generalization performance for both regression and classification applications.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115360568","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565058
Hung-Wei Chen, F. Chang, He-Sheng Wang, Y. Chiang
In GPS positioning, the user position is derived by the pseudo-range measurements and the user-satellite geometric matrix. When the satellite constellation changed, either gaining or losing satellites, it may cause the user position biases. The instantaneous biases in position solution are not desirable in some applications. An algorithm called position bias filter has been proposed to solve the problem. Also, a modified algorithm is designed to reduce the computation burden of original algorithm by a recursive method. In this paper, we propose a closed-form algorithm for eliminating the user position biases. The algorithm remains the low computation in a few satellites change (less than four) of satellite constellation without recursive calculation.
{"title":"A closed-form algorithm for eliminating user position biases caused by satellite constellation changes","authors":"Hung-Wei Chen, F. Chang, He-Sheng Wang, Y. Chiang","doi":"10.1109/ICCA.2013.6565058","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565058","url":null,"abstract":"In GPS positioning, the user position is derived by the pseudo-range measurements and the user-satellite geometric matrix. When the satellite constellation changed, either gaining or losing satellites, it may cause the user position biases. The instantaneous biases in position solution are not desirable in some applications. An algorithm called position bias filter has been proposed to solve the problem. Also, a modified algorithm is designed to reduce the computation burden of original algorithm by a recursive method. In this paper, we propose a closed-form algorithm for eliminating the user position biases. The algorithm remains the low computation in a few satellites change (less than four) of satellite constellation without recursive calculation.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115756058","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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