Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Friday Sessions
systems with interval-like time-varying state and input delays is studied.
Based on a new bounding inequality technique, combining a parameterdependent
Lyapunov functional, a stability criterion is firstly presented
in terms of a set of simple convex feasibility tests. Then, the output feedback
stabilization conditions are formulated in the form of non-convex
matrix inequalities, of which a feasible solution can be obtained by solving
an LMI-based minimization problem. The newly proposed inequality
lies in the partitioning idea of the varying interval and shows its more
tightness over some existing bounding techniques. No free weighting
matrix is involved. Two illustrative examples are finally given to verify
the advantage and effectiveness of the proposed method.
FrB06 15:50–17:50 Room 302
Identification
Chair: Yang, Hua
Co-Chair: Chen, Xi
Ocean Univ. of China
Chinese Acad. of Sci.
◮ FrB06-1 15:50–16:10
Recursive Identification for Wiener-Hammerstein Systems Using Instrumental
Variable, pp.3043–3048
Chen, Xi
Fang, Hai-Tao
Chinese Acad. of Sci.
Chinese Acad. of Sci.
An identification method is discussed that deals with the Wiener-
Hammerstein systems of general nonlinearity. By introducing a suitable
instrumental variable a new algorithm is presented to recursively
estimate the linear subsystems using stochastic approximation algorithm.
The kernel nonparametric method is used to estimate the nonlinear
function. The consistent analysis of the method is given under
mild condition. A simulation example is provided justifying the proposed
method.
◮ FrB06-2 16:10–16:30
Roll and Pitch Model Identification for Miniature Unmanned Helicopter
Based on Subspace Method, pp.3059–3063
Bai, Meng
Li, Minhua
Shandong Univ. of Sci. & Tech.
Shandong Univ. of Sci. & Tech.
The dynamic model of a miniature unmanned helicopter is needed to
develop for autonomous helicopter flight. A subspace identification
method for the roll and pitch coupling model is proposed. The roll and
pitch coupling model of a hovering miniature unmanned helicopter is
deduced to obtain an identification model structure for use in the subspace
method. The roll and pitch model is identified based input and
output data using the subspace method. Simulation results demonstrate
that the identified model can reflect the roll and pitch dynamic
effectively with higher system identification precision.
◮ FrB06-3 16:30–16:50
Blind Identification of Multi-Rate Sampled Plants, pp.3220–3225
Yu, Chengpu
Zhang, Cishen
Xie, Lihua
Nanyang Technological Univ.
Swinburne Univ. of Tech.
Nanyang Technological Univ.
This paper presents a blind identification algorithm for single-input
single-output (SISO) sampled plants using an oversampling technique
with each input symbol lasting for several sampling periods. First, a
state-space equation of the multi-rate sampled plant is given and its
single-input multioutput (SIMO) autoregressive moving average (AR-
MA) model is formulated. A new blind identification algorithm for the
SIMO ARMA model is then presented, which exploits the dynamical autoregression
information of the model contained in the autocorrelation
matrices of the system outputs but does not require the block Toeplitz
structure of the channel convolution matrix used by classical subspace
methods. A method for recovering the transfer function of the SISO system
from its associated SIMO transfer functions is further given based
on the polyphase interpretation of multi-rate systems. Finally, the effectiveness
of the proposed algorithm is demonstrated by simulation
results.
◮ FrB06-4 16:50–17:10
Data-driven Subspace Approach to MIMO Minimum Variance Control
Performance Assessment, pp.3157–3161
Yang, Hua
Li, Shaoyuan
Ocean Univ. of China
Shanghai Jiao Tong Univ.
A new data-driven approach is proposed for the estimation of the Minimum
Variance Control (MVC) benchmark, which eliminates the need
of estimating the interactor-matrix or extracting the model/Markov parameter
matrices. Using the parity space, the proposed subspace approach
gives equivalent estimation of the MVC performance bounds in
multivariable feedback control system. The basic procedure is to identify
a parity space of the system residual, instead of the process model,
directly based on closed-loop data. Therefore, the MVC performance
indices are estimated to make control performance assessment. The
equivalence of the proposed approach to the conventional interactormatrix
based approaches for the estimation of the MVC-benchmark is
proved and illustrated through simulations.
◮ FrB06-5 17:10–17:30
Adaptive Generalized Function Lag Projective Synchronization and Parameter
Identification of a Class of Hyperchaotic Systems with Fully
Uncertain Parameters and Disturbance, pp.3265–3269
Chai, Xiuli
Wu, Xiangjun
Guo, Junyan
Henan Univ.
Henan Univ.
Inst. of Image Processing & Pattern Recognition
Generalized function projective lag synchronization(GFPLS) is characterized
by the output of the drive system proportionally lagging behind
the output of the response system and ratio of the two systems is desired
function scaling matrix. In this paper, GFPLS between different
chaotic systems with uncertain parameters, i.e. GFPLS between Chen
and Lorenz chaotic system is studied by applying an adaptive control
method. Based on Lyapunov stability theory, the adaptive controllers
and corresponding parameter update rules are constructed to make
the states of two diverse chaotic systems asymptotically synchronize
up to the desired scaling matrix and to estimate the uncertain parameters.
The numerical simulations are provided to show the effective and
robustness of the results.
◮ FrB06-6 17:30–17:50
Yaw Dynamic Model Identification for Miniature Unmanned Helicopter,
pp.3162–3166
Li, Minhua
Bai, Meng
Shandong Univ. of Sci. & Tech.
Shandong Univ. of Sci. & Tech.
Yaw dynamic model of a miniature unmanned helicopter is needed to
develop for heading control. A yaw dynamic model is deduced based on
miniature unmanned helicopter characteristics in hover. Different from
a large helicopter, the yaw damping system of a miniature helicopter
is realized through the negative feedback of helicopter heading rate,
which is provided by an angular rate gyro. Akaike Information Criterion
is used to solve the problem of determining model order. Based on
flight experimental data, a least square method is adopted to estimate
the unknown parameters in the yaw dynamic model. And the identified
model is verified by comparing the model output data with the collected
flight experiment data.
FrB07 15:50–18:10 Room 303
Robotics (II)
Chair: Xian, Bin
Co-Chair: ILYAS, MUHAMMAD
Tianjin Univ.
Beihang Univ.
◮ FrB07-1 15:50–16:10
Modeling and Variable Structure Control of a Vehicle Flexible Manipulator,
pp.3657–3662
Xu, Yongjun
Qiao, Yanfeng
Wang, Zhi-qian
Liu, Keping
Li, Yuanchun
Jilin Univ.
Chinese Acad. of Sci.
Changchun Inst. of Optics,Fine Mechanics &
Physics,Chinese Acad. of Sci.
Changchun Univ. of Tech.
Jilin Univ.
In this paper, the mathematical modeling and the application of a new
trajectory tracking control technique for hydraulic-driven rigid-flexible
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