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Cooperative flocking and learning in multi-robot systems for predator avoidance

Cooperative flocking and learning in multi-robot systems for...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems

作者： Hung Manh La Ronny Salim Lim Weihua Sheng Jiming Chen Center for Advanced Infrastructure and Transportation Rutgers University Piscataway NJ USA School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA Department of Control Zhejiang University Hangzhou P. R. China

In this paper we propose a hybrid system that integrates reinforcement learning and flocking control in order to create an adaptive and intelligent multi-robot system. First, we present a flocking control algorithm that allows multiple mobile robots to move together while avoiding obstacles. Second, we propose a distributed cooperative learning algorithm that can quickly enable the mobile robot network to avoid predator/enemy while maintaining the network connectivity and topology. The convergence of the cooperative learning algorithm is discussed. As a result, the hybrid system of flocking control and cooperative reinforcement learning results in an efficient integration of high level behaviors (discrete states and actions) and low level behaviors (continuous states and actions) for multi-robot cooperation. The simulations are performed to demonstrate the effectiveness of the proposed system.

关键词： Robots

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Application of PID retuning method for laboratory feedback control system incorporating FO dynamics

Application of PID retuning method for laboratory feedback c...

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International Carpathian control Conference (ICCC)

作者： L'ubomír Dorčák Emmanuel Gonzalez Ján Terpák Ivo Petráš Juraj Valsa Monika Žecová Institute of Control and Informatization of Production Processes Faculty BERG Technical University of Košice Kosice Slovakia Center for Automation Research College of Computer Studies De La Salle University Manila Philippines Faculty of Electrical Engineering and Computer Science Brno University of Technology Brno Czech Republic

Real objects in general are fractional-order (FO) systems, although in some types of systems the order is very close to integer order (IO). Since major advances have been made in the theory and practice of the identification of FO controlled objects and in the design of FO controllers, it is possible to consider also the real order of the dynamical systems and consider more quality criterion while designing the FO controllers with more degrees of freedom compared to their IO counterparts. In this paper, we present an application of the retuning method to design and apply new FO controller for the existing laboratory feedback control system with no modifications in the internal architecture of the original feedback control system. Along with the mathematical description, presented are also simulation results.

关键词： Closed loop systems Feedback control Mathematical model Laboratories Educational institutions PD control

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Sparse and Optimal Wide-Area Damping control in Power Networks

Sparse and Optimal Wide-Area Damping Control in Power Networ...

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American control Conference

作者： Florian Dorfler Mihailo R. Jovanovic Michael Chertkov Francesco Bullo Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA 93106 Department of Electrical and Computer Engineering University of Minnesota Minneapolis MN 55455 Theory Division & Center for Nonlinear Studies at LANL and with New Mexico Consortium Los Alamos NM 87544

ISBN: (纸本)9781479901777

Inter-area oscillations in power networks are typically poorly controllable by means of local decentralized control. Recent research efforts have been aimed at developing wide-area control strategies that involve communication of remote signals. In conventional wide-area control strategies the control structure is fixed a priori typically based on modal criteria. In contrast, here we employ the recently introduced paradigm of sparsity-promoting optimal control to simultaneously identify the control structure and optimize the closed-loop performance. To induce a sparse control architecture, we regularize the standard quadratic performance index with an l_1-penalty on the feedback matrix. The quadratic objective functions are inspired by the classic slow coherency theory and are aimed at imitating homogeneous networks without interarea oscillations. We use a compelling example to demonstrate that the proposed combination of the sparsity-promoting optimal control design with the slow coherency objective functions performs almost as well as the optimal centralized controllers.

关键词： Power grids control Architecture damped control design control Objective function Optimal control quadratic performance index homogeneous network

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Interfaces of nested Web application framework as reusable software component

Interfaces of nested Web application framework as reusable s...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Prstačić, S. Žagar, M. Kroflin, K. Faculty of Electrical Engineering and Computing Information Support Center Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532330724

The framework is designed to provide a simple and powerful way of Web application component development. Components of the framework can nest, and the framework is designed to be easy to reuse as a component, thus providing its components to be used by the host application. We explain the interfaces required to make this possible - what they provide, what issues they solve, and how their requirement was discovered. We also identify shortcomings of this approach, and issues that will be addressed by future work. © 2012 MIPRO.

关键词： computer software reusability

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Cooperative and Active Sensing in Mobile Sensor Networks for Scalar Field Mapping

Cooperative and Active Sensing in Mobile Sensor Networks for...

