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Pursuit Formation control Scheme for Double-Integrator Multi-Agent Systems

IFAC Proceedings Volumes 2014年第3期47卷 10054-10059页

作者： Hamed Rezaee Farzaneh Abdollahi The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University Montreal Quebec Canada

Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderless architecture, each agent pursues another one in a cyclic topology to achieve a regular polygon formation around a centroid, namely, pursuit centroid, and in the second layer, the agents agree on a pursuit centroid around which they pursue each other. Despite existing cyclic pursuit approaches in the literature which are based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Numerical simulations for a team of six agents confirm the accuracy of the proposed control scheme.

关键词： Formation control mobile agents double-integrators cyclic pursuit

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Effect of source tampering in the security of quantum cryptography

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Physical Review A 2015年第2期92卷 022304-022304页

作者： Shi-Hai Sun Feihu Xu Mu-Sheng Jiang Xiang-Chun Ma Hoi-Kwong Lo Lin-Mei Liang College of Science National University of Defense Technology Changsha 410073 China Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto Ontario M5S 3G4 Canada Research Laboratory of Electronics Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge Massachusetts 02139 USA State Key Laboratory of High Performance Computing National University of Defense Technology Changsha 410073 China

The security of source has become an increasingly important issue in quantum cryptography. Based on the framework of measurement-device-independent quantum key distribution (MDI-QKD), the source becomes the only region exploitable by a potential eavesdropper (Eve). Phase randomization is a cornerstone assumption in most discrete-variable (DV) quantum communication protocols (e.g., QKD, quantum coin tossing, weak-coherent-state blind quantum computing, and so on), and the violation of such an assumption is thus fatal to the security of those protocols. In this paper, we show a simple quantum hacking strategy, with commercial and homemade pulsed lasers, by Eve that allows her to actively tamper with the source and violate such an assumption, without leaving a trace afterwards. Furthermore, our attack may also be valid for continuous-variable (CV) QKD, which is another main class of QKD protocol, since, excepting the phase random assumption, other parameters (e.g., intensity) could also be changed, which directly determine the security of CV-QKD.

关键词： Quantum cryptography

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A Novel Frequency Regulation Strategy with the Application of Energy Storage System for Large Scale Wind Power Integration

A Novel Frequency Regulation Strategy with the Application o...

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IEEE Green Technologies Conference (IEEE-Green)

作者： Linlin Wu Wenzhong Gao Zhengpai Cui Xiao Kou Dept. of Smart Grid and Renewable Resource Tech. State Grid Jibei Electric Co. Ltd. Research Institute Beijing China Electric Power Dispatching and Control Center State Grid Jibci Electric Co. Ltd Beijing China Dept. Electrical and Computer Engineering University of Denver Denver Colorado USA

ISBN: (纸本)9781479988853

Integration of large scale wind power is both economical and environmentally-friendly. However, stochasticity and intermittency of wind power bring new challenges to frequency stability issue of the wind power system. The frequency regulation capacity limitation of the power system is one of the most important reasons limiting integration capacity of wind power. The power output of energy storage system (ESS) can be regulated very rapidly. Hence, it is feasible and effective for ESS to participate in system frequency regulation. This will increase overall system frequency regulation capacity and thus helps accommodating more wind power integrated into the power grid. A novel strategy for ESS to participate in frequency regulation is proposed in this paper. The control strategy includes two stages: in the first stage, ESS regulates its power output based on the wind power prediction information, in the second stage, frequency feedback is used to regulate the ESS power output to further reduce steady state frequency deviation. Since the ESS power output can be regulated before the frequency deviation happens, the dynamic response speed of frequency regulation of ESS can be significantly improved. Besides, frequency deviation can be decreased thanks to the step command in the first stage. Simulation of a wind power system is performed in Real Time Digital Simualtor (RTDS) and the results show the effectiveness of the proposed method.

关键词： Frequency control Wind power generation Time-frequency analysis Energy storage Power system stability Steady-state Simulation

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Adaptive observer for nonlinear fractional-order systems

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International Journal of Adaptive control and Signal Processing 2016年第3期31卷

作者： Ibrahima N'doye Taous-Meriem Laleg-Kirati Mohamed Darouach Holger Voos Computer Electrical and Mathematical Sciences and Engineering Division (CEMSE) King Abdullah University of Science and Technology (KAUST) Thuwal 23955-6900 Saudi Arabia Research Center for Automatic Control of Nancy (CRAN UMR 7039 CNRS) University of Lorraine IUT de Longwy 186 rue de Lorraine 54400 Cosnes et Romain France Faculty of Science Technology and Communication (FSTC) University of Luxembourg 6 rue Richard Coudenhove-Kalergi L-1359 Luxembourg

In this paper, an adaptive observer is proposed for the joint estimation of states and parameters of a fractional nonlinear system with external perturbations. The convergence of the proposed observer is derived in terms of linear matrix inequalities (LMIs) by using an indirect Lyapunov *** proposed adaptive observer is also robust against Lipschitz additive nonlinear uncertainty. The performance of the observer is illustrated through some examples including the chaotic Lorenz and Lü's systems. Copyright © 2016 John Wiley & Sons, Ltd.

