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Containment control of fully heterogeneous linear multi-agent systems with switching topologies

Containment control of fully heterogeneous linear multi-agen...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Yongzhao Hua Xiwang Dong Jianglong Yu Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Beihang University Beijing China

this paper studies the containment control problems for fully heterogeneous multi-agent systems (HMASs) with switching topologies, where both the leaders and the followers have different dynamics. Firstly, a distributed observer is constructed for each follower to estimate the states of all the non-identical leaders using the neighboring interaction. then, based on the estimated states of the multiple leaders, an output containment control protocol is proposed for HMASs using the output regulation strategy, where several predefined weights are applied for the followers to specify the desired convex combinations of the leaders. thus, the given containment format is independent of the interaction topology. In light of the common Lyapunov stability and output regulation theory, it is proved that the desired output containment can be realized by fully HMASs under the influences of switching topologies. Finally, a simulation example is provided to verify the effectiveness of the theoretical results.

关键词： Switches Topology Observers Protocols Multi-agent systems Laplace equations

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Robust Fuzzy MPC for Station-keeping of A Multi-vectored Propeller Airship Based on Path Following Method

Robust Fuzzy MPC for Station-keeping of A Multi-vectored Pro...

引用

international conference on control, automation, robotics and vision

作者： Yubin Wen Li Chen Dengping Duan Jinguo Liu School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai China School of Air Transportation Shanghai University of Engineering Science Shanghai China State Key Laboratory of Robotics Chinese Academy of Sciences(CAS) Shenyang China

In this paper, a station-keeping controller is designed for a multi-vectored (four thrusts) propeller airship by using path following approach. Firstly, the nonlinear models of the airship are introduced, including kinematics and dynamics, and the T-S fuzzy model is derived using linearization. then, the station-keeping controller is designed, which consists of two modules: a guidance loop and a robust model predictive control (MPC). the guidance loop uses the guidance-based path following (GBPF) principle to calculate the desired yaw rate and velocities of the airship, while the robust MPC calculates a feedback control law to track the desired yaw rate and velocities by solving linear matrix inequalities (LMIs). Simulation results for the multi-vectored propeller airship are carried out to illustrate the effectiveness of the proposed method.

关键词： Atmospheric modeling Mathematical model Propellers Computational modeling Load modeling Angular velocity Kinematics

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A study on the security of public opinion in social networks

A study on the security of public opinion in social networks

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Long Gao Wen Yang Mengling Wang Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai China

In this paper, we consider the security problem of public opinions when it has terrorists who try to guide people's opinions to malicious ones in social network. First, we propose an opinion dynamics model, which is composed by the suspects, the defenders and the masses. In this model, a set of suspects influenced by the terrorists at the beginning send malicious opinions to their neighbors. Similarly, the defenders spread the government's opinion to resist people's opinions following that of terrorists. Second, we consider the random communication among neighbours, where people can not interact with each other every time. At the last, we provide a sufficient condition to ensure the convergence of the expected opinions of the system. Finally, we provide some numerical examples to illustrate all the derived results.

关键词： Social groups Social network services Security Convergence Mathematical model Government Stability analysis

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control of position, attitude, force and moment of 6-DOF manipulator by impedance control

Control of position, attitude, force and moment of 6-DOF man...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Takuya Hanafusa Qingjiu Hunang Kogakuin University

In this laboratory, we proposed hybrid control of position, attitude, force and moment which is direct force control. this is a control that extracts the control of attitude and moment from the conventional position and force hybrid control, and it was confirmed that it is effective for surface contacting work. However, in this hybrid control of position, attitude, force and moment, the control input is a torque command to the joint of the robot, so it lacked versatility for industrial robots which can receive only the position command of the robot hand. In this paper, considering versatility for industrial robots, we proposed control of position, attitude, force and moment by Impedanc-control based on position control of robot hand. Furthermore using the proposed method of this study, simulation was performed on MATLAB / Simulink to automatically match the face of the hand of the PUMA type six degree of freedom robot arm with the wall whose slope is unknown. Based on the results we clarified the effectiveness of our proposed method.

关键词： Force control Force Service robots Manipulators Robot kinematics Mathematical model

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Computer vision System for Cabin Door Detection and Location

Computer Vision System for Cabin Door Detection and Location

引用

international conference on control, automation, robotics and vision

作者： Bojan Andonovski Jianliang Wang Faculty of Electrical and Electronics Engineering Nanyang Technological University Singapore

this paper describes the outcomes of a framework for aircraft door position identification with visual camera using common features that can be found in all commercial airplanes, which guides the aerobridge to automatically and reliably dock (Precision of 0.5cm), with minimal human intervention. the system has to work day and night, rain or shine under all-weather conditions. the proposed solution consists of a suite of relevant extracted and identified features that characterize aircraft door (e.g. door windows, handle, text, footplate, arrow, frame lines). Furthermore, the work focuses on a final door position confirmation accomplished by the logical structure for the decision process for the identification of the aircraft door using the various features. In that way we are able to build confidence level with appropriate structural (logical component connection) organization. thus, the aircraft door frame can be accurately identified with a very small error (in the range of a couple of cm) and eliminate risk of injuring the personnel or damaging the airplane.

