Bending machine is the most widely used bending apparatus. With the development of machinery industry and the improvement of product quality, a visualization automatic programming system of bending machine based on machine vision was developed in order to meet the need of high-speed, automated, simplified and personalized production. Based on a CNC sheet metal bending machine with three degrees of freedom, the structure of the system takes industrial computer, image acquisition card and motion control card method, and the control software is developed by Visual Studio 2010, which has advantages of fast processing speed, high accuracy and low price. The system is based on the modular design method and is mainly composed by the machine vision measurement module, bending simulation module, motion control module, humancomputer interaction module, etc. In this paper, the bending machine system will be introduced and finally some simulation test of the modules will be presented.
折弯机是应用最广泛的折弯设备。随着机械工业的发展和产品质量的提高，为了满足高速、自动化、简化和个性化生产的需要，开发了一种基于机器视觉的折弯机可视化自动编程系统。该系统以三自由度数控钣金折弯机为基础，采用工控机、图像采集卡和运动控制卡的结构方式，控制软件采用Visual Studio 2010开发，具有处理速度快、精度高、价格低等优点。该系统采用模块化设计方法，主要由机器视觉测量模块、弯曲仿真模块、运动控制模块、人机交互模块等组成。本文将对弯管机系统进行介绍，并对各模块进行仿真测试。
{"title":"Visualization automatic programming system of bending machine based on machine vision","authors":"Wenqiang Wu, Jialiang Xie, Guanghuan Chen, Hebang Lin, Lingqian Kong, Chunliang Zhang","doi":"10.1109/ICINFA.2016.7831897","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831897","url":null,"abstract":"Bending machine is the most widely used bending apparatus. With the development of machinery industry and the improvement of product quality, a visualization automatic programming system of bending machine based on machine vision was developed in order to meet the need of high-speed, automated, simplified and personalized production. Based on a CNC sheet metal bending machine with three degrees of freedom, the structure of the system takes industrial computer, image acquisition card and motion control card method, and the control software is developed by Visual Studio 2010, which has advantages of fast processing speed, high accuracy and low price. The system is based on the modular design method and is mainly composed by the machine vision measurement module, bending simulation module, motion control module, humancomputer interaction module, etc. In this paper, the bending machine system will be introduced and finally some simulation test of the modules will be presented.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127282104","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831797
Yanlei Ye, Chin-Yin Chen, Peng Li, Guilin Yang, Chang'an Zhu, Chi Zhang
In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a physical interpretation is addressed and analyzed for the purpose controller via passivity theory. It is proved by a Lyapunov function that the control law is globally asymptotically stabilizes at any reference configuration. Moreover, the control performance of algorithm is assessed by a simulation; the simulation study reveals a better performance regarding as the torque ripple in contrast to a proportional-derivative (PD) control.
{"title":"Passivity-based elastic joint robot control with on-line gravity compensation","authors":"Yanlei Ye, Chin-Yin Chen, Peng Li, Guilin Yang, Chang'an Zhu, Chi Zhang","doi":"10.1109/ICINFA.2016.7831797","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831797","url":null,"abstract":"In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a physical interpretation is addressed and analyzed for the purpose controller via passivity theory. It is proved by a Lyapunov function that the control law is globally asymptotically stabilizes at any reference configuration. Moreover, the control performance of algorithm is assessed by a simulation; the simulation study reveals a better performance regarding as the torque ripple in contrast to a proportional-derivative (PD) control.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127524057","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831988
Rongfeng Su, Xunying Liu, Lan Wang
Recently, convolutional neural networks (CNNs) have been applied successfully to acoustic modelling in speech recognition. As the bottleneck features from CNNs contain inherently discriminative and rich context information, the standard approach is to augment the conventional acoustic features with the CNN bottleneck features in a tandem framework. To better capture the highly complex relationship between them, a novel bidirectional generalized variable parameter HMM (GVP-HMM) based approach is proposed in this paper. In this approach, the trajectories of continuous acoustic features space HMM parameters, as well as the model space linear transforms against CNN bottleneck features are modelled by polynomial functions. The optimal GVP-HMM model structure for each direction, which is determined by the locally varying polynomial parameters and degrees, can be automatically learnt using model selection techniques. The proposed bi-directional GVP-HMM based approach gave a word error rate of 12.22% on the Aurora 4 task. In particular, a significant error rate reduction of 18.09% relative was obtained over the baseline tandem HMM system using CNN bottleneck features on the secondary microphone channel condition.
