Conference Program of WCICA 2012

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Conference Program WCICA 2012 tion results show that the decentralized 3-ADRC is feasible and better than referenced methods in the control of complicated multi-loop systems. ◁ PSaC-32 Nonlinear robust control with high gain observer for governor of hydroturbine generator sets, pp.2752–2757 Liu, Song Li, Donghai Huang, Chun E Guodian United Power Co. Ltd Tsinghua Univ. Tsinghua Univ. A nonlinear robust control strategy for governor of hydro-turbine generator sets is presented. Different from traditional nonlinear robust control, a high gain observer instead of coordinate transformation is used, so that the controller does not depend on precise model of the plant, and only need to measure the rotor speed. The family of controller parameters can be easily tuned with simple simulation experiments. The controller based on non-elastic water hammer mode has been successfully applied to elastic conditions. Simulation results show that the nonlinear controller can achieve not only good dynamic performance during three-phase short circuit faults and load disturbances, but also excellent robustness. ◁ PSaC-33 Receding horizon tracking control for nonlinear discrete-time systems, pp.2817–2821 Wang, Hai-Hong Hu, Nai-Ping QingDao Univ. of Sci. & Tech. QingDao Univ. of Sci. & Tech. A novel real-time receding horizon tracking control (RHC) strategy is presented for nonlinear discrete-time systems with quadratic criteria for fast controller response. The control law is derived by using the receding horizon concept from the optimal tracking problem. First, the original problem is reduced to an equivalent optimal regulator problem for an off-line system by augmenting the state variables and then the optimal control input sequences are successfully derived by a so-called successive approximation approach (SAA) based on vector iteration. An optimal tracking law is obtained by a feasible iterative process. Only the compensate term need to be calculated online in order to reduce the computation costs. Simulations are conducted to demonstrate the feasibility and optimality of the control law obtained. ◁ PSaC-34 Hazard Detection and Avoidance for Planetary Landing Based on Lyapunov Control Method, pp.2822–2826 Zhu, Shengying CUI, Pingyuan Hu, Haijing Beijing Inst. of Tech. Beijing Inst. of Tech. Beijing Inst. of Tech. Future planetary landers must be capable of detecting hazards in the landing zone and maneuvering to a new and safe site, for the requirements of the scientific task. This paper presents an autonomous hazard detection and avoidance method based on Lyapunov control method for planetary landing. The terrain of the landing zone is first reconstructed using the feature points of pictures at two different time, and the plane of the landing zone was determined by fitting the terrain elevation data. Then, hazards in the landing zone were identified according to the vitual plane. In order to reduce the potential threats by the hazards, an avoidance control law is designed using Lyapunov function method. The control law can guarantee the landers reach the safe site, simultaneously decrease the landing speed to zero. The results of numerical simulation show that the method is satisfactory for hazards detection and avoidance with assumed environments. ◁ PSaC-35 Energy-Shaping and Passivity-based Control of Three-Phase PWM Rectifiers, pp.2844–2848 Yu, Haisheng Qingdao Univ. Abstract - Applying the state error Port-Controlled Hamiltonian (PCH) system and energy-shaping control principle, output voltage tracking control and unity power factor regulation of three-phase Pulse Width Modulation (PWM) rectifiers are presented in this paper. A desired state error PCH system structure is assigned to closed-loop control system for the three-phase PWM rectifiers. The desired Hamiltonian function is given based on the energy-shaping theory. The controller is designed through interconnection and damping assignment method. Moreover, a proportional integral (PI) regulation is used to eliminate the steadystate error of the output dc voltage. The simulation results show that the proposed control method has good output voltage tracking control and unity power factor regulation performances. ◁ PSaC-36 An AQM Scheme Based on Adaptive Weight Cascaded PID Controller, pp.2849–2854 Du, Fei Sun, Jinsheng Nanjing Univ. of Sci. & Tech. Nanjing Univ. of Sci. & Tech. 本文将基于速率和基于队列长度的主动队列管理算法相结合 , 设计了一种基于权值自适应串级 PID 控制器的主动队列管理算法。主环 PID 的输入为队列长度误差 , 输出为基于队列的控制量 ; 副环 PID 的输入为包到达速率和出口链路带宽之间的差值 , 输出为基于速率的控制量。根据被控量相对于参考值的偏移程度决定两个控制量在总的控制量中所占比例关系。同时为了使包到达速率与网络环境相匹配 , 提出并利用了虚拟出口链路带宽的概念 , 当队列长度大于期望值时虚拟出口链路带宽小于实际值 , 反之亦然。仿真实验表明在各种网络环境下 ,AWCPID 都能够快速将队列长度收敛至参考值 , 并且性能明显优于基于单神经元 PID 的 AQM 算法。 ◁ PSaC-37 An AQM Algorithm Based on Variable Structure PID Controller, pp.2855–2860 Du, Fei Sun, Jinsheng Nanjing Univ. of Sci. & Tech. Nanjing Univ. of Sci. & Tech. Internet 是一个时变、强非线性、大时滞的系统 , 对于这样的系统 , 经典的固定参数的主动队列管理算法已经不能满足性能要求 , 因此需要设计具有自适应性的算法。本文提出一种基于变结构 PID 控制器的主动队列管理算法 , 变结构 PID 控制器具有与经典 PID 类似的结构 , 其改进之处在于分别设计了比例、积分和微分系数关于误差的函数 , 使得当误差较大时加强比例作用 , 减小积分和微分的作用 , 以加快系统响应速度 ; 当误差较小时 , 减小比例作用 , 加强积分和微分作用 , 以增强系统稳定性 , 并改善稳态性能。相对于 PID 算法 ,VSPID 算法的复杂度仅略微增加 , 而仿真结果显示其效果明显优于前者。 ◁ PSaC-38 Compressor Active Surge Controller Design based on Uncertainty and Disturbance Estimator, pp.2908–2912 Xiao, Lingfei Zhu, Yue Nanjing Univ. of Aeronautics & Astronautics Nanjing Agricultural Univ. A nonlinear controller design method is proposed for active surge control of compression system. Close-coupled valve (CCV) is used to modify the characteristic of the compressor, and allows for stable operation beyond the original surge line. The controller is constructed on the uncertainty and disturbance estimator (UDE) approach. The algorithm provides excellent stabilization and disturbance rejection performance. Simulations are given to show the effectiveness of the method. ◁ PSaC-39 Data-based Dynamic Characteristic Modeling and Tracking Control for High-speed Train, pp.2913–2917 Gao, Shigen Qi, Shuhu Dong, Hairong Ning, Bin Li, Li BJTU Beijing Jiaotong Univ. Beijing Jiaotong Univ. Beijing Jiaotong Univ. Beijing MTR This paper introduces a novel dynamic characteristic modeling for highspeed train (HST) speed-position tracking control under time-varying, unpredictable and unknown operational environments. This method involves the construction of a dynamic characteristic model and design of a golden-section adaptive controller, which is a data-based model-free controller design approach and requires no precise mathematical description of the plant. Based on the above methodology, speed-position tracking control and energy-saving operation problems of HST and are 196
WCICA 2012 Book of Abstracts: Saturday Sessions studied. The effectiveness and preciseness of the proposed model and corresponding controllers are verified via numerical simulations, with high energy efficiency concurrently. ◁ PSaC-40 M-Nearest Neighbor Selection for Two-Phase Test Sample Representation in Face Recognition, pp.4661–4666 Ma, Xin Jun Wu, Ning Liang, TianCai Harbin Inst. of Tech. Shenzhen Graduate School Harbin Inst. of Tech. South China Univ. of Tech. The Two-Phase Test Sample Representation (TPTSR) has been proposed as a powerful algorithm for face recognition. In TPTSR processing, a classification task is divided into two steps. The first phase determines M nearest neighbors to the testing sample from the training set by a linear representation criterion, and the second phase classifies the testing sample into the class with the representative linear combination by the selected nearest neighbors in the first phase. However, the computational load for this method is relatively demanding, especially for a large training set and big number of classes. This paper studies alternative nearest neighbor selection criterions for the first phase of TPTSR, such as the Euclidean distance and City-block distance. Experimental results and theoretical analysis show that computational load can be significantly reduced by these relatively more straightforward criterions while maintaining a comparable classification performance with the original TPTSR method. ◁ PSaC-41 Affine Motion Segmentation from Feature Point Trajectories using Rank Minimization, pp.4667–4670 YANG, Min Nanjing Univ. of Posts & Telecommunications In this paper, we examine the problem of segmenting tracked feature point trajectories of multiple moving objects in an image sequence. Using the affine camera model, this motion segmentation problem can be cast as the problem of segmenting samples drawn from a union of linear subspaces. We pose this problem as a rank minimization problem, where the goal is to decompose the corrupted data matrix as the sum of a low-rank dictionary plus a matrix of noise. Given a set of data vectors, low rank representation seeks the lowest rank representation among all the linear combination of the bases in a dictionary. For noisy data, this non-convex problem can be solved very efficiently in the inexact Augmented Lagrange Multiplier method. Our algorithm amounts to an SVD of the data matrix and a shrinkage-thresholding of its singular values. We have experimented on real image sequence, where we show good segmentation result, comparable to the state-of-the-art in literature. ◁ PSaC-42 A Simple String Matching Method for Shape Recognition, pp.4696– 4700 Wu, Wen-Yen I-Shou Univ. Shape recognition is an important problem in many applications. A simple string matching approach for shape recognition is proposed in this paper. The shapes are coded as their dominant points. The compactness of