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2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

作者： Shi, Liangren Li, Yuanlong Lin, Zongli Brown, Charles L. Innovation Center Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Automation Shanghai Jiao Tong University China Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 CharlottesvilleVA22904-4743 United States

ISBN: (纸本)9781538668689

We consider the problem of semi-global leader-following output consensus for a group of agents, consisting of a leader agent and some follower agents, which are described by discrete-time linear systems and connected on a directed network. For each follower agent, a distributed observer is built that estimates the state of the leader. Based on the estimates of the leader state and the solution of a parameterized algebraic Riccati equation, we design low gain consensus protocols that are shown to solve the semi-global output consensus problem as long as the leader agent is reachable globally on the network. Numerical simulation shows the performance of the proposed consensus protocols. © 2018 IEEE.

关键词： Multi agent systems

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Robust MPC for constrained uncertain systems with data-driven improvement

Robust MPC for constrained uncertain systems with data-drive...

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第37届中国控制会议

作者： Lingyi Yang Dewei Li Jianbo Lu Yugeng Xi Bin Li Department of Automation Shanghai Jiaotong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education Department of Automation Sichuan UniversitySchool of Electrical Engineering and Information

The adaptive model predictive control is regarded as an effective control method for unknown constrained ***, the adaptive model predictive control needs model identification. The process of identification demands a certain amount of data and places some requirements on data which makes it difficult to be implemented. To handle it, this paper proposes a novel data-driven approach without model identification. The data of previous time is utilized to describe state space and input space of the uncertain system instead of identifying the true model. Based on the data-driven method, the Quasi-MinMax control strategy is used to design the robust data-driven MPC controller which directly calculates the input from the past data. Combined with the data-driven method, a free control variable is introduced to compensate for the insufficiency of past data. It is shown that adopting the data-driven controller can reduce conservatism by lessening model uncertainty and improve control performance. Meanwhile, the proposed design is proven to be recursively feasible and stabilizing. A numerical example demonstrates the effectiveness and advantages of the proposed control method.

关键词： Adaptive learning control Data-driven approach Model predictive control

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Short term electric load forecast with artificial neural networks

arXiv

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arXiv 2018年

作者： Cristian, Vasar Iosif, Szeidert Ioan, Filip Gabriela, Prostean Department of Control System Engineering Politehnica' University from Timisoara Faculty of Automation and Computer Science Timisoara300223 Romania

This paper presents issues regarding short term electric load forecasting using feedforward and Elman recurrent neural networks. The study cases were developed using measured data representing electrical energy consume from Banat area. There were considered 35 different types of structure for both feedforward and recurrent network cases. For each type of neural network structure were performed many trainings and best solution was selected. The issue of forecasting the load on short term is essential in the effective energetic consume management in an open market environment. Copyright © 2007 IFAC Copyright © 2018, The Authors. All rights reserved.

关键词： Electric load forecasting

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Joint beamformer design for wireless fronthaul and access links in C-RANs

Joint beamformer design for wireless fronthaul and access li...

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作者： Hu, Bin Hua, Cunqing Chen, Cailian Guan, Xinping Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China

This paper presents a joint design framework of fronthaul and access links in cloud radio access networks, wherein the fronthaul data delivery between the central processor (CP) and small-cell base stations (SBSs) is carried over wireless links, which is more cost effective and flexible than the conventional wired fronthaul solutions. In this framework, the coordinated beamforming scheme is adopted by the SBSs to serve the users cooperatively, which not only reduces the bandwidth requirement over the fronthaul links, but also eliminates the inter-cell interference in the access links. To further exploit the spatial diversity over the fronthaul links, the multi-user beamforming scheme is adopted by the CP to deliver the data of all users to their serving SBSs simultaneously. This non-convex and combinatorial optimization problem is reformulated to a unified beamformer design problem using the $\ell -{0}/\ell -{1}$ -norm framework, which is still difficult to obtain the optimal solutions. Therefore, we first propose an algorithm based on the difference of convex (DC) programming scheme to find the suboptimal solutions, whereby the formulated problem is transformed to the standard DC programming problem and solved iteratively using the convex-concave procedure algorithm. We then propose another algorithm based on the successive convex approximation and weighted minimum-mean-squared-error approaches, and solve the transformed problem using the block coordinate update scheme. The pros and cons of these two algorithms are discussed, and simulation results are provided to demonstrate the performance gain of our schemes over other benchmark schemes. © 2018 IEEE.