{"title":"Convolutional neural network bottleneck features for bi-directional generalized variable parameter HMMs","authors":"Rongfeng Su, Xunying Liu, Lan Wang","doi":"10.1109/ICINFA.2016.7831988","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831988","url":null,"abstract":"Recently, convolutional neural networks (CNNs) have been applied successfully to acoustic modelling in speech recognition. As the bottleneck features from CNNs contain inherently discriminative and rich context information, the standard approach is to augment the conventional acoustic features with the CNN bottleneck features in a tandem framework. To better capture the highly complex relationship between them, a novel bidirectional generalized variable parameter HMM (GVP-HMM) based approach is proposed in this paper. In this approach, the trajectories of continuous acoustic features space HMM parameters, as well as the model space linear transforms against CNN bottleneck features are modelled by polynomial functions. The optimal GVP-HMM model structure for each direction, which is determined by the locally varying polynomial parameters and degrees, can be automatically learnt using model selection techniques. The proposed bi-directional GVP-HMM based approach gave a word error rate of 12.22% on the Aurora 4 task. In particular, a significant error rate reduction of 18.09% relative was obtained over the baseline tandem HMM system using CNN bottleneck features on the secondary microphone channel condition.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127710278","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831847
Y. Song, Y. Le, Yaqin Wang
Organizational culture is context-specific and it can impact organizational effectiveness in certain mechanism. From Competing Values Framework (CVF) prospective, this study examines the correlations among organizational culture, organizational citizenship behavior (OCB), and organizational effectiveness. Furthermore, this study analyzes the possible mediating role of OCB in the relationship between organizational culture and organizational effectiveness. A questionnaire-based survey was used to measure the related constructs. The results suggest that OCB partially mediates the impact of organizational culture on organizational effectiveness. The results also indicate the feasibility of impact mechanism of organizational culture on effectiveness. The research findings provide the implications for project management literature and practices.
{"title":"Impact mechanism of organizational culture on organizational effectiveness from competing values framework prospective in Chinese context","authors":"Y. Song, Y. Le, Yaqin Wang","doi":"10.1109/ICINFA.2016.7831847","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831847","url":null,"abstract":"Organizational culture is context-specific and it can impact organizational effectiveness in certain mechanism. From Competing Values Framework (CVF) prospective, this study examines the correlations among organizational culture, organizational citizenship behavior (OCB), and organizational effectiveness. Furthermore, this study analyzes the possible mediating role of OCB in the relationship between organizational culture and organizational effectiveness. A questionnaire-based survey was used to measure the related constructs. The results suggest that OCB partially mediates the impact of organizational culture on organizational effectiveness. The results also indicate the feasibility of impact mechanism of organizational culture on effectiveness. The research findings provide the implications for project management literature and practices.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114444120","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832075
Weiguang Li, T. Sun, Chunbao Wang, L. Duan, Quanquan Liu, Yajin Shen, Q. Shi, Meng Li, Yulong Wang, J. Long, Jianjun Wei, Zhengzhi Wu
With the developments of robotics, more and more rehabilitation robots are used to assist traditional training in rehabilitation field. In this paper, a novel ankle robot combined with 3 degrees of freedom, full fill passive-active training, subjective awareness and objective training requirements was proposed. The requirement of ankle robot was analyzed based on the ankle physical structure and real rehabilitation. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy to combine subjective awareness with objective training was proposed. In this robot, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. Finally, the core control strategy, position control and force control were proposed. With the robot, several primary experiments are performed. The feasibility of the robot was verified.
{"title":"Development of a 3 freedom ankle robot to assist the rehabilitation training","authors":"Weiguang Li, T. Sun, Chunbao Wang, L. Duan, Quanquan Liu, Yajin Shen, Q. Shi, Meng Li, Yulong Wang, J. Long, Jianjun Wei, Zhengzhi Wu","doi":"10.1109/ICINFA.2016.7832075","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832075","url":null,"abstract":"With the developments of robotics, more and more rehabilitation robots are used to assist traditional training in rehabilitation field. In this paper, a novel ankle robot combined with 3 degrees of freedom, full fill passive-active training, subjective awareness and objective training requirements was proposed. The requirement of ankle robot was analyzed based on the ankle physical structure and real rehabilitation. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy to combine subjective awareness with objective training was proposed. In this robot, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. Finally, the core control strategy, position control and force control were proposed. With the robot, several primary experiments are performed. The feasibility of the robot was verified.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122725284","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832027
Shanzhong Liu, Xiumin Qu, Yongbin Liu
The aerodynamic parameters of missile control system will be changed with the variations of the missile flight speed and altitude, etc. In order to reduce the influence of the changing aerodynamic parameters on control performance of missile autopilot, use variable universe fuzzy control to deal with this problem and improve the dynamic and steady-state performance of the missile autopilot. Considering the random disturbance, white noise, wind disturbance, electromagnetic disturbance during the flight, simulation results show that when the variable universe fuzzy PID control and fuzzy PID control missile autopilot are compared, they can both achieve effectively to track the missile guidance command, the former design system has smaller overshoot, shorter response time, higher control precision, more strong anti-disturbance ability, so it is more suitable to design the missile autopilot.