polygons formed by the centroid and three consecutive dominant points is used as the feature for recognition. The experimental results showed that the proposed method has better recognition rates and more consistent performance than that of using the conventional features. Further, the proposed method doesn’t need to set parameters, so that it is robust in the shape recognition. ◁ PSaC-43 Pose Detection of Partly Covered Target in the Micro-Vision System, pp.4721–4725 Su, Jin Huang, Xinhan Wang, Min Huazhong Univ. of Sci. & Tech. Huazhong Univ. 0f Sci. & Tech. Huazhong Univ. of Sci. & Tech. Abstract - In this paper, we focus on the need for location and pose detection of partly covered target. In micro-vision system, the accuracy of location and pose detection directly decides the effect of latter micro-operation. Former methods can’t locate the target which was partly covered. According to the current problem in micro-vision system, this paper proposes a method of target location and pose detection in micro-vision system which based on Hough transform and template matching. For the aspect ratio and area of target is certain, by detecting the shape feature and using template matching, we detect the location of target which was partly covered. Firstly, use Canny algorithm and morphology method to obtain the edge of objects. Then, use the improved Hough transform algorithm to extract line segments features and locate the candidate target region according to template matching. Finally, recognize and locate the target by detecting whether the two segments are connected to be a signal region. After recognizing target, the slant angle of the target is detected based on Hough transform. This method can exactly locate the target and get the angle. The experimental results show the proposed method is better than the former ones under complex background and partly covered targets. ◁ PSaC-44 Air-Ground Vehicle Detection using Local Feature Learning and Saliency Region Detection, pp.4726–4731 Xu, Qinghan JIN, Lizuo Fei, Shumin Jie, Feiran Southeast Univ. Southeast Univ. Southeast Univ. Sci. & Tech. on Electro-optic Control Laboratory Moving vehicle detection is very important for urban traffic surveillance and situational awareness on the battlefield. Algorithms with cascade structure like Adaboost are booming in the recent decade, and successful in real-time application. But most of them use a sliding window protocol on multi-scale images, this involve heavy computing, so only simple feature (e.g. Harr wavelet) is suitable. In this paper, a biologically inspired method is proposed. We learn patch-based features for vehicle detection by unsupervised learning, and then employ a visual saliency step after feature extraction. Instead of sliding window, a candidate region is sent to classifier only if its features are “salient” on whole image. As the number of candidate regions decreases dramatically, it allow us to utilize complex feature to increase description ability. Experimental result indicates less computational expense and good performance. ◁ PSaC-45 An Indoor Quadrotor Locating and Object-Following Algorithm using Monocular Vision, pp.4747–4753 Chen, Xiaolong Tang, Qiang Che, Jun Flight Automatic Control Research Inst. Flight Automatic Control Research Inst. Flight Automatic Control Research Inst. Using quadrotor as an indoor robot asks for accurate locating and control methods. To solve this problem, a composite algorithm combining MIMU(Micro Inertial Measurement Unit) and monocular vision is used. The algorithm uses the measurement of MIMU as the source of position updating, while monocular vision algorithm provides the detection result of the feature of reference lines on the ground. The location of the reference lines detected is then compared with the result of MIMU, and the combination of these two results brings more accurate locating result for quadrotor. Compared to using MIMU, the error can decrease from ±50cm to ±10cm when the height of quadrotor is 1m. An object following platform is used for validating the composite algorithm, and system identification method is used for modeling the AR.Drone. Trajectory following algorithm and object following method are also developed. The scene of an AR.Drone searching at the navigation area and following the UGV is presented at last. ◁ PSaC-46 Facial Expression Recognition in Video Sequences, pp.4766–4770 Wan, Chuan Tian, Yantao Liu, Shuaishi Jilin Univ. Jilin Univ. Jilin Univ. This paper describes a method for recognition of continuous facial expression change in video sequences. ASM automatically localizes the facial feature points in the first frame and then tracks the feature points 197
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WCICA 2012 The 10 th World Congress
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