Pub Date : 2019-06-01DOI: 10.1109/YAC.2019.8787716
L. Wan, Yan Chen, Yang Zhou
A course keeping controller for unmanned surface vehicle (USV) is proposed in this paper. The USV is a very complicated, nonlinear and uncertain system. Considering that the parameters of the USV are time-varying. They vary with the condition of the ship and the varying navigation environment. An adaptive course keeping controller combines sliding mode technology and radial basis function neural network is developed. It has strong robustness. The radial basis function neural network is used for realizing the adaptive approximation of the nonlinear and uncertain part, and the sliding mode control is combined to realize the tracking of the desired heading angle. The adaptive laws of the neural network weights are derived by Lyapunov stability theorem, so as to guarantee the stability and convergence of the whole closed-loop system. The simulations are given to validate that the designed controller can make the course keeping accurately and quickly.
{"title":"Adaptive Sliding Mode Controller for Course Keeping of Unmanned Surface Vehicle","authors":"L. Wan, Yan Chen, Yang Zhou","doi":"10.1109/YAC.2019.8787716","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787716","url":null,"abstract":"A course keeping controller for unmanned surface vehicle (USV) is proposed in this paper. The USV is a very complicated, nonlinear and uncertain system. Considering that the parameters of the USV are time-varying. They vary with the condition of the ship and the varying navigation environment. An adaptive course keeping controller combines sliding mode technology and radial basis function neural network is developed. It has strong robustness. The radial basis function neural network is used for realizing the adaptive approximation of the nonlinear and uncertain part, and the sliding mode control is combined to realize the tracking of the desired heading angle. The adaptive laws of the neural network weights are derived by Lyapunov stability theorem, so as to guarantee the stability and convergence of the whole closed-loop system. The simulations are given to validate that the designed controller can make the course keeping accurately and quickly.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"23 1","pages":"451-454"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82164862","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787719
Le Wang, Xianghui Cao, Changyin Sun
Privacy preserving is an important emerging issue in Cyber-Physical Systems (CPSs). This paper considers a privacy problem for a remote state estimation system in the presence of an eavesdropper. In the system, an energy-constrained sensor sends its local estimation to a remote estimator through a wireless channel, where the eavesdropper is able to wiretap the sensor-estimator communications. There are three transmission options for the sensor, i.e., keeping in silence and plaintext or encrypted transmission. Because of limited energy, the sensor cannot transmit packets through encryption all the time during each period of the infinite horizon. Our aim is to decide the optimal transmission schedule for the sensor to maximize the eavesdropper's state estimation error. We theoretically derive the optimal privacy schedule and analyze the divergence probability of the eavesdropper's estimation error. Numerical results are presented to validate the proposed schedule.
{"title":"Optimal Offline Privacy Schedule for Remote State Estimation under an Eavesdropper","authors":"Le Wang, Xianghui Cao, Changyin Sun","doi":"10.1109/YAC.2019.8787719","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787719","url":null,"abstract":"Privacy preserving is an important emerging issue in Cyber-Physical Systems (CPSs). This paper considers a privacy problem for a remote state estimation system in the presence of an eavesdropper. In the system, an energy-constrained sensor sends its local estimation to a remote estimator through a wireless channel, where the eavesdropper is able to wiretap the sensor-estimator communications. There are three transmission options for the sensor, i.e., keeping in silence and plaintext or encrypted transmission. Because of limited energy, the sensor cannot transmit packets through encryption all the time during each period of the infinite horizon. Our aim is to decide the optimal transmission schedule for the sensor to maximize the eavesdropper's state estimation error. We theoretically derive the optimal privacy schedule and analyze the divergence probability of the eavesdropper's estimation error. Numerical results are presented to validate the proposed schedule.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"25 1","pages":"676-682"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84362671","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787593
Wang Wei
A new formation control strategy based on the virtual-leader-follower and artificial potential field for the formation of multiple mobile robots is proposed in this paper. A motion control model of a formation containing a plurality of mobile robots is established. A virtual leader is introduced in a system with multiple mobile robots, which acts in the same way as a robot that exists physically. In addition, it has been confirmed by simulation experiments that the virtual leader perfectly eliminates the hidden dangers of the real robot malfunctions and the system out of control, which greatly improves the flexibility and stability of the system.