{"title":"Design of missile autopilot based on fuzzy control","authors":"Shanzhong Liu, Xiumin Qu, Yongbin Liu","doi":"10.1109/ICINFA.2016.7832027","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832027","url":null,"abstract":"The aerodynamic parameters of missile control system will be changed with the variations of the missile flight speed and altitude, etc. In order to reduce the influence of the changing aerodynamic parameters on control performance of missile autopilot, use variable universe fuzzy control to deal with this problem and improve the dynamic and steady-state performance of the missile autopilot. Considering the random disturbance, white noise, wind disturbance, electromagnetic disturbance during the flight, simulation results show that when the variable universe fuzzy PID control and fuzzy PID control missile autopilot are compared, they can both achieve effectively to track the missile guidance command, the former design system has smaller overshoot, shorter response time, higher control precision, more strong anti-disturbance ability, so it is more suitable to design the missile autopilot.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122878030","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831802
Qian Yang, Huaicheng Yan, Hao Zhang, Mengling Wang
This paper investigates the problem of robustly globally uniformly exponential stability and L2 control for a class of switched systems with time-varying delay by using mode-dependent average dwell time (MDADT) approach. The MDADT approach is more applicable in practice than the average dwell time method in which each mode in the underlying system has its own average dwell time. Firstly, some sufficient conditions for robustly exponential stability is given by using the MDADT approach and piecewise Lyapunov function. Secondly, the L2-gain of the switched system with the external disturbance is analyzed. Then, the state feedback controller gain is obtained to ensure the exponential stability of the switched system. Finally, a numerical example is provided to illustrate the effectiveness of the theoretical results.
{"title":"Exponential stability and L2 control for delayed switched systems with mode-dependent average dwell time","authors":"Qian Yang, Huaicheng Yan, Hao Zhang, Mengling Wang","doi":"10.1109/ICINFA.2016.7831802","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831802","url":null,"abstract":"This paper investigates the problem of robustly globally uniformly exponential stability and L2 control for a class of switched systems with time-varying delay by using mode-dependent average dwell time (MDADT) approach. The MDADT approach is more applicable in practice than the average dwell time method in which each mode in the underlying system has its own average dwell time. Firstly, some sufficient conditions for robustly exponential stability is given by using the MDADT approach and piecewise Lyapunov function. Secondly, the L2-gain of the switched system with the external disturbance is analyzed. Then, the state feedback controller gain is obtained to ensure the exponential stability of the switched system. Finally, a numerical example is provided to illustrate the effectiveness of the theoretical results.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123072522","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832114
Xiaohui Huang, Jun Cheng, Xiaopeng Ji
Spatio-temporal cuboid pyramid (STCP) for action recognition using depth motion sequences [1] is influenced by depth camera error which leads the depth motion sequence (DMS) existing many kinds of noise, especially on the surface. It means that the dimension of DMS is awfully high and the feature for action recognition becomes less apparent. In this paper, we present an effective method to reduce noise, which is to segment foreground. We firstly segment and extract human contour in the color image using convolutional network model. Then, human contour is re-segmented utilizing depth information. Thirdly we project each frame of the segmented depth sequence onto three views. We finally extract features from cuboids and recognize human actions. The proposed approach is evaluated on three public benchmark datasets, i.e., UTKinect-Action Dataset, MSRActionPairs Dataset and 3D Online Action Dataset. Experimental results show that our method achieves state-of-the-art performance.
