Pub Date : 2018-06-01DOI: 10.1109/CCDC.2018.8407236
Zhi-Ming Chen, Zhongliang Luo, Tong Liu
Spectrum equalization is a key problem of random vibration control. A wavelet spectrum equalization method is proposed in this paper. With multi-resolution transform method, the spectrum is decomposed into fractional scaling signals, after equalization and denoising, they are reconstructed for spectrum estimation. An improved wavelet transform algorithm with FFT and IFFT is introduced to remove the frequency redundance during the decomposition and reconstruction. In order to resolve the contradiction between convergence speed and accuracy during equalization, a self-adjusting iteration algorithm with variable forgetting factor is proposed, the convergence analysis is also carried out. Simulation results show that comparing to traditional WOSA method, the proposed method can achieve better equalization performance, also provides a balance between spectrum oscillation suppression and spectrum discontinuity protection.
{"title":"Spectrum equalization method based on wavelet denoising algorithm and self-adjusting iteration","authors":"Zhi-Ming Chen, Zhongliang Luo, Tong Liu","doi":"10.1109/CCDC.2018.8407236","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407236","url":null,"abstract":"Spectrum equalization is a key problem of random vibration control. A wavelet spectrum equalization method is proposed in this paper. With multi-resolution transform method, the spectrum is decomposed into fractional scaling signals, after equalization and denoising, they are reconstructed for spectrum estimation. An improved wavelet transform algorithm with FFT and IFFT is introduced to remove the frequency redundance during the decomposition and reconstruction. In order to resolve the contradiction between convergence speed and accuracy during equalization, a self-adjusting iteration algorithm with variable forgetting factor is proposed, the convergence analysis is also carried out. Simulation results show that comparing to traditional WOSA method, the proposed method can achieve better equalization performance, also provides a balance between spectrum oscillation suppression and spectrum discontinuity protection.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123279102","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407366
Hai-ying Zhou
In this paper, the problem of nonzero-sum games for discrete-time stochastic singular systems governed by Ito-type equation in finite-time horizon is discussed. Firstly, the problem is formulated, based on the problem, the particular case of nonzero-sum games — one-player case is discussed, then, the strategies for discrete-time stochastic singular systems are derived by extending the obtained result to two-player case. The existence of the strategies is presented by means of a set of cross-coupled Riccati algebraic equationsand also the optimal control strategies are given.
{"title":"The nonzero-sum games of discrete-time stochastic singular systems","authors":"Hai-ying Zhou","doi":"10.1109/CCDC.2018.8407366","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407366","url":null,"abstract":"In this paper, the problem of nonzero-sum games for discrete-time stochastic singular systems governed by Ito-type equation in finite-time horizon is discussed. Firstly, the problem is formulated, based on the problem, the particular case of nonzero-sum games — one-player case is discussed, then, the strategies for discrete-time stochastic singular systems are derived by extending the obtained result to two-player case. The existence of the strategies is presented by means of a set of cross-coupled Riccati algebraic equationsand also the optimal control strategies are given.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123390670","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407725
Xiaomin Xie, Tingting Wang, Bo Liu, Kui Li
A novel regional energy minimization model is proposed in this paper, which aims to find the optimal clustering planes for respective objects in the image domain. By using the distances from the pixels to the center planes and spatial location information, the model assigns the pixels to the appropriate categories. A soft membership function is introduced to estimate the score which describes the possibility that the pixel falls into the category. Further, the spatial information is employed to amend the membership function so as to enhance the noise robustness of the model. The parameters of the center planes are updated through the energy minimization, and constrained by the prior values as well. The proposed model has been conducted on the synthetic images and real images, quantitatively and qualitatively, to demonstrate its performance.
