Conference Program of WCICA 2012

Conference Program WCICA 2012
paper.
Chen, Qijun
Tongji Univ.
◮ SaB10-3 16:50–17:20
Integrated Vehicle Dynamics Control of an In-Wheel-Motor Vehicle,
pp.2335–2339
Hirano, Yutaka
Toyota Motor Corporation
For future mobility intended to decrease energy consumption by applying
smaller and lighter body and lower RRC (Road Resistance Coefficient)
tires, there is a possibility that maneuverability and stability will
become worse than current conventional vehicles. To solve this problem,
a benchmark problem is settled by ‘Committee of vehicle control
and modeling research’of JSAE aiming to utilize the knowledge of
system control academia for actual industry problems. The problem is
to develop an integrated control of independent driving / braking torque,
steering angle and camber angle of each wheel of an in-wheel-motor
vehicle for both improvement in vehicle maneuverability and stability index
and also minimizing energy consumption. In this paper, definition of
the problem, vehicle and test conditions and a model for the simulation
are described.
◮ SaB10-4 17:20–17:50
SICE Benchmark Problem of Engine Control and a Challenging Results,
pp.2340–2345
Shen, Tielong
Zhang, Jiangyan
Sophia Univ.
Sophia Univ.
As an internal combustion engines, automotive gasoline engines involve
nonlinearities and stochastic characteristics that are usually difficult
to handle in modeling and control. To promote the applications
of advanced control theory in the engine systems, The SICE Technical
Committee on Advanced Control of Automotive Powertrains proposed a
benchmark problem that targets the starting speed control of the gasoline
engine, since during the starting phase, the thermal property of the
engine changes dramatically and causes the difficulty in control system
design. This paper will give an detailed explanation of the benchmark
problem statement first, and then introduce a challenging result proposed
by the authors that shows the effectiveness of nonlinear modelbased,
coordinative control between the multi-loops such as ignitions,
injections of each cylinders and throttle operating. Experimental validations
will be also demonstrated conducted on a commercial care used
V6 engines.
SaB11 15:50–17:50 Room 311C
Invited Session: Control of High-Performance Engineering Systems
Chair: Pang, Chee Khiang
National Univ. of Singapore
◮ SaB11-1 15:50–16:10
Neural-Network Based AUV Path Planning in Estuary Environments,
pp.3724–3730
Li, Shuai
Guo, Yi
Stevens Inst. of Tech.
Stevens Inst. of Tech.
For the path planning problem of autonomous underwater vehicles (AU-
Vs) in 3-dimensional (3-D) estuary environments, traditional methods
may encounter problems due to their high computational complexity. In
this paper, we proposed a dynamic neural network to solve the AUV
path planning problem. In the neural network, neurons get input from
the environment, locally interact with the neighbors and update neural
activities in real time. The AUV path is then generated according to
the neural activity landscapes. Stability, computational complexity of
the neural network, and optimality of the generated path are analyzed.
AUV path planning in 3-D complex environments without currents, with
constant currents, and with variable currents are studied through simulations,
which demonstrate the effectiveness of this approach.
◮ SaB11-2 16:10–16:30
Leader-follower and communication based formation control of multirobots
, pp.229–232
Wang, Zhuping
Mao, Ying
Chen, Guangmou
Tongji Univ.
Tongji Univ.
Tongji Univ.
In this paper, leader-follower strategy and communication technology
are combined together to carry out the formation control of multiple
nonholonomic mobile robots. The controller is proposed based on
a kinematic model using Cartesian coordinates for the followers and
a classical control algorithm for the leader is used. In order to improve
the adaptability to the environment, communication based on a
kind of cross-platform technology Qt is proposed to realize the selfpositioning
and mutual communication among robots, in which multithreading
technology is also adopted. Simulation results prove the effectiveness
of the proposed plan.
◮ SaB11-3 16:30–16:50
Tracking Control for Nonholonomic Mobile Robots with Visual Servoing
Feedback , pp.3864–3869
Wang, Baolei
Wang, Chaoli
Univ. of Shanghai for Sci. & Tech.
Univ. of Shanghai for Sci. & Tech.
This paper discusses a tracking control problem of nonholonomic mobile
robots with visual servoing feedback. By comparing corresponding
target points of an object from two different camera images, geometric
relationships are exploited to derive a transformation that relates the actual
position and orientation of the mobile robot to a reference position
and orientation. This transformation is used to synthesize a rotation and
translation error system from the current position and orientation to the
fixed reference position and orientation. Lyapunov-based techniques
are used to construct a robust controller to stabilize the error system
with a constant, unmeasurable depth parameter. The contribution of
this paper is that Lyapunov techniques are used to construct a robust
controller that makes mobile robot position and orientation converge to
the desired configuration despite the lack of an object model and the
lack of depth information. Simulation results are provided to illustrate
the performance of the controller
◮ SaB11-4 16:50–17:10
Consensus Output Regulation Without State Estimation, pp.2306–2311
Ding, Zhengtao
Univ. of Manchester
This paper deals with consensus output regulation of network connected
multi-agent systems. Every agent or subsystem has identical dynamics,
and it is required to follow a desired trajectory which is generated
by a linear dynamic system, known as the exosystem. Only some
subsystems have access to the desired trajectory, and other subsystems
will have to reply on the exchange of information through the network.
In this paper, a consensus control design is proposed to ensure
that the outputs of all the subsystems converge to the same desired
output trajectory by exploiting the internal model design strategy. The
proposed control design only uses the relative outputs of the subsystems,
and does not require the estimation of subsystem state variables.
◮ SaB11-5 17:10–17:30
design of decoders based on memristors, pp.5116–5121
Zhou, Jing
National Univ. of Defense Tech.
A Memristor is a nonlinear resistor with memory, and is considered as
the fourth type of basic circuit element except resistor, capacitor and inductor.
With special circuitry characteristics, memristor can be used for
both information storage and logic operations. In traditional Von Neumann
computer architecture, address decoder is an important component
connecting processor and memory. This paper aims at designing
a decoder based on memristors. We first analyze and model the characteristics
of memristor with HSPICE, and then design decoders based
on NOR and AND operation respectively with memristors and compare
their performance. The experimental results and analysis show that our
design is right in function and has good scalability.
◮ SaB11-6 17:30–17:50
The Charging and Discharging Characteristics of Memcapacitor Storage
with Applications, pp.5139–5143
He, Pengfei
Wang, Lidan
Southwest Univ.
Southwest Univ.
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