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IEEE International Conference on Automation Science and engineering

作者： Hung Manh La Weihua Sheng Jiming Chen Center for Advanced Infrastructure and Transportation (CAIT) Rutgers University Piscataway NJ 08854 USA School of Electrical and Computer Engineering Oklahoma State University Stillwater OK 74078 USA State Key Lab. of Industrial Control Technology Department of Control Zhejiang University Hangzhou P.R.China 310027

ISBN: (纸本)9781479915132

Scalar field mapping has many applications including environmental monitoring, search and rescue, etc. In such applications there is a need to achieve a certain level of confidence regarding the estimates at each location. In this paper, a cooperative and active sensing framework is developed to enable scalar field mapping using multiple mobile sensor nodes. The cooperative and active controller is designed via the real-time feedback of the sensing performance to steer the mobile sensors to new locations in order to improve the sensing quality. During the movement of the mobile sensors, the measurements from each sensor node and its neighbors are taken and fused with the corresponding confidences using distributed consensus filters. As a result an online map of the scalar field is built with a certain level of confidence of the estimates. We conducted computer simulations to validate and evaluate our proposed algorithms

关键词： Active sensing Sensor fusion Sensor networks

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Consensus of High-order Multi-agent Systems with Input and Communication Delays-State Feedback Case

Consensus of High-order Multi-agent Systems with Input and C...

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American control Conference

作者： Bin Zhou Zongli Lin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China. Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA.

ISBN: (纸本)9781479901777

We study in this paper the consensus problem for multi-agent systems with agents characterized by high-order linear systems with time delays in both the communication network and inputs. Provided that the open-loop dynamics of the agents is not exponentially unstable, but may be polynomially unstable, and the communication topology contains a directed spanning tree, a truncated predictor feedback approach is established to solve the consensus problem. It is shown that, if the delays are constant and exactly known, the consensus problem can be solved by state feedback protocols for arbitrarily large bounded delays. If it is further assumed that the open-loop dynamics of the agents only contains zero eigenvalues, the delays are allowed to be time-varying and unknown. Numerical examples are worked out to illustrate the effectiveness of the proposed approaches.

关键词： Communication Delays-State Feedback Case communication network inputs

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On Exponential Stability of Integral Delay Systems

On Exponential Stability of Integral Delay Systems

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American control Conference

作者： Zhao-Yan Li Bin Zhou Zongli Lin Department of Mathematics Harbin Institute of Technology Harbin 150001 China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

ISBN: (纸本)9781479901777

This paper deals with exponential stability of some classes of integral delay systems with a prescribed decay rate. By carefully exploring the literature on this topic, a delay decomposition approach is established to reduce the conservatism in the existing sufficient conditions by constructing new Lyapunov-Krasovskii functionals. It is proven that the proposed sufficient conditions are always less conservative than the existing ones. Numerical examples illustrate the effectiveness of the proposed approaches.

关键词： Lyapunov methods asymptotic stability delay systems

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Practical measurement device independent quantum key distribution

Practical measurement device independent quantum key distrib...

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Quantum Information and Measurement, QIM 2013

作者： Xu, Feihu Curty, Marcos Qi, Bing Cui, Wei Lim, Charles Ci Wen Tamaki, Kiyoshi Lo, Hoi-Kwong Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto ON M5S 3G4 Canada Escuela de Ingeniería de Telecomunicación Dept. of Signal Theory and Communications University of Vigo Vigo Pontevedra 36310 Spain Group of Applied Physics University of Geneva CH-1211 Geneva Switzerland NTT Basic Research Laboratories NTT Corporation 3-1 Morinosato Wakamiya Atsugi-Shi Kanagawa 243-0198 Japan

We analyze real-life implementations of measurement-device-independent quantum-key-distribution (MDI-QKD): a general system model, a finite-decoy protocol and a finite-key analysis. Our work is relevant to not only QK...

ISBN: (纸本)9781557529787

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Development of a MATLAB-based toolbox for brain computer interface applications in virtual reality

Development of a MATLAB-based toolbox for brain computer int...

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20th Iranian Conference on electrical engineering, ICEE 2012

作者： Afdideh, Fardin Shamsollahi, Mohammad Bagher Resalat, Seyed Navid School of Electrical Engineering Sharif University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467311489

Brain computer interface (BCI) is a widely used system to assist the disabled and paralyzed people by creating a new communication channel. Among the various methods used in BCI area, motor imagery (MI) is the most popular and the most common one due to its the most natural way of communication for the subject. Some software applications are used to implement BCI systems, and some toolboxes exist for EEG signal processing. In recent years virtual reality (VR) technology has entered into the BCI research area to simulate the real world situations and enhance the subject performance. In this work, a completely MATLAB-based MI-based BCI system is proposed and implemented in order to navigate into a virtual environment. In addition, a variety of features types were employed to select the best ones in the proposed system with the use of linear discriminant analysis (LDA) classifier through some interactive graphical user interfaces (GUIs). The results show the feasibility of the proposed BCI system in the subject training with or without feedback and even navigation into a virtual home. © 2012 IEEE.

关键词： Brain computer interface

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