Conference Program of WCICA 2012
Conference Program of WCICA 2012
Conference Program of WCICA 2012
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<strong>Conference</strong> <strong>Program</strong> <strong>WCICA</strong> <strong>2012</strong><br />
KF) family <strong>of</strong> algorithms use a carefully selected set <strong>of</strong> sample points<br />
to more accurately map the probability distribution than linearization <strong>of</strong><br />
the standard EKF, leading to faster convergence from inaccurate initial<br />
conditions in position and attitude estimation problems, which achieves<br />
an accurate approximation to at least second-order. Therefore, the performance<br />
<strong>of</strong> EKF and SPKF applied to tightly-coupled GPS/INS integration<br />
is compared in numerical simulations. It is found that the SPKF<br />
approach <strong>of</strong>fers better performances over standard EKF.<br />
SaB02 15:50–17:50 Room 203B<br />
Robust Control (II)<br />
Chair: Brdys, Mietek<br />
Co-Chair: Zhu, Jiandong<br />
Gdansk Univ. <strong>of</strong> Tech.<br />
Nanjing Normal Univ.<br />
◮ SaB02-1 15:50–16:10<br />
Robust Adaptive Neural Network Control for Strict-Feedback Nonlinear<br />
Systems with Uncertainties, pp.1328–1333<br />
SUN, Gang<br />
Wang, Dan<br />
Peng, Zhouhua<br />
Lan, Weiyao<br />
Wang, Hao<br />
Wang, Ning<br />
Dalian Maritime Univ.<br />
Dalian Maritime Univ.<br />
Dalian Maritime Univ.<br />
Xiamen Univeristy<br />
Dalian Maritime Univ.<br />
Dalian Maritime Univ.<br />
In this paper, we present a robust adaptive neural network control design<br />
approach for strict-feedback nonlinear systems with uncertainties.<br />
In the controller design process, all unknown terms at intermediate<br />
steps are passed down and approximated by a single neural network<br />
at the last step. By this way, the structure <strong>of</strong> the designed controller is<br />
much simpler, and the control law and the adaptive law can be given directly.<br />
The result <strong>of</strong> stability analysis shows that the proposed scheme<br />
can guarantee the uniform ultimate boundedness <strong>of</strong> the closed-loop<br />
system signals, and the control performance can be guaranteed by an<br />
appropriate choice <strong>of</strong> the control parameters. The effectiveness <strong>of</strong> the<br />
proposed approach is demonstrated by simulation results.<br />
◮ SaB02-2 16:10–16:30<br />
Design Robust Gain-Scheduling Multi-Objective Controller based on Iterative<br />
LMI, pp.1558–1563<br />
Li, Wen Qiang<br />
Cao, Wenjing<br />
SU, Tao<br />
LI, Lian<br />
Naval Aeronautical Engineering Inst.<br />
Naval Aeronautical & Astronautical Univ.<br />
Naval Aeronautical & Astronautical Univ.<br />
Control Enginering<br />
The problem <strong>of</strong> robust gain-scheduling multi-objective was studied.<br />
Multi-channels was adopted to design robust gain-scheduling multiobjective<br />
controller for LPV systems with polytopic structure, the slack<br />
variables whose number can adjust was added for decoupling the systems<br />
matrix and Lyapunov functions, so the different Lyapunov functions<br />
can selected at different vertex. This method can reduce the conservatism<br />
<strong>of</strong> traditional method which use single Lyapunov function at<br />
every channel. The slack variables bring the bilinear matrix inequalities<br />
in the controller synthesized and a simple but available method to<br />
decide the initial value <strong>of</strong> the iterative LMI was proposed. At last, the robust<br />
gain-scheduling multi-objective controller was designed for active<br />
suspensions using proposed method, the multi-objective include pole<br />
placement and mixed H 2 /H ∞ . From simulation result, it can be seen<br />
that the performance was increased 30 percent, and the method was<br />
proved efficiency from simulation and theory.<br />
◮ SaB02-3 16:30–16:50<br />
Optimised Robust Placement <strong>of</strong> Hard Quality Sensors for Robust Monitoring<br />
<strong>of</strong> Quality in Drinking Water Distribution Systems, pp.1109–1114<br />
Langowski, Rafal<br />
Brdys, Mietek<br />
Qi, Ruiyun<br />
Gdansk Univ. <strong>of</strong> Tech.<br />
Gdansk Univ. <strong>of</strong> Tech.<br />
Nanjing Univ. <strong>of</strong> Aeronautics & Astronautics<br />
A problem <strong>of</strong> optimised robust placement <strong>of</strong> the hard quality sensors<br />
in Drinking Water Distribution Systems under several water demand<br />
scenarios for robust quality monitoring is formulated. Numerical algorithms<br />