关键词： adaptive observer design fractional-order nonlinear system indirect Lyapunov approach linear matrix inequality (LMI) chaotic Lorenz system chaotic Lü's system

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Urysohn measure driven integral equations in the space of bounded variation functions and applications

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AIP Conference Proceedings 2016年第1期1773卷

作者： G. Dimitriu B. Satco 1Department of Mathematics and Informatics Grigore T. Popa University of Medicine and Pharmacy Universităţii 16 Iaşi 700115 Romania 2Faculty of Electrical Engineering and Computer Science Ştefan cel Mare University of Suceava Universităţii 13 Suceava 720229 Romania 3Integrated Center for Research Development and Innovation in Advanced Materials Nanotechnologies and Distributed Systems for Fabrication and Control (MANSiD) Ştefan cel Mare University Suceava Romania

Motivated by the fact that bounded variation (often discontinuous) functions frequently appear when studying integral equations that describe physical phenomena, we focus on the existence of bounded variation solutions for Urysohn integral measure driven equations. Due to numerous applications of Urysohn integral equations in various domains, problems of this kind have been extensively studied in literature, under more restrictive assumptions. Our approach concerns the framework of Kurzweil-Stieltjes integration, which allows the occurrence of high oscillatory features on the right hand side of the equation. A discussion about interesting consequences of our main result (given by particular cases of the measure driving the equation) is presented. Finally, we show the generality of our results by investigating two examples of impulsive type problems (from both theoretical and numerical perspective) and giving an application in electronics industry concerning polarization properties of ferroelectric materials.

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Energy based set point modulation for obstacle avoidance in haptic teleoperation of aerial robots 19

Energy based set point modulation for obstacle avoidance in ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Hou, Xiaolei Yu, Changbin Liang, Feng Lin, Zhiyun Shandong Computer Science Center Jinan250014 China Australian National University CanberraACT0200 Australia College of Electrical Engineering State Key Laboratory of Industrial Control Technology ZheJiang University Hangzhou310027 China

ISBN: (纸本)9783902823625

This paper presents a novel obstacle avoidance approach that is capable of dealing with both static and dynamic obstacles in the environment with guaranteed collision-free navigation for haptic teleoperation of VTOL aerial robots. The proposed approach modulates the set point for the vehicle's controller based on the user input energy, estimated potential energy and vehicle's kinetic energy. By shuffling the potential and kinetic energy, vehicle's velocity is regulated according to the permissible kinetic energy and thus obstacle avoidance is achieved. With careful design of the potential field, this approach offers a guaranteed collision-free navigation with the presence of both stationary and moving obstacles. Incorporating the novel approach with the Dynamic Kinesthetic Boundary, the human operator can better perceive the environment where the robot is deployed through the rich spatial haptic cues rather than an onset gradual single force vector. Analysis is provided and proves that in the case of perfect velocity tracking of the slave system, the proposed algorithm can guarantee a collision-free navigation through the environment. Simulations and experiments were conducted, and the results provide verification of the effectiveness of the proposed approach in obstacle and collision avoidance for haptic teleoperation of aerial robots. © IFAC.

关键词： Robots

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Generalized synchronization of nonlinear chaotic systems through natural bioinspired controlling strategy

Abstract and Applied Analysis

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Abstract and Applied Analysis 2015年第1期2015卷

作者： Li, Shih-Yu Chen, Shi-An Lin, Chin-Teng Ko, Li-Wei Yang, Cheng-Hsiung Chen, Heng-Hui Brain Research Center National Chiao Tung University Hsinchu Taiwan Department of Electrical and Computer Engineering National Chiao Tung University Hsinchu Taiwan Department of Biological Science and Technology National Chiao Tung University 1001 Ta Hsueh Road Hsinchu 300 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei Taiwan Department of Mechanical Engineering Hsiuping University of Science and Technology Taichung Taiwan

A novel bioinspired control strategy design is proposed for generalized synchronization of nonlinear chaotic systems, combining the bioinspired stability theory, fuzzy modeling, and a novel, simple-form Lyapunov control function design of derived high efficient, heuristic and bioinspired controllers. Three main contributions are concluded: (1) apply the bioinspired stability theory to further analyze the stability of fuzzy error systems;the high performance of controllers has been shown in previous study by Li and Ge 2009, (2) a new Lyapunov control function based on bioinspired stability theory is designed to achieve synchronization without using traditional LMI method, which is a simple linear homogeneous function of states and the process of designing controller to synchronize two fuzzy chaotic systems becomes much simpler, and (3) three different situations of synchronization are proposed;classical master and slave Lorenz systems, slave Chen's system, and Rossler's system as functional system are illustrated to further show the effectiveness and feasibility of our novel strategy. The simulation results show that our novel control strategy can be applied to different and complicated control situations with high effectiveness. © 2015 Shih-Yu Li et al.