{"title":"Human contour extraction from RGBD camera for action recognition","authors":"Xiaohui Huang, Jun Cheng, Xiaopeng Ji","doi":"10.1109/ICINFA.2016.7832114","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832114","url":null,"abstract":"Spatio-temporal cuboid pyramid (STCP) for action recognition using depth motion sequences [1] is influenced by depth camera error which leads the depth motion sequence (DMS) existing many kinds of noise, especially on the surface. It means that the dimension of DMS is awfully high and the feature for action recognition becomes less apparent. In this paper, we present an effective method to reduce noise, which is to segment foreground. We firstly segment and extract human contour in the color image using convolutional network model. Then, human contour is re-segmented utilizing depth information. Thirdly we project each frame of the segmented depth sequence onto three views. We finally extract features from cuboids and recognize human actions. The proposed approach is evaluated on three public benchmark datasets, i.e., UTKinect-Action Dataset, MSRActionPairs Dataset and 3D Online Action Dataset. Experimental results show that our method achieves state-of-the-art performance.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123307943","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831819
Jianhua Qiao, Xueying Zhang
The design of measurement matrices is one of the key contents of the compressed sensing (CS) theory. This paper constructs a new dual-structured measurement matrix-unit array + random matrix, by combining the advantages of the random measurement matrices with high recovery probability and the structured measurement matrices of low storage. The experiments show that the reconstruction errors can be gotten lower through using the measurement matrix designed than those of the simple application of the random measurement matrix. Then a method of sub-frame overlapping is proposed for reconstructing the entire signal, which can remove large errors caused by unit array in the measurement matrix, and ensure the stability of the whole signal reconstruction. Simulation results demonstrate that the signal to noise ratio (SNR) is increased significantly and the reconstruction performance of signal is improved remarkably.
{"title":"The design of a dual-structured measurement matrix in compressed sensing","authors":"Jianhua Qiao, Xueying Zhang","doi":"10.1109/ICINFA.2016.7831819","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831819","url":null,"abstract":"The design of measurement matrices is one of the key contents of the compressed sensing (CS) theory. This paper constructs a new dual-structured measurement matrix-unit array + random matrix, by combining the advantages of the random measurement matrices with high recovery probability and the structured measurement matrices of low storage. The experiments show that the reconstruction errors can be gotten lower through using the measurement matrix designed than those of the simple application of the random measurement matrix. Then a method of sub-frame overlapping is proposed for reconstructing the entire signal, which can remove large errors caused by unit array in the measurement matrix, and ensure the stability of the whole signal reconstruction. Simulation results demonstrate that the signal to noise ratio (SNR) is increased significantly and the reconstruction performance of signal is improved remarkably.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127459314","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832090
Shichao Liu, P. X. Liu, Xiaoyu Wang
In this paper, the modeling and H∞, control problems for the Networked Control System (NCS) with random data-packet losses in sensor-controller channel and disturbances are investigated. In specific, the networked system with sensor measurement losses is modeled as a Markovian jump linear system(MJLS) by using a multi-rate sampling approach, while the characteristics of network-induced packet losses are assumed to follow multiple-state Markov chain process. The sufficient conditions for the robustly stochastic stability of the NCS are obtained via the piecewise Lyapunov function method. Instead of designing a general robust controller, we take the dynamic network conditions into consideration when designing a statefeedback controller for the NCS. The stochastic packet-loss-dependant controller for the closed-loop networked system is presented in the formulation of linear matrix inequalities(LMIs), under the given H∞ disturbance-rejection-attenuation level. Simulation results of a simple networked robotic arm show that the developed packet-loss-dependant controller can stabilize the networked system with both random sensor-measurement losses and disturbances robustly.
{"title":"H∞ control of networked control systems with stochastic measurement losses","authors":"Shichao Liu, P. X. Liu, Xiaoyu Wang","doi":"10.1109/ICINFA.2016.7832090","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832090","url":null,"abstract":"In this paper, the modeling and H∞, control problems for the Networked Control System (NCS) with random data-packet losses in sensor-controller channel and disturbances are investigated. In specific, the networked system with sensor measurement losses is modeled as a Markovian jump linear system(MJLS) by using a multi-rate sampling approach, while the characteristics of network-induced packet losses are assumed to follow multiple-state Markov chain process. The sufficient conditions for the robustly stochastic stability of the NCS are obtained via the piecewise Lyapunov function method. Instead of designing a general robust controller, we take the dynamic network conditions into consideration when designing a statefeedback controller for the NCS. The stochastic packet-loss-dependant controller for the closed-loop networked system is presented in the formulation of linear matrix inequalities(LMIs), under the given H∞ disturbance-rejection-attenuation level. Simulation results of a simple networked robotic arm show that the developed packet-loss-dependant controller can stabilize the networked system with both random sensor-measurement losses and disturbances robustly.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124076651","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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