{"title":"A new formation control strategy based on the virtual-leader-follower and artificial potential field","authors":"Wang Wei","doi":"10.1109/YAC.2019.8787593","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787593","url":null,"abstract":"A new formation control strategy based on the virtual-leader-follower and artificial potential field for the formation of multiple mobile robots is proposed in this paper. A motion control model of a formation containing a plurality of mobile robots is established. A virtual leader is introduced in a system with multiple mobile robots, which acts in the same way as a robot that exists physically. In addition, it has been confirmed by simulation experiments that the virtual leader perfectly eliminates the hidden dangers of the real robot malfunctions and the system out of control, which greatly improves the flexibility and stability of the system.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"36 1","pages":"485-492"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82311169","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787596
Yan Chen, L. Wan, Zhaoxia Liu
In view of the actual demand of poultry slaughtering industry in China, this study constructed the eviscerating robot system oriented the poultry slaughtering industry based on some advanced technology, such as the parallel robot and machine vision, it studied machine vision localization algorithm of poultry on the conveyor belt, poultry visual system was designed, and it was developed based on MATLAB image processing software in order to improve the poultry production efficiency, guarantee the poultry health and reduce the labor intensity.
{"title":"The study on recognition and location of intelligent robot system for eviscerating poultry","authors":"Yan Chen, L. Wan, Zhaoxia Liu","doi":"10.1109/YAC.2019.8787596","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787596","url":null,"abstract":"In view of the actual demand of poultry slaughtering industry in China, this study constructed the eviscerating robot system oriented the poultry slaughtering industry based on some advanced technology, such as the parallel robot and machine vision, it studied machine vision localization algorithm of poultry on the conveyor belt, poultry visual system was designed, and it was developed based on MATLAB image processing software in order to improve the poultry production efficiency, guarantee the poultry health and reduce the labor intensity.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"130 1","pages":"499-503"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80261104","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}
The ship route planning has two problems to solve. The first problem is how to model the environment of the navigation area, and the second one is how to use an optimal algorithm to search the global optimal route. This paper combines the particle swarm optimization (PSO) algorithm with the tangent graph method to search the optimal ship route. At first, it uses the tangent graph method to obtain the static obstacle information and establishes the static environment model of the navigation area. It designs a cost function evaluating the total distance from the start point to the terminal point. The PSO algorithm takes the minimum value of the cost function as its target to search the global shortest route. Based on the environment model, the PSO individuals are outside of the obstacle hull area, and the optimal results are feasible solutions satisfying the requirement. It designs the detail optimization operations according to the PSO principal. The results show that the proposed route planning method is effective to get the shortest route.
{"title":"Ship Route Planning Based on Particle Swarm Optimization","authors":"Yu Shen, Fuping Wang, Peimin Zhao, Xinchi Tong, Jinhui Huang, Kai Chen, Huajun Zhang","doi":"10.1109/YAC.2019.8787628","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787628","url":null,"abstract":"The ship route planning has two problems to solve. The first problem is how to model the environment of the navigation area, and the second one is how to use an optimal algorithm to search the global optimal route. This paper combines the particle swarm optimization (PSO) algorithm with the tangent graph method to search the optimal ship route. At first, it uses the tangent graph method to obtain the static obstacle information and establishes the static environment model of the navigation area. It designs a cost function evaluating the total distance from the start point to the terminal point. The PSO algorithm takes the minimum value of the cost function as its target to search the global shortest route. Based on the environment model, the PSO individuals are outside of the obstacle hull area, and the optimal results are feasible solutions satisfying the requirement. It designs the detail optimization operations according to the PSO principal. The results show that the proposed route planning method is effective to get the shortest route.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"46 1","pages":"211-215"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83240580","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787676
Hong‐Du Wang, Lin Yuan, M. Karkoub
This paper introduces an event triggering scheme for state feedback control of a class of stochastic systems which exists multiplicative noise affecting both state variables and control inputs. According to the state sampling error of the system state, the event trigger control scheme is developed to judge whether the output can be transmitted to the controller. Developing a state feedback controller that can make sure the closed-loop system is mean-square stable under given event triggering conditions is the aim of the control method. According to the linear matrix inequality (LMI), we propose a design method of event trigger control. Finally, the efficiency of the introduced method is verified by a numerical experiment.