关键词： Feature extraction Airplanes Image color analysis Organizations Aircraft manufacture automation

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On the Timing of Operator Commands for the Navigation of a Robot Swarm

On the Timing of Operator Commands for the Navigation of a R...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Jing Ma Edmund M-K Lai Jun Ren Department of Information Technology & Software Engineering Auckland University of Technology Auckland New Zealand Institute of Natural and Mathematical Sciences Massey University Auckland New Zealand

A human-swarm interactive system has been shown to benefit from neglect benevolence. this means if the human interacts too often with a swarm of robots, it will degrade its performance in achieving the operational goal. Past works have focused on human-swarm interaction (HSI) for reaching rendezvous points. In this paper, we aim to establish neglect benevolence for realignment in a leader-follower Cucker-Smale system. the human operator issues heading commands to the leader and the follower robots tries to realign with the leader through Cucker-Smale model dynamics. Simulation results show that there is a minimum time interval that the operator should wait before issuing a new heading command in order for the swarm to remain in a flocking state.

关键词： Robots Task analysis control systems Navigation Simulation Avatars Computational modeling

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Simplified Modeling Approach to Characterize Sudden Load Disturbances in WirelessHART FOPDT Systems

Simplified Modeling Approach to Characterize Sudden Load Dis...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Napasool Wongvanich Puntani Pongsumpun Department of Instrumentation and Control Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Mathematics King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

this paper presents the simplified modelling approach to characterize sudden load disturbance in WirelessHART™. Two approaches are presented. the model was firstly formulated through Laplace transformation, where the resulting integral equation renders non-linear optimization problems into simple linear optimizations. Experiments were conducted on a coupled tanks system connected through the WirelessHART™ protocol. Based on the initial fit to the experimental results, the second model then places two locally affine relationships, one for the load flow disturbances, and the other for the level measurements to the responses. the extended locally affine model gave on average a 25% reduction in errors, compared to the Laplace-based method, while better captured the non-linear effects resulting from the WirelessHART™.

关键词： Mathematical model Load modeling Data models Integral equations Protocols Level measurement Delays

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the Globally Optimal Reparameterization Algorithm: An Alternative to Fast Dynamic Time Warping for Action Recognition in Video Sequences

The Globally Optimal Reparameterization Algorithm: An Altern...

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international conference on control, automation, robotics and vision

作者： thomas W. Mitchel Sipu Ruan Yixin Gao Gregory S. Chirikjian Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore Maryland Department of Computer Science Johns Hopkins University Baltimore Maryland

Signal alignment has become a popular problem in robotics due in part to its fundamental role in action recognition. Currently, the most successful algorithms for signal alignment are Dynamic Time Warping (DTW) and its variant 'Fast' Dynamic Time Warping (FastDTW). Here we introduce a new framework for signal alignment, namely the Globally Optimal Reparameterization Algorithm (GORA). We review the algorithm's mathematical foundation and provide a numerical verification of its theoretical basis. We compare the performance of GORA with that of the DTW and FastDTW algorithms, in terms of computational efficiency and accuracy in matching signals. Our results show a significant improvement in both speed and accuracy over the DTW and FastDTW algorithms and suggest that GORA has the potential to provide a highly effective framework for signal alignment and action recognition.

关键词： Heuristic algorithms Video sequences Boundary conditions Time complexity Calculus Robot sensing systems

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Vehicles Platooning in Urban Environment: Consensus-based Longitudinal control with Limited Communications Capabilities

Vehicles Platooning in Urban Environment: Consensus-based Lo...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Ahmed Khalifa Olivier Kermorgant Salvador Dominguez Philippe Martinet Department of Industrial Electronics and Control Engineering Menoufia University Egypt Laboratoire des Sciences du Numérique de Nantes (LS2N) Ecole Centrale de Nantes Nantes France Inria Sophia Antipolis Sophia Antipolis France

In this research, a general control framework for platooning in urban environment is proposed. A consensus-based control law is described taking into account the nature of traveling in urban environment, that is the human driven leader travels with variable velocity. In addition, the proposed control law does not depend on the predecessor velocity, which in turn allows us to utilize a low cost limited bandwidth communication module by using a sensor-based link for predecessor distance and a communication-based link for leader's information. A constant-spacing policy is used to get a high capacity flow of vehicles. the control system is analyzed and conditions for both internal and string stability are set. the efficiency of the proposed framework and control law is verified via numerical analysis.

关键词： Vehicle dynamics Biological system modeling Urban areas Acceleration Aerodynamics Kinematics Wheels

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Output Feedback Reinforcement Q-learning for Optimal Quadratic Tracking control of Unknown Discrete-Time Linear Systems and Its Application

Output Feedback Reinforcement Q-learning for Optimal Quadrat...

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international conference on control, automation, robotics and vision

作者： Guangyue Zhao Weijie Sun He Cai Yunjian Peng College of Automation Science and Engineering South China University of Technology Guangzhou P. R. China

In this paper, a novel output feedback solution based on the Q-learning algorithm using the measured data is proposed for the linear quadratic tracking (LQT) problem of unknown discrete-time systems. To tackle this technical issue, an augmented system composed of the original controlled system and the linear command generator is first constructed. then, by using the past input, output, and reference trajectory data of the augmented system, the output feedback Q-learning scheme is able to learn the optimal tracking controller online without requiring any knowledge of the augmented system dynamics. Learning algorithms including both policy iteration (PI) and value iteration (VI) algorithms are developed to converge to the optimal solution. Finally, simulation results are provided to verify the effectiveness of the proposed scheme.

关键词： Heuristic algorithms Trajectory System dynamics Mathematical model Output feedback Generators Approximation algorithms

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