移动机器人无线局域网控制系统

设计了一种移动机器人无线局域网控制系统,采用0penWrt系统的无线路由器建立无线局域网,与FPGA进行数据转换,设计了系统的人机交互界面。通过WiFi,操作人员可以对移动机器人进行遥操作控制。通过整体设计使得系统能通过无线局域网将移动机器人控制器与上位机控制平台联系起来进行数据交流,实现上位机对移动机器人的遥操作控制功能以及对移动机器人的监测功能。     

基于体感交互的智能家居控制与监护系统

为实现通过手势对家居电器设备的控制,并对室内危险情况进行实时监测和报警,设计了基于体感交互的智能家居系统。该系统利用Kinect设备捕获RGBD图像信息,将识别出的手势信息作为控制信号,通过ZigBee局域网对家居设备进行控制;同时对场景中可能出现的老人或小孩摔倒情况进行实时检测判定,对危险情况报警。实验结果表明,该系统能满足通过手势对家居设备进行控制的需求,并且对摔倒情况能进行检测和报警。     

沥青混凝土摊铺机行走系统恒速控制算法研究

该文对履带式沥青混凝土摊铺机行驶系统恒速控制进行了研究,提出了将PID控制和模糊控制相结合的恒速控制算法来改善摊铺机行驶系统的恒速性能。利用MATLAB／Simulink仿真软件对整个行驶系统的数学模型进行了仿真分析并通过现场试验,证明了模糊自适应PID控制的效果要优于传统PID控制。     

模糊控制策略在火电厂汽包水位控制中的应用

对火电厂锅炉汽包水位的基本知识进行了介绍,目前汽包水位控制方式上基本采用传统PID,但因运行条件的复杂性,控制结果不尽人意。通过Simulink对汽包水位的模糊PID控制系统进行仿真分析。经过仿真实验,系统的实时性和稳定性都得到了提高,取得了良好的控制效果。     

多台水洗机分布式控制系统

为了实现对多台水洗机的同步监控,运用组态软件InTouch作为上位机,可编程控制器PLC作为下位机,通过触摸屏、变频器和异步电机等系统实现了对多台水洗机的运行状态进行监视和控制。通过组态软件InTouch集中监控了每台水洗机的工作状态,实现了现场监视、历史趋势、报警信息、数据采集等功能;每台水洗机系统以PLC为控制核心,运用触摸屏对单台水洗机系统运行状态进行监控和操作,并且应用变频器控制异步电机的运行,通过上位机和下位机的通信来完成对整个水洗机系统的控制。     

不确定性区域系统的鲁棒控制

区域模型已经成功应用于模拟生物医学和药物代谢动力学系统中。针对一类具有参数不确定性的正定区域系统,对其质量控制的反馈稳定性提出了一种新的正定鲁棒控制律,该控制律基于李亚普诺夫稳定性理论并且闭环系统满足全局渐进稳定性。通过术后病人神经肌肉阻滞控制的具体实例对其质量控制的性能进行了分析,并通过仿真与其他控制律的性能进行了比较。     

HNC-21T控制系统的VERICUT控制文件开发

对华中世纪星HNC-21T 数控车系统进行分析,在VERICUT 仿真软件中配置对应的控制文件,通过VERICUT 交互界面对HNC-21T 系统有代表性的指令和功能配置进行探讨,介绍了VERICUT 配置控制文件的一般步骤和方法,通过对NC 子程序、VERICUT 宏、数控宏程序等多种方法的综合运用,对G80 外径车削单一循环指令进行配置。通过一个典型零件的虚拟加工,验证了所配置的控制文件的正确性。     

实时系统的控制与任务调度协同设计

实时控制系统中由于被控对象受到外界扰动而使整体性能下降,传统控制器设计方法不能灵活调整控制器参数,改善系统动态特性,同时对系统资源进行合理配置;通过引入控制任务周期序列集合概念,使用IAE性能指标以Qoc作为控制品质的评价基础,并提出一种基于Qoc对多任务控制品质优化方法,对控制任务时限进行灵活分配调整改善系统性能;通过使用Matlab的Truetime工具箱对多控制任务进行仿真,验证了动态改变任务时限对控制性能优化的有效性.     