关键词： Beamforming

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Robust adaptive attitude control for carrier based aircrafts in the landing process under the carrier air wake disturbance 36

Robust adaptive attitude control for carrier based aircrafts...

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第36届中国控制会议

作者： Jianglong Yu Yongzhao Hua Peng Yang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Aviation System Research Department System Engineering Research Institute

ISBN: (纸本)9781538629185

When naval vessels moving on the sea, the carrier air wake disturbance will arise. The carrier air wake makes the landing environment of carrier aircraft fair adverse, which puts forward a high demand for the high precise attitude control of carrier based aircrafts. In this paper, high precise robust attitude control problems for carrier based aircrafts with the carrier air wake disturbance are investigated. Firstly, the small disturbance linearization method is introduced to transform the nonlinear system into a linear one, which is a necessary procedure for aircraft system analysis and controller design. Secondly, the model of the carrier air wake disturbance is established and its effects on the aerodynamic parameters are analyzed in detail. Then the effects are transformed into the augmented disturbance in the system. Thirdly, a nonlinear extended state observer is utilized to estimate the disturbance. Besides, a robust adaptive attitude controller with integral term is proposed to achieve high precision attitude tracking. The stability of the closed-loop system is prove based on Lyapunov theory. Finally, a numerical example is provided to demonstrate the effectiveness of the obtained results.

关键词： Carrier based aircraft Carrier air wake Disturbance Robust adaptive control Nonlinear extended state observer

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Modeling of Decentralized Combined control system for 2-DOF Manipulator with Input Constraints

Modeling of Decentralized Combined Control System for 2-DOF ...

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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Eugenie L. Eremin Evgeniy A. Shelenok Information and Control Systems Department Amur State University Blagoveshchensk Russia Automation and System Engineering Department Pacific National University Khabarovsk Russia

ISBN: (纸本)9781538643082

The article deals with the problem of research of the different operating modes of the decentralized control system for two degrees of a freedom robotic manipulator which have input saturations. With the help of numerical experiments, a sufficiently high quality of the control system operation under various periodic modes of the manipulator operation is illustrated.

关键词： control systems Manipulator dynamics Numerical models Industrial engineering Manufacturing

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TransMut: a program to predict HLA-I peptide binding and optimize mutated peptides for vaccine design by the Transformer-derived self-attention model

Research Square

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Research Square 2021年

作者： Chu, Yanyi Zhang, Yan Wang, Qiankun Zhang, Lingfeng Wang, Xuhong Wang, Yanjing Wang, Jianmin Jiang, Xue Salahub, Dennis Russell Xiong, Yi Wei, Dong-Qing State Key Laboratory of Microbial Metabolism Shanghai-Islamabad-Belgrade Joint Innovation Center on Antibacterial Resistances Joint International Research Laboratory of Metabolic & Developmental Sciences School of Life Sciences and Biotechnology Shanghai Jiao Tong University Shanghai200030 China Department of Chemistry CMS - Centre for Molecular Simulation IQST - Institute for Quantum Science and Technology University of Calgary 2500 University Drive NW CalgaryABT2N 1N4 Canada Department of Clinical Oncology The University of Hong Kong-Shenzhen Hospital Shenzhen China School of Electrical Engineering and Computer Science University of Ottawa 75 Laurier Ave. OttawaONK1N 6N5 Canada The Ministry of Education Key Laboratory of System control and information processing Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200030 China Integrative Biotechnology & Translational Medicine Yonsei University Incheon21983 Korea Republic of Peng Cheng Laboratory Vanke Cloud City Phase I Building 8 Xili Street Nanshan District Guangdong Shenzhen518055 China