to solve the problem are derived. The optimality is meant as<br />
achieving at the same time a desired trade <strong>of</strong>f between the sensor capital<br />
and maintenance costs and resulting robust estimation accuracy <strong>of</strong><br />
the monitoring algorithm for several water demand scenarios insuring<br />
robustness with respect to the demand uncertainty. The robust estimation<br />
algorithm recently developed by the authors is applied as a s<strong>of</strong>t<br />
quality in design <strong>of</strong> the sensor placement algorithms. The method and<br />
algorithm are validated by application to Chojnice DWDS case study.<br />
◮ SaB02-4 16:50–17:10<br />
Cooling Control <strong>of</strong> Aluminum Plate with a Peltier Device Thermal<br />
Process by Using a Robust Right Coprime Factorization Approach,<br />
pp.1115–1119<br />
WANG, Dong-yun<br />
Zhang, Lei<br />
Zhongyuan Univ. <strong>of</strong> Tech.<br />
Zhongyuan Univ. <strong>of</strong> Tech.<br />
In this paper, an aluminum plate with a Peltier devices are used as a<br />
model. For the Peltier actuated thermal process is a nonlinear control<br />
affine system and the real system is usually contains fault owing<br />
to various factors, it is difficult to achieve excellent control consequent.<br />
In this paper, robust right coprime factorization is applied to analyse<br />
the thermal process. Then the derivation <strong>of</strong> the controller is also given<br />
for achieve robust stability and tracking performance. Finally, simulation<br />
and experimental results are presented to support the theoretical<br />
results.<br />
◮ SaB02-5 17:10–17:30<br />
Sliding Mode Control for Robust Consensus <strong>of</strong> Linear Multi-agent Systems,<br />
pp.1378–1382<br />
Zhao, Ni<br />
Zhu, Jiandong<br />
Nanjing Normal Univ.<br />
Nanjing Normal Univ.<br />
This paper investigates the robust consensus problem for general highdimensional<br />
linear multi-agent systems with uncertainties. A distributed<br />
protocol based on sliding mode control is proposed to realize the consensus<br />
under matched uncertainties. For diminishing the chattering<br />
phenomenon, a second-order sliding mode protocol is designed. Finally,<br />
numerical simulations are given to verify the effectiveness <strong>of</strong> the<br />
proposed protocols.<br />
◮ SaB02-6 17:30–17:50<br />
Robust Altitude Control for a Small Helicopter by Considering the<br />
Ground Effect Compensation, pp.1796–1800<br />
ROY, TUSHAR KANTI UNSW, Canberra, ACT 2600<br />
In this paper, a nonlinear robust control technique is proposed to control<br />
the altitude <strong>of</strong> a small helicopter for hover as well as vertically take<strong>of</strong>f/landing<br />
near ground surface in the presence <strong>of</strong> strong horizontal<br />
wind gusts. A heave motion model <strong>of</strong> small helicopter is considered to<br />
derive the proposed controller for the purposes <strong>of</strong> capturing dynamic<br />
variations <strong>of</strong> thrust due to the horizontal wind gusts and ground effect.<br />
A recursive (backstepping) design procedure is used to design the<br />
robust controller for vertical dynamics based on Lyapunov approach.<br />
Simulation results demonstrate that the proposed robust backstepping<br />
controller is capable <strong>of</strong> controlling the altitude for hover flight <strong>of</strong> a small<br />
helicopter near ground surface in the presence <strong>of</strong> strong horizontal<br />
wind gusts.<br />
SaB03 15:50–17:50 Room 203C<br />
Machine Vision<br />
Chair: Tong, Gu<strong>of</strong>eng<br />
Co-Chair: YIN, Ziqiang<br />
Northeastern Univ.<br />
Inst. <strong>of</strong> Oceanographic Instrumention<br />
Shandong Acad. <strong>of</strong> Sci.<br />
◮ SaB03-1 15:50–16:10<br />
Research on Structured Light 3D Vision in the Remanufacturing System<br />
based on Robotic Arc Welding, pp.4527–4531<br />
YIN, Ziqiang Inst. <strong>of</strong> Oceanographic Instrumention Shandong<br />
Acad. <strong>of</strong> Sci.<br />
Three-dimensional sensing technologies based on computer vision<br />
make it possible to rapid establish the three-dimensional model <strong>of</strong> the<br />
worn parts for remanufacturing system. This research design a novel<br />
structured light three-dimensional vision sensor for the remanufacturing<br />
system based on robotic arc welding. The sensor is mainly constituted<br />
<strong>of</strong> two devices: the MTC-368CB CCD camera and the ML-645 struc-<br />
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