{"title":"A clustering-plane based energy optimization method for image segmentation","authors":"Xiaomin Xie, Tingting Wang, Bo Liu, Kui Li","doi":"10.1109/CCDC.2018.8407725","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407725","url":null,"abstract":"A novel regional energy minimization model is proposed in this paper, which aims to find the optimal clustering planes for respective objects in the image domain. By using the distances from the pixels to the center planes and spatial location information, the model assigns the pixels to the appropriate categories. A soft membership function is introduced to estimate the score which describes the possibility that the pixel falls into the category. Further, the spatial information is employed to amend the membership function so as to enhance the noise robustness of the model. The parameters of the center planes are updated through the energy minimization, and constrained by the prior values as well. The proposed model has been conducted on the synthetic images and real images, quantitatively and qualitatively, to demonstrate its performance.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125529002","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407125
Tong Wu, Jun Hu
In this paper, the non-fragile consensus control problem is discussed for a class of discrete time-varying multi-agent systems with stochastic nonlinearities and uniform quantizations. The designed output feedback controller depends on the measurement outputs of a agent itself and its adjacent agents via a given topology, where the uniform quantizations are used to characterize the information transmissions between adjacent agents. The definition of mean- square quasi-consensus is employed to reflect the characteristics of consensus behavior in random case and the controller gain variations are model by the multiplicative noises. We focus on the design of non-fragile output feedback controller such that the consensus performance satisfies the pre-specified upper bound constraint at each sampling instant. By using the linear matrix inequality technique, sufficient conditions are derived to ensure the desired performance requirements and the existence of the controller gain. In addition, the optimal consensus performance is obtained by solving an optimization problem. Finally, a simulation example is utilized to illustrate the usefulness of the proposed non-fragile control method.
{"title":"Non-fragile consensus control for nonlinear stochastic multi-agent systems with uniform quantizations","authors":"Tong Wu, Jun Hu","doi":"10.1109/CCDC.2018.8407125","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407125","url":null,"abstract":"In this paper, the non-fragile consensus control problem is discussed for a class of discrete time-varying multi-agent systems with stochastic nonlinearities and uniform quantizations. The designed output feedback controller depends on the measurement outputs of a agent itself and its adjacent agents via a given topology, where the uniform quantizations are used to characterize the information transmissions between adjacent agents. The definition of mean- square quasi-consensus is employed to reflect the characteristics of consensus behavior in random case and the controller gain variations are model by the multiplicative noises. We focus on the design of non-fragile output feedback controller such that the consensus performance satisfies the pre-specified upper bound constraint at each sampling instant. By using the linear matrix inequality technique, sufficient conditions are derived to ensure the desired performance requirements and the existence of the controller gain. In addition, the optimal consensus performance is obtained by solving an optimization problem. Finally, a simulation example is utilized to illustrate the usefulness of the proposed non-fragile control method.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127020908","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407903
Yang Zhao, Guangbin Cai, Shengxiu Zhang
The traditional state feedback control method needs longer adjustment time and needs longer time to stably track the changes of the flight state commands. Aiming at the above situation, a LPV model reference control method is developed in this paper. Firstly, considering the changes of the flight states of the hypersonic vehicle, the control law of the hypersonic vehicle based on LPV model reference control method is designed according to the characteristics of the longitudinal model of the aircraft. Then, the singular value decomposition is used to solve the controller's coefficient matrix and the controller's state feedback gain is solved by the linear matrix inequality. Under the action of the controller, the actual output of the model converges to the output of the reference model. Finally, effectiveness of the controller is verified by the simulation results. The comparison between the designed controller and the traditional state feedback controller shows that the designed controller has shorter adjustment time and smaller overshoot.
{"title":"LPV model reference control method for hypersonic vehicle control system","authors":"Yang Zhao, Guangbin Cai, Shengxiu Zhang","doi":"10.1109/CCDC.2018.8407903","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407903","url":null,"abstract":"The traditional state feedback control method needs longer adjustment time and needs longer time to stably track the changes of the flight state commands. Aiming at the above situation, a LPV model reference control method is developed in this paper. Firstly, considering the changes of the flight states of the hypersonic vehicle, the control law of the hypersonic vehicle based on LPV model reference control method is designed according to the characteristics of the longitudinal model of the aircraft. Then, the singular value decomposition is used to solve the controller's coefficient matrix and the controller's state feedback gain is solved by the linear matrix inequality. Under the action of the controller, the actual output of the model converges to the output of the reference model. Finally, effectiveness of the controller is verified by the simulation results. The comparison between the designed controller and the traditional state feedback controller shows that the designed controller has shorter adjustment time and smaller overshoot.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115053235","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407530
Tao Zhu, Haifeng Ling, Weixiong He
Inspired by hierarchical structure and consensus theory, a relatively universal and simple cooperative approach of multiple unmanned aerial vehicles (UAVs) is proposed to achieve autonomous formation and reconfiguration. First, UAV cooperative mechanism is established by introducing distributed structure and hierarchical network, based on multi-UAV system made up of commander, virtual leaders and followers. Secondly, movement rules of virtual leader and UAV follower are given in constraint conditions, as well as control strategy of collision avoidance. Finally, a series of simulation experiments are carried out to verify the cooperative control approach. Results show that: UAVs can effectively accomplish autonomous formation which can also be reconfigured efficiently by adjusting hierarchy.