{"title":"Event Triggered Control of Stochastic Systems with Multiplicative Noises","authors":"Hong‐Du Wang, Lin Yuan, M. Karkoub","doi":"10.1109/YAC.2019.8787676","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787676","url":null,"abstract":"This paper introduces an event triggering scheme for state feedback control of a class of stochastic systems which exists multiplicative noise affecting both state variables and control inputs. According to the state sampling error of the system state, the event trigger control scheme is developed to judge whether the output can be transmitted to the controller. Developing a state feedback controller that can make sure the closed-loop system is mean-square stable under given event triggering conditions is the aim of the control method. According to the linear matrix inequality (LMI), we propose a design method of event trigger control. Finally, the efficiency of the introduced method is verified by a numerical experiment.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"14 1","pages":"710-714"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81531266","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787729
Wang Huimin, Hua Liang, Guo Yunxiang, Chen Hailong, Lu Cheng
An adaptive neural sliding mode control method is proposed for micro-electric-mechanical-system (MEMS) gyroscopes in this paper using fractional calculus. A new sliding surface containing a fractional order term is designed in the paper. And the fractional order term can improve control system dynamics and the fractional calculus is also used in adaptive laws to improve parameter identification performance. Besides, a radial basis function neural network is adopted to online estimate the upper bound of the lumped disturbance to reduce chattering phenomenon. The stability of the control system is proved using the Lyapunov stability theorem where adaptive laws for parameters and neural network weights are online tuned. Simulation results on a Z axis gyroscope is conducted to validate the effectiveness of the control method. performance.
{"title":"Adaptive neural Sliding Mode Control for MEMS gyroscope using fractional calculus","authors":"Wang Huimin, Hua Liang, Guo Yunxiang, Chen Hailong, Lu Cheng","doi":"10.1109/YAC.2019.8787729","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787729","url":null,"abstract":"An adaptive neural sliding mode control method is proposed for micro-electric-mechanical-system (MEMS) gyroscopes in this paper using fractional calculus. A new sliding surface containing a fractional order term is designed in the paper. And the fractional order term can improve control system dynamics and the fractional calculus is also used in adaptive laws to improve parameter identification performance. Besides, a radial basis function neural network is adopted to online estimate the upper bound of the lumped disturbance to reduce chattering phenomenon. The stability of the control system is proved using the Lyapunov stability theorem where adaptive laws for parameters and neural network weights are online tuned. Simulation results on a Z axis gyroscope is conducted to validate the effectiveness of the control method. performance.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1997 1","pages":"602-606"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82502460","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787678
Chengqian Xue, Xinbo Yu, Wei He, Changyin Sun
This paper proposes a finite-time neural impedance control for a robotic manipulator. A position-based impedance controller is proposed to improve the safety and compliance when robotic manipulator contacts with environment physically. Radial basis functions neural networks (RBFNNs) are employed to compensate uncertainties in robotic manipulator dynamics. A finite-time control method is developed with the back-stepping technique to improve the tracking performance. Large external forces can be avoided and desired impedance model can be achieved quickly under our proposed method. The stability in the close-loop system is proven by Lyapunov theory, and all error signals in the system are semi-global practical finite time stable (SGPFS) and the system output converges to reference signals in finite time under our proposed controller. Finally, comparative simulations are proposed to verify the effectiveness of our proposed method.
