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Simulation Verification of Virtual Equivalent System Theory
Weicun Zhang,Yang Li 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In recent years, virtual equivalent system (VES) theory for self-tuning control has been established. Based on VES concept and methodology, we have a unified understanding and judgment of the stability and convergence of a general self-tuning control (STC) system. The necessary conditions for global stability and convergence are relaxed, i.e., the convergence of parameter estimates is removed. This paper presents a simulation verification of the input-output equivalence between the original STC and its VES. The simulation results support the VES theory.
A New Result on the Stability and Convergence of Self-tuning Adaptive Control
Weicun Zhang,Yuejin Song,Jiwei Liu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Among various types of self-tuning control schemes, only one-step-ahead self-tuning control of deterministic plant and minimum variance self-tuning control of stochastic plant can guarantee the stability and convergence of closed-loop system without requiring the convergence of parameter estimation. This paper presents a new result that the convergence of parameter estimates is not necessary for the stability and convergence of a general self-tuning control system comprising of any admissible control strategy and any admissible parameter estimation algorithm. This breakthrough result is owing to the adoption of a new type of virtual equivalent system: slow switching control system, whose stability and tracking performance are guaranteed under mild conditions.
Identification of Abnormal Driving State Based on Driver’s Model
Weicun Zhang,Qiaoli Fan 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
An abnormal driving state recognition method is proposed in this paper. The basic idea is to regard the driving behavior as a feed back control system; the input signal is vehicle lateral position; the output signal is steering wheel angle. The control system, i.e., the driving behavior, is modeled with normal driving data. And then the model is used to fit the driving data of unknown driving state. The fitting error was evaluated and monitored with statistical process control (SPC) approach, i.e., the control charts tools. If the fitting error is evidently different from that of normal driving state, then abnormal driving state is recognized. Experiment results verified the effectiveness of the proposed method.
A Stability Criterion for Weighting Multiple Model Adaptive Control
Weicun Zhang,Xiaobo Wang,Yuejin Song 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Based on virtual equivalent system concept and methodology, a criterion on the stability of weighting multiple model adaptive control (MMAC) of linear time-invariant discrete plant is presented. The obtained result indicates that the stability of weighting MMAC depends mainly on the convergence of posterior probability evaluator which represents an identification subsystem in a weighting multiple model adaptive control system. For that a general weighting MMAC with arbitrary controller design strategy and arbitrary algorithm of posterior probability evaluation is considered, we believe that virtual equivalent system concept and methodology could be a potential approach towards a general theory of weighting multiple model adaptive control.
Distributed Adaptive Flocking of Robotic Fish System with a Leader of Bounded Unknown Input
Yongnan Jia,Weicun Zhang 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.5
A distributed leader-follower flocking problem of multiple robotic fish governed by extended second-order unicycles is studied in this paper. The multi-agent system consists of only one leader with pre-appointed and bounded speeds. A distributed flocking algorithm on the basis of the combination of consensus and attractive/repulsive functions is investigated, in which adaptive strategy is adopted to compute the weight of the velocity coupling strengths. The proposed control algorithm enables followers to asymptotically track the leader's varying velocities and approach the equilibrium distances with their neighbors. Furthermore, the arbitrarily-shaped formation flocking problem of the system can also be solved by adding the information of a desired formation topology to the potential function term. Finally, simulations are carried out to verify the effectiveness of the proposed theoretical results.
Design and Realization of Intelligent Question Answering System Based on Ontology
Xiaobo Wang,Wei Cui,Weicun Zhang 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents an intelligent question answering system based on ontology, which adopts Chinese natural language processing technology to generate concise and appropriate answers to the student’"s questions. The accuracy and intelligence of the system are guaranteed through ontology based knowledge description, word segmentation, and question pattern recognition.