Computational prediction of the interaction between human leukocyte antigen (HLA) and peptide (pHLA) can speed up epitope screening and vaccine design. Here, we develop the TransMut framework composed of TransPHLA for pHLA binding prediction and AOMP for mutated peptide optimization, which can be generalized to any binding and mutation task of biomolecules. Firstly, TransPHLA is developed by using a Transformer-derived self-attention model to predict pHLA binding, which is significantly superior to 11 previous methods on pHLA binding prediction, neoantigen and human papilloma virus vaccine identification. For vaccine design, the AOMP program is then developed to automatically optimize mutated peptides to search for mutant peptides with higher affinity to the target HLA and with high homology to the source peptide. Among 3660 non-binding pHLAs, 3630 were successfully mutated. Of these, 94% were verified by the IEDB recommended method, and 88% have homology higher than 80% to the source peptide. © 2021, CC BY.

关键词： Peptides

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Mitigate the obstructing effect of vehicles on the propagation of VANETs safety-related information

Mitigate the obstructing effect of vehicles on the propagati...

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作者： Huang, Rui Wu, Jing Long, Chengnian Zhu, Yanmin Li, Bo Lin, Yi-Bing Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Computer Science School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Engineering The Hong Kong University of Science and Technology Hong Kong China Department of Computer Science and Information Engineering National Chiao Tung University Taiwan

As physical obstacles, vehicles have significant impacts on the efficient propagations of safety-related information in vehicular ad hoc networks (VANETs) by frequently obstructing the LOS links between transmitters and receivers. Obstructing effect will diminish the effective coverage of safety-related information and incur severe impact on road safety. However, this impact has not been addressed effectively. In this paper, we first present the definition of broadcast efficiency as the metric for quantizing the obstructing effect. We investigate the optimization issue for mitigating the impact of obstructing effect on the propagation of safety-related information and propose a graph theory-based optimization algorithm. For a distributed implementation of this optimization in VANETs, we further propose the maximum broadcast efficiency relaying (MBER) algorithm. MBER maximizes the effective coverage of information, meanwhile, meets delay and reliability constraints by incorporating broadcast efficiency and propagation distance in relay contention. Simulation results demonstrate that MBER promotes the effective coverage of safety-related information in VANETs with varying vehicular distribution. © 1967-2012 IEEE.

关键词： Vehicular ad hoc networks

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Secure web access control algorithm

arXiv

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arXiv 2018年

作者： Ioan, Filip Iosif, Szeidert Cristian, Vasar Department of Control System Engineering "politehnica" University of Timisoara Faculty of Automation and Computers Bv. V. Parvan No.2 Timisoara300223

The paper presents a flexible and efficient method to secure the access to a Web site implemented in PHP script language. The algorithm is based on the PHP's session mechanism. The proposed method is a general one and offers the possibility to implement a PHP based secured access to a Web site, through a portal page and using an additional script included in any site's page, which is required to be accessed only by registered users. This paper presents the design, implementation and integration of the algorithm on any generic WEB site. Copyright © 2018, The Authors. All rights reserved.

关键词： Websites

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Actuator-Fault-Tolerant Trajectory Tracking control for Multi-Robot system under Directed Network Topologies and Communication Delays 36

Actuator-Fault-Tolerant Trajectory Tracking Control for Mult...

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第36届中国控制会议

作者： Zhe Liu Junguo Lu Hesheng Wang Weidong Chen Yun-Hui Liu Department of Mechanical and Automation Engineering Chinese University of Hong Kong Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781538629185

The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this *** take the communication delays into consideration in system design and do not require that the network topology is symmetric.A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained to guarantee the asymptotic convergence of both the position error and synchronization error of each *** results validate that the proposed approach achieves synchronized trajectory tracking tasks under unidirectional topologies with actuator faults and coupling delays.

关键词： Actuator Faults Communication Delays Multi-robot Network Synchronized Trajectory Tracking

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