{"title":"Finite-Time Neural Impedance Control for an Uncertain Robotic Manipulator","authors":"Chengqian Xue, Xinbo Yu, Wei He, Changyin Sun","doi":"10.1109/YAC.2019.8787678","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787678","url":null,"abstract":"This paper proposes a finite-time neural impedance control for a robotic manipulator. A position-based impedance controller is proposed to improve the safety and compliance when robotic manipulator contacts with environment physically. Radial basis functions neural networks (RBFNNs) are employed to compensate uncertainties in robotic manipulator dynamics. A finite-time control method is developed with the back-stepping technique to improve the tracking performance. Large external forces can be avoided and desired impedance model can be achieved quickly under our proposed method. The stability in the close-loop system is proven by Lyapunov theory, and all error signals in the system are semi-global practical finite time stable (SGPFS) and the system output converges to reference signals in finite time under our proposed controller. Finally, comparative simulations are proposed to verify the effectiveness of our proposed method.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1986 1","pages":"42-46"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82740036","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787669
Y. Xie, Ruili Dong, Yonghong Tan
In this paper, a modified extreme seeking controller is designed for a Hammerstein system with unknown nonlinear function. In this Hammerstein system, only the model of linear subsystem is available. Therefore, the system is half transparent. Based on the available linear submodel, a predictor is developed and the steady state of system can be forecasted by the predictor. Then, a modified extreme seeking control (MESC) strategy based on the prediction result is applied to the control of Hammerstein systems. In the MESC, the technique of finite difference is implemented for estimating the gradients for searching the extremum of the system. Finally, simulation results are presented to show the validation the proposed method.
{"title":"A modified ESC for Hammerstein systems with unknown nonlinear function","authors":"Y. Xie, Ruili Dong, Yonghong Tan","doi":"10.1109/YAC.2019.8787669","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787669","url":null,"abstract":"In this paper, a modified extreme seeking controller is designed for a Hammerstein system with unknown nonlinear function. In this Hammerstein system, only the model of linear subsystem is available. Therefore, the system is half transparent. Based on the available linear submodel, a predictor is developed and the steady state of system can be forecasted by the predictor. Then, a modified extreme seeking control (MESC) strategy based on the prediction result is applied to the control of Hammerstein systems. In the MESC, the technique of finite difference is implemented for estimating the gradients for searching the extremum of the system. Finally, simulation results are presented to show the validation the proposed method.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"504-508"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90527009","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787694
Qin Na, Wang Xuebing, Liu Yantao
Soldier Radio Waveform (SRW) network is a kind of mobile Ad hoc network. It is mostly suitable to tactical or emergency communications. The Time Division Multiple Access (TDMA) control mechanism of Barrage Relay Network (BRN) is used in SRW. To make simulation study on BRN, a group of network models, node models, and process models of BRN are built with OPNET simulation kits. Moreover, the simulation study includes Controlled Barrage Region (CBR), which is a representative application of BRN. The procedures of building CBR and data transmission are implemented. The correctness of these models is proved by extensive simulation experiments and rigorous analyses. These models can be used in both academic study and industrial applications.
{"title":"Simulation Studies on Barrage Relay Networks","authors":"Qin Na, Wang Xuebing, Liu Yantao","doi":"10.1109/YAC.2019.8787694","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787694","url":null,"abstract":"Soldier Radio Waveform (SRW) network is a kind of mobile Ad hoc network. It is mostly suitable to tactical or emergency communications. The Time Division Multiple Access (TDMA) control mechanism of Barrage Relay Network (BRN) is used in SRW. To make simulation study on BRN, a group of network models, node models, and process models of BRN are built with OPNET simulation kits. Moreover, the simulation study includes Controlled Barrage Region (CBR), which is a representative application of BRN. The procedures of building CBR and data transmission are implemented. The correctness of these models is proved by extensive simulation experiments and rigorous analyses. These models can be used in both academic study and industrial applications.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"92 2 1","pages":"189-194"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83667409","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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