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An adaptive routing selection measure for mobile data-gathering mechanisms in wireless sensor networks

An adaptive routing selection measure for mobile data-gather...

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International Conference on Vehicle and Mechanical engineering and Information Technology, VMEIT 2014

作者： Bai, Xu Wang, Chang Hong Zhang, Jia Yan Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150080 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin 150001 China Electrical and Computer Engineering The University of British Columbia Vancouver V6T1Z4 Canada

ISBN: (纸本)9783038350606

Wireless Sensor Networks(WSNs) allows users to accurately monitor a environment by intelligently combining the data from the distributed nodes. A cluster-based network topology can increase the scalability and lifetime, the cluster head gathering the data and transmitting them to Sink with single hop or multi-hop communication. In this paper, the energy consumption model for clustering networks were analyzed and an adaptive energy-efficient routing approach was given, then the hop mode selection condition was analyzed and simulated. © (2014) Trans Tech Publications, Switzerland.

关键词： Sensor nodes

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Average Consensus in the Presence of Dynamically Changing Directed Topologies and Time Delays

Average Consensus in the Presence of Dynamically Changing Di...

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IEEE Annual Conference on Decision and control

作者： Themistoklis Charalambous Christoforos N. Hadjicostis Automatic Control Lab Electrical Engineering Department and ACCESS Linnaeus Center Royal Institute of Technology (KTH) Stockholm Sweden Department of Electrical and Computer Engineering at the University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781467360890

We have recently proposed a robustified ratio consensus algorithm which achieves asymptotic convergence to the global average in a distributed fashion in static strongly connected digraphs, despite the possible presence of bounded but otherwise arbitrary delays. In this work, we propose a protocol which reaches asymptotic convergence to the global average in a distributed fashion under possible changes in the underlying interconnection topology (e.g., due to component mobility), as well as time-varying delays that might affect transmissions at different times. More specifically, we extend our previous work to also account for the case where, in addition to arbitrary but bounded delays, we may have time varying communication links. The proposed protocol requires that each component has knowledge of the number of its outgoing links, perhaps with some bounded delay, and that the digraphs formed by the switching communication topologies over a finite time window are jointly strongly connected.

关键词： directed graphs time varying Time windows Arbitrary Bounded delay presences

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Statistical Validation of Automatic Methods for Hippocampus Segmentation in MR Images of Epileptic Patients

Statistical Validation of Automatic Methods for Hippocampus ...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Mohammad-Parsa Hosseini Mohammad R. Nazem-Zadeh Dario Pompili Hamid Soltanian-Zadeh Department of Electrical and Computer Engineering Rutgers University Medical Image Analysis Lab Radiology Department Henry Ford Health System Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran

ISBN: (纸本)9781424479276

Hippocampus segmentation is a key step in the evaluation of mesial Temporal Lobe Epilepsy (mTLE) by MR images. Several automated segmentation methods have been introduced for medical image segmentation. Because of multiple edges, missing boundaries, and shape changing along its longitudinal axis, manual outlining still remains the bench-mark for hippocampus segmentation, which however, is impractical for large datasets due to time constraints. In this study, four automatic methods, namely FreeSurfer, Hammer, Automatic Brain Structure Segmentation (ABSS), and LocalInfo segmentation, are evaluated to find the most accurate and applicable method that resembles the bench-mark of hippocampus. Results from these four methods are compared against those obtained using manual segmentation for T1-weighted images of 157 symptomatic mTLE patients. For performance evaluation of automatic segmentation, Dice coefficient, Hausdorff distance, Precision, and Root Mean Square (RMS) distance are extracted and compared. Among these four automated methods, ABSS generates the most accurate results and the reproducibility is more similar to expert manual outlining by statistical validation. By considering p-value<0.05, the results of performance measurement for ABSS reveal that, Dice is 4%, 13%, and 17% higher, Hausdorff is 23%, 87%, and 70% lower, precision is 5%, -5%, and 12% higher, and RMS is 19%, 62%, and 65% lower compared to LocalInfo, FreeSurfer, and Hammer, respectively.

关键词： Segmentation Hippocampus Magnetic Resonance Imaging (MRI) Comparison Epilepsy

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