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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Lu Yu Jinzhi Wang Zhong-Ping Jiang Yiguang Hong State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace Engin Department of Electrical and Computer Engineering Polytechnic Institute of New York University Bro Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy o

In this paper, the distributed output regulation problem of multi-agent linear systems with communication time delays is studied, by means of both dynamic state and output feedback control laws. Given bounded communication delays, distributed control laws are designed via linear matrix inequalities (LMI). Both delay-independent and delaydependent conditions are discussed.

关键词： Multi-agent systems Output Regulation Time Delay

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Consensus control of linear multi-agent systems with distributed adaptive protocols

Consensus control of linear multi-agent systems with distrib...

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American control Conference (ACC)

作者： Zhongkui Li Xiangdong Liu Wei Ren Lihua Xie Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Electrical Engineering University of California Riverside CA USA School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781457710957

This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear time-invariant dynamics. Based on the relative output information of neighboring agents, two distributed adaptive dynamic consensus protocols are proposed, namely, the edge-based adaptive protocol which assigns a time-varying coupling weight to each edge in the communication graph and the node-based adaptive protocol which uses a time-varying coupling weight for each node. These two adaptive protocols are designed to ensure that consensus is reached in a fully distributed fashion for any undirected connected communication graphs without using any global information. A sufficient condition for the existence of these adaptive protocols is that each agent is stabilizable and detectable. The case with switching communication graphs is also studied.

关键词： Protocols Eigenvalues and eigenfunctions Couplings Switches Linear matrix inequalities Laplace equations Lyapunov methods

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Stability Analysis for High Frequency Networked control systems

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IEEE Transactions on Automatic control 2012年第10期57卷 2694-2700页

作者： Hongjiu Yang Yuanqing Xia Peng Shi Mengyin Fu Institute of Electrical Engineering Yanshan University Qinhuangdao China School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China School of Engineering and Science Victoria University Melbourne VIC Australia Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd UK

This note generalizes the stability analysis for a high frequency networked control system. The high-frequency networked control system is described by a delta operator system with a high frequency constraint. Stability conditions are given for the high frequency delta operator system. Furthermore, by developing the generalized Kalman-Yakubovic-Popov lemma, improved stability conditions are also presented in terms of linear matrix inequalities. Some experiment results are presented to illustrate the effectiveness of the developed techniques.

关键词： Stability analysis Delay Linear matrix inequalities Frequency control Educational institutions Power system stability Numerical stability

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Multiple vehicle driving control for traffic flow efficiency

Multiple vehicle driving control for traffic flow efficiency

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IEEE Symposium on Intelligent Vehicle

作者： Seong-Woo Kim Gi-Poong Gwon Seung-Tak Choi Seung-Nam Kang Myoung-Ok Shin In-Sub Yoo Eun-Dong Lee Emilio Frazzoli Seung-Woo Seo Singapore-MIT Alliance for Research Technology Massachusetts Institute of Technology USA Department of Electrical Engineering and Computer Science Seoul National University South Korea Laboratory for Information Decision Systems Massachusetts Institute of Technology USA

The dynamics of multi-agent in nature have been largely studied for a long time to investigate how the aggregation of agents can move smoothly in complex environments without collision. The main insights can be summarized such that the aggregated dynamics of animals and particles can be explained by an individual's simple rules. In a similar vein, we conjecture that such simple rules for vehicle maneuvering can accommodate the fluid flow of traffic and reduce car accidents in highway and urban areas. In this paper, we first show the Reynolds' three rules are applicable to autonomous driving on a single lane. Moreover, we provide additional requirements and algorithms for multiple lanes. Based on these results, we show that the proposed nature-inspired driving maneuver can increase traffic flow by 1) mitigating shockwave at bottlenecks and 2) extending the perception range for better path planning, which requires the support of the vehicle autonomy and wireless communication, respectively. Finally, we prove the feasibility of our work with experiments using multiple UAVs.

关键词： Vehicles Sensors Wireless communication Merging Acceleration Safety Mathematical model

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Information Generation and Lagrangian Coherent Structures in Multiscroll Attractors *

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IFAC Proceedings Volumes 2012年第12期45卷 93-98页

作者： Filipe I. Fazanaro Diogo C. Soriano Ricardo Suyama Marconi K. Madrid Romis Attux José Raimundo de Oliveira Modular Robotic Systems Laboratory (LSMR) Department of Computer Engineering and Industrial Automation (DCA) School of Electrical and Computer Engineering (FEEC) UNICAMP Brazil Centro de Engenharia Modelagem e Ciências Sociais Aplicadas Universidade Federal do ABC (UFABC) Santo André Brazil LSMR Department of Energy Control and Systems (DSCE) FEEC UNICAMP Laboratory of Signal Processing for Communications (DSPCom) DCA FEEC UNICAMP

The present work aims to apply a recently alternative approach to estimate the Lyapunov exponents that is suitable for such piecewise linear model in order of characterizing - with the aid of the metric entropy - the degree of information generated by several kinds of multiscroll attractors. Another analytical path is followed with the extraction of the corresponding Lagrangian coherent structures, which allows the determination of the dynamical system separatrices and also of the folding/stretching behavior that results in chaos. Overall, the reported study can be understood as an investigation, from distinct theoretical standpoints, of key aspects regarding the dynamic behavior of systems capable of engendering multiscroll structures.