基于信号系统与屏蔽门系统的逻辑与控制的分析

本文对于城市地铁系统中屏蔽门系统的接口进行了介绍,对于信号系统对屏蔽门系统的控制进行了研究,并分析了信号系统对停站列车的牵引逻辑控制。通过研究来促进我国地铁系统的自动化以及信息化程度,并保障地铁系统的安全无故障的运行。     

电驱移动机器人多变量固定时间连续编队控制

针对扰动下电驱动非完整移动机器人固定时间编队控制问题,通过引入包含驱动器动力学的领航者-跟随者状态空间动力学模型,分两步对编队控制器进行了设计。对领航者跟随者编队运动学模型进行了多变量固定时间控制设计。在动力学层面,为实现扰动下的速度跟踪,通过辅助输入设计了一种跟随者机器人多变量超螺旋固定时间连续电压控制器。所提算法使机器人编队克服了跟随者机器人所受干扰,确保了跟随者机器人与领航者在固定时间达到期望队形,跟随者在固定时间内跟随期望速度,设计的连续控制消除了开关控制的抖振现象。通过参数设计提前给定系统收敛的固定时间,与系统初始状态无关。基于Lyapunov方法进行了系统稳定性分析。通过仿真对算法进行了验证。     

The interaction between control and computing theories: New approaches

Day by day, networked control system (NCS) methods have been promoted for distributed closed-loop control systems. Interestingly, the integration of control and computing theories enhanced the development of networked control systems through remote control for wide applications employing the internet. Two further directions to networked control technology are Leader-Follower systems and model predictive control systems. Cloud control system is looked at an extension of networked control systems (NCS) using internet of things (IOT) methodologies. In this paper, a comprehensive literature survey of the new technology of control systems application performed on cloud computing is presented.     

Exponential stabilization of a class of unstable bilinear systems

Considers the control design of bilinear systems with multiplicative control inputs. Previous control designs for such systems normally assume that the open-loop bilinear system is (neutrally) stable. In this paper, a nonlinear control design is proposed for open-loop unstable bilinear systems. The new control stabilizes the bilinear system globally and exponentially if a sufficient stability condition, which can be checked by off-line computer simulations in advance of the control, is satisfied     

Stabilization of program motion and kinematic trajectories in dynamic systems in case of systems of direct and indirect control

In this paper, analysis methods for self-vibrating processes in automatic control systems are represented. A qualitative analysis of the behavior of transient processes in automatic control systems is conducted. Accuracy of control system functioning is estimated. Problems of noise immunity of control systems are solved. Ways of control system implementation by applying dynamic self-vibrating regimes, by logical nets, and digital automatic devices are considered.     

非线性系统的强实用鲁棒控制

分析输出具有给定时域性能的一类微分包含系统的控制问题。     

Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations

This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity-based control. The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. After obtaining the error system, tracking control of the original system can be achieved by stabilizing the error system via passivity-based approach. First, a fundamental framework is provided for constructing the error system via generalized canonical transformations. Then a concrete design procedure is derived for a class of electro-mechanical systems. Furthermore, the proposed method is applied to a magnetic levitation system and laboratory experiments demonstrate its effectiveness.     

MIMO系统的多模型预测控制

针对非线性多变量系统提出一种多模型预测控制(MMPC)策略.首先给出一种多模型 辨识方法,利用模糊满意聚类算法将复杂非线性系统划分为若干子系统,并获得多个线性模型, 通过模型变换得出全局系统模型,接着对全局MIMO系统设计MMPC,并进行了系统的性能分 析,最后以pH中和过程为例,通过仿真研究验证了辨识和控制算法的有效性.     