{"title":"A cooperative control approach of UAV autonomous formation and reconfiguration","authors":"Tao Zhu, Haifeng Ling, Weixiong He","doi":"10.1109/CCDC.2018.8407530","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407530","url":null,"abstract":"Inspired by hierarchical structure and consensus theory, a relatively universal and simple cooperative approach of multiple unmanned aerial vehicles (UAVs) is proposed to achieve autonomous formation and reconfiguration. First, UAV cooperative mechanism is established by introducing distributed structure and hierarchical network, based on multi-UAV system made up of commander, virtual leaders and followers. Secondly, movement rules of virtual leader and UAV follower are given in constraint conditions, as well as control strategy of collision avoidance. Finally, a series of simulation experiments are carried out to verify the cooperative control approach. Results show that: UAVs can effectively accomplish autonomous formation which can also be reconfigured efficiently by adjusting hierarchy.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115105686","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8408307
Jinlu Han
The searching and monitoring of diffusive sources, especially those with dangerous radiative sources, are of great significance to public safety and personal health. Due to the influence of the environment and the field, it is difficult to ensure precise source seeking and real-time performance. Existing searching methods use manned machines, robotics or unmanned ground vehicles (UGVs), which are easily affected by the environmental situation and the field. They are also possible to be blocked during the marching journey, resulting in a failure of the task. The rapid development of small unmanned aircraft system (UAS), which includes unmanned aerial vehicles(UAVs) can solve this problem. In an UAS, UAVs with the installed sensors are able to detect the 3D space in the air, which are barely affected by the ground condition and could communicate with the ground station, and other UAVs via the network. Due to the dangers of the radiative source, it is important to find out the exact location in a short time. Based on the cooperative seeking, an extended Kalman filter (EKF) can be developed to shorten the process of the source seeking, and estimate the radiative source accurately. Considering the actual situation of the UASs-based cooperative source seeking, this paper presents the models of the UAVs and the radiative source, introduces the fractional order potential field (FOPF) for collision avoidance and path planning, establishes the real-world simulation platform, and utilizes the EKF to effectively localize the accurate position of the radiative source.
{"title":"Small unmanned aircraft systems for cooperative source seeking with fractional order potential fields","authors":"Jinlu Han","doi":"10.1109/CCDC.2018.8408307","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8408307","url":null,"abstract":"The searching and monitoring of diffusive sources, especially those with dangerous radiative sources, are of great significance to public safety and personal health. Due to the influence of the environment and the field, it is difficult to ensure precise source seeking and real-time performance. Existing searching methods use manned machines, robotics or unmanned ground vehicles (UGVs), which are easily affected by the environmental situation and the field. They are also possible to be blocked during the marching journey, resulting in a failure of the task. The rapid development of small unmanned aircraft system (UAS), which includes unmanned aerial vehicles(UAVs) can solve this problem. In an UAS, UAVs with the installed sensors are able to detect the 3D space in the air, which are barely affected by the ground condition and could communicate with the ground station, and other UAVs via the network. Due to the dangers of the radiative source, it is important to find out the exact location in a short time. Based on the cooperative seeking, an extended Kalman filter (EKF) can be developed to shorten the process of the source seeking, and estimate the radiative source accurately. Considering the actual situation of the UASs-based cooperative source seeking, this paper presents the models of the UAVs and the radiative source, introduces the fractional order potential field (FOPF) for collision avoidance and path planning, establishes the real-world simulation platform, and utilizes the EKF to effectively localize the accurate position of the radiative source.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115172719","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407458
P. Yang, Yuhan Ding, Guohai Liu, C. Mei, Xu Chen, Hui Jiang
To overcome the problems of variable redundancy, long training time and low prediction accuracy in the soft sensing model for marine enzyme fermentation, a Gauss process regression (GPR) model based on NN-MIV is presented, which is named as GPR-NNMIV soft sensing model. Firstly, the NN-MIV variable selection method, combining neural network (NN) and mean impact value (MIV), takes into account both the internal contribution rate and the external contribution rate to get the most suitable input variables with the highest contribution rate, and reduces the number of variables and simplifies soft sensing model. Secondly, based on the NN-MIV method, a new Gauss process regression model is proposed, which does not only give out the soft sensing results but also gives the corresponding uncertainty simultaneously. Results show that the proposed GPR-NNMIV soft sensing model has higher accuracy of results and small confidence intervals compared with single Gauss process model.