关键词： chaotic behavior fractal dimension information generation Lagrangian coherent structures Lyapunov exponents multiscroll chaotic attractors non-smooth models

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Pursuit, evasion and defense in the plane

Pursuit, evasion and defense in the plane

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American control Conference (ACC)

作者： Selina Pan Haomiao Huang Jerry Ding Wei Zhang Dušan M. Stipano vić Claire J. Tomlin Department of Mechanical Engineering University of California Berkeley CA USA Department of Aeronautics and Astronautics Stanford University Stanford CA USA Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Department of Electrical and Computer Engineering The Ohio State University Columbus OH USA Control and Decision Group Coordinated Science Laboratory University of Illinois Urbana IL 61801 USA

Multi-player games are important for analyzing complex real-world applications that involve both cooperative and adversarial agents, but computational complexity complicates solving such games. We study a modified pursuit-evasion game with multiple pursuers and a single evader, played in a convex domain with an exit through which the evader may escape. We present a strategy whereby one pursuer acts as a defender, utilizing a multi-mode switching strategy to prevent the evader from escaping while the other pursuers subsequently capture the evader. The strategy requires each pursuer to have knowledge only of its Voronoi neighbors and the evader, and runs in real time. The existence and uniqueness of the players' trajectories are proved using non-smooth analysis, and it is also shown that the evader can never reach the exit regardless of its control inputs, resulting in eventual capture. Simulation results are presented demonstrating the algorithm.

关键词： Vectors Games Switches Trajectory Educational institutions Bismuth Sections

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Reinforcement Learning control Based on Multi-Goal Representation Using Hierarchical Heuristic Dynamic Programming

Reinforcement Learning Control Based on Multi-Goal Represent...

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International Joint Conference on Neural Networks

作者： Zhen Ni Haibo He Dongbin Zhao Danil V. Prokhorov Department of Electrical Computer and Biomedical Engineering University of Rhode Island State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Toyota Research Institute NA TTC

ISBN: (纸本)9781467314886

We are interested in developing a multi-goal generator to provide detailed goal representations that help to improve the performance of the adaptive critic design (ACD). In this paper we propose a hierarchical structure of goal generator networks to cascade external reinforcement into more informative internal goal representations in the ACD. This is in contrast with previous designs in which the external reward signal is assigned to the critic network directly. The ACD control system performance is evaluated on the ball-and-beam balancing benchmark under noise-free and various noisy conditions. Simulation results in the form of a comparative study demonstrate effectiveness of our approach.

关键词： ACD gene Automatic Shutoff Devices noise-free critic hierarchical structure Noise learning (artificial intelligence) dynamic programming Generator dynamos Heuristics

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Joint spectral radius of rank one matrices and the maximum cycle mean problem

Joint spectral radius of rank one matrices and the maximum c...

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IEEE Conference on decision and control

作者： Amir Ali Ahmadi Pablo A. Parrilo Krannert School of Management Purdue University USA Department of Business Analytics and Mathematical Sciences IBM Thomas J. Watson Research Center USA Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology USA

We show that the problem of exact computation of the joint spectral radius of a finite set of rank one matrices can be reformulated as the problem of computing the maximum cycle mean in a directed graph and hence be s... 详细信息

关键词： Joints Switches Heuristic algorithms Approximation methods Linear systems Eigenvalues and eigenfunctions Lyapunov methods

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Predictive control for Autonomous Aerial Vehicles Trajectory Tracking

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IFAC Proceedings Volumes 2012年第17期45卷 508-513页

作者： Ionela Prodan Ricardo Bencatel Sorin Olaru João Borges de Sousa Cristina Stoica Silviu-Iulian Niculescu SUPELEC Systems Sciences (E3S) - Automatic Control Department 3 rue Joliot Curie 91192 Gif sur Yvette France Laboratory of Signals and Systems SUPELEC - CNRS 3 rue Joliot Curie 91192 Gif sur Yvette France Department of Electrical and Computer Engineering School of Engineering University of Porto 4200 Porto Portugal

This paper addresses a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified using the differential flatness formalism. Furthermore, an off-line linearization strategy of the nonlinear model of the vehicle along the flat trajectory is proposed. Since the reference trajectory is available beforehand, an optimization problem which minimizes the tracking error for the vehicle is formulated in a predictive control framework. The proposed method exhibits effective performance validated through software-in-the-loop simulations for the control of Unmanned Aerial Vehicles (UAVs).

关键词： Unmanned Aerial Vehicle (UAV) differential flatness constrained Model Predictive control (MPC)

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Towards an ontology for autonomous robots

Towards an ontology for autonomous robots

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25th IEEE/RSJ International Conference on Robotics and Intelligent systems, IROS 2012

作者： Paull, Liam Severac, Gaetan Raffo, Guilherme V. Angel, Julian Mauricio Boley, Harold Durst, Phillip J. Gray, Wendell Habib, Maki Nguyen, Bao Ragavan, S. Veera Saeedi G., Sajad Sanz, Ricardo Seto, Mae Stefanovski, Aleksandar Trentini, Michael Li, Howard COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB E3B 5A3 Canada ONERA-University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC 3909 Halls Ferry Road Vicksburg MS 39180 United States Mechanical Engineering Department School of Sciences and Engineering American University in Cairo New Cairo Egypt Defence Research and Development Canada-CORA Ottawa ON Canada Monash University Sunway Campus Australia Systems Engineering and Automatic Control Autonomous Systems Laboratory Research Group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada-Atlantic Dartmouth NS Canada Department of Computer Science George Washington University United States Defence R and D Canada-Suffield PO Box 4000 Station Main Medicine Hat AB T1A 8K6 Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions. © 2012 IEEE.

关键词： Ontology

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