基于体系结构模型检查分布式控制系统

分布控制系统是大量硬件设备通过计算机系统得以控制和协调的高度复杂系统,它们也是任务统,需要保障其功能的高度正确性和可靠性.分析复杂控制系统的过程包含了证明或验证设计的系统确实满足某种需求.但由于系统的复杂度,有效分析系统是相当困难的.从系统设计和分析的角度看,基于体系结构方法可以运用层次化构造和抽象的方法来减小模型复杂度.模型检查技术是分析复杂系统构造满足正确和可靠性需求的有效方法.结合软件体系结构描述方法和模型检查技术,提出了基于体系结构的分布式控制系统形式分析方法,通过楼宇综合控制系统实例研究,展示了该方法在提高分布式控制系统设计质量方面的效果.     

Editorial: Special issue on multiagent-based system modeling and control practices

Dealing with a large-scaled system as multi-agent system is not a new methodology in system control field. The root of multi-agent system is longer than half century, however, it is recently spotlighted again due to the needs of theoretical tools for dealing with large-scale system such as smart city, global behavior of traffic system, networked systems, and machine learning. Common characteristic of this kind of systems is that the whole system consists of a larger number of autonomous agents which are coupled and connected each other, and the individual agent is under local control but it accomplishes a task as the whole system. This collection of research papers is from the submissions to the special issue with title ``multiagent-based system modeling and control practices''. The aim of the special issue is to provide a stage for both of theorists and practitioners in this field to exchange challenging results in new issues, especially biological, bio-inspired systems, mean-field game, and connected network systems. The collection is divided as three groups: The survey paper by K. Hou et al. presented an overview on recent advances in control and communication of multi-robot swarms. A biomolecular control scheme is proposed in the paper by P. Rong and T. Nakakuki which demonstrated how the dynamic DNA nanotechnology can be used in system control field. The last brief paper of this group is from S. Azuma which discussed the network structure for Boolean network systems. The second group includes three case studies from the view of creating new theoretical tools. The paper by T. Wang et al. proposed an online iterative algorithm for solving multi-agent dynamic graphical games which showd the possibility of online solution of Bellman equation. Y. Du et al. presented in their paper a distributed scheme for ensemble learning under a diffusion strategy which aimed to the classification problem on big data. The paper by Z. Lu et al. addressed a mixed-triggered finite-time non-fragile filtering problem for interval type-2 T-S fuzzy network control systems. The last group of this collection includes three papers with practical background. The paper by J. Zhang and F. Xu investigated the problem of minimizing energy consumption for connected hybrid electric vehicles, and the paper from Q. Fu et al. presented a challenge of applying mean-field game theory to achieve speed consensus for the vehicle driving in a large-scale traffic flow. Targeted on the alternative transportation devices, high-speed train with connected real-time traffic information is addressed in the paper by D. He et al. with energy-efficient receding horizon trajectory planning method.     

Composite nonlinear feedback control for linear singular systems with input saturation

This paper investigates the composite nonlinear feedback (CNF) control technique for linear singular systems with input saturation. First, a linear feedback control law is designed for the step tracking control problem of linear singular systems subject to input saturation. Then, based on this linear feedback gain, a CNF control law is constructed to improve the transient performance of the closed-loop system. By introducing a generalized Lyapunov equation, this paper develops a design procedure for constructing the CNF control law for linear singular systems with input saturation. After decomposing the closed-loop system into fast subsystem and slow subsystem, it can be shown that the nonlinear part of the CNF control law only relies on slow subsystem. The improvement of transient performance by the proposed design method is demonstrated by an illustrative example.     

Global regulation for a class of stochastic high-order nonlinear systems with multiple unknown control directions

This paper concerns the global regulation for a class of stochastic high-order nonlinear systems which admit more general system form than the existing works. For details, except for the serious system nonlinearities which show that the considered systems are the generalisations of the strict-feedback systems, the most distinct feature of the systems is exhibited by the multiple unknown control directions, that is, all control coefficients of the virtual and actual control have unknown signs. By skillfully employing the Nussbaum function, and applying the method of adding a power integrator, an effective regulation control scheme is successfully provided for the considered systems. In particular, the presented controller can guarantee that all the closed-loop system states are bounded, and especially the original system states converge to the origin, both in the sense of probability one.