{"title":"Application of Gauss process regression modeling based on NN-MIV for marine enzyme fermentation process","authors":"P. Yang, Yuhan Ding, Guohai Liu, C. Mei, Xu Chen, Hui Jiang","doi":"10.1109/CCDC.2018.8407458","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407458","url":null,"abstract":"To overcome the problems of variable redundancy, long training time and low prediction accuracy in the soft sensing model for marine enzyme fermentation, a Gauss process regression (GPR) model based on NN-MIV is presented, which is named as GPR-NNMIV soft sensing model. Firstly, the NN-MIV variable selection method, combining neural network (NN) and mean impact value (MIV), takes into account both the internal contribution rate and the external contribution rate to get the most suitable input variables with the highest contribution rate, and reduces the number of variables and simplifies soft sensing model. Secondly, based on the NN-MIV method, a new Gauss process regression model is proposed, which does not only give out the soft sensing results but also gives the corresponding uncertainty simultaneously. Results show that the proposed GPR-NNMIV soft sensing model has higher accuracy of results and small confidence intervals compared with single Gauss process model.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115204708","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8408137
Zhang Rui, Wu Jun
In order to realize the hand-eye calibration of line structured light system, a new method is proposed in this paper. This method only needs a common checkerboard calibration plate. It not only simplifies the calibration process, but also improves the calibration accuracy. Test results show that the hand-eye calibration method raises accuracy up to 0.01mm, and that is enough to meet the needs of most industrial sites.
{"title":"A hand-eye calibration method for line structured light system","authors":"Zhang Rui, Wu Jun","doi":"10.1109/CCDC.2018.8408137","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8408137","url":null,"abstract":"In order to realize the hand-eye calibration of line structured light system, a new method is proposed in this paper. This method only needs a common checkerboard calibration plate. It not only simplifies the calibration process, but also improves the calibration accuracy. Test results show that the hand-eye calibration method raises accuracy up to 0.01mm, and that is enough to meet the needs of most industrial sites.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116202777","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 : 2018-06-01DOI: 10.1109/CCDC.2018.8407631
Yani Xu, W. Luo, Liang Zhang
In this paper, the hardware and software systems for quadrotors are discussed. Because quadrotors are susceptible to outside interference, the auto-disturbance rejection controller (ADRC) is proposed to control quadrotor. The control effect of ADRC is compared with that of cascade PID controller. Experimental results show that ADRC can realize the attitude control of quadrotor with stronger robustness.
{"title":"Research on control system of quadrotor based on ADRC","authors":"Yani Xu, W. Luo, Liang Zhang","doi":"10.1109/CCDC.2018.8407631","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407631","url":null,"abstract":"In this paper, the hardware and software systems for quadrotors are discussed. Because quadrotors are susceptible to outside interference, the auto-disturbance rejection controller (ADRC) is proposed to control quadrotor. The control effect of ADRC is compared with that of cascade PID controller. Experimental results show that ADRC can realize the attitude control of quadrotor with stronger robustness.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122642245","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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