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Synchronising second-order multi-agent systems under dynamic topology via reference model-based algorithm

Journal of control and Decision 2014年第3期1卷 214-225页

作者： Jiahu Qin Huijun Gao Tasawar Hayat Fuad E.Alsaadi Department of Automation University of Science and Technology of ChinaHefeiChina Research School of Engineering Australian National UniversityCanberraAustralia Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbinChina Nonlinear Analysis and Applied Mathematics Group King Abdulaziz University(KAU)JeddahSaudi Arabia Faculty of Engineering Department of Electrical and Computer EngineeringKing Abdulaziz UniversityJeddahSaudi Arabia Department of Mathematics Quaid-I-Azam UniversityIslamabadPakistan

This paper revisits the synchronisation problem for second-order multi-agent systems(MASs)under dynamically changing communication *** employing the reference model-based synchronisation algorithm,it is finally shown that synchronisation for both the position and velocity states can be achieved if the union of the communication topologies has a directed spanning tree frequently *** extends the existing results obtained for second-order MASs which exploits mild communication topology condition guaranteeing the synchronisation to a more general *** analysis is successfully performed by exploiting the product properties of row-stochastic matrices,which can also provide us with an estimate the convergence rate towards the synchronisation.

关键词： synchronisation double-integrator agents weakest possible communication topology rate of convergence

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Erratum to: Optimization of Noise in Non-integrated Instrumentation Amplifier for the Amplification of Very Low Electrophysiological Signals. Case of Electro Cardio Graphic Signals (ECG)

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Journal of medical systems 2015年第2期39卷 3页

作者： Guy Merlin Ngounou Martin Kom Automation and Control Laboratory (ACL) Department of Coordination and Valorization of Research (CVR) National Advanced School of Engineering BP: 8390 Yaoundé Cameroon ngounou_guy@yahoo.fr.

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Fault Tolerant control of a Small Helicopter with Tail Rotor Failures in Forward Flight

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IFAC Proceedings Volumes 2014年第3期47卷 8843-8848页

作者： Sulakshan Rajendran Da-wei Gu Control Systems Research Group Department of Engineering University of Leicester UK Department of Power Electronics and Automation China Three Gorges University Hubei People's Republic of China

Tail rotor failure is one of the major failures occurring frequently and causing accidents. In this paper we investigate Tail Rotor control Failure(TRCF) based on helicopter dynamic models. There is no notable work reported in the literature on control of a small helicopter with TRCF. In contrast to hover mode, forward flight improves yaw damping naturally. The yaw damping is investigated at hover mode and in forward flight. Multi-loop PID controller, Fuzzy PID controller and full state feedback controller based on LQR are designed as per ADS-33PRF requirements to control the helicopter when the tail rotor control failure occurs in forward flight. Robustness in terms of stabilizing ability of developed controllers is also analyzed. All developed control schemes are tested in Matlab/Simulink environment including linear as well as non-linear simulations.

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A novel approach for localization of an indoor autonomous mobile surveillance robot 11

A novel approach for localization of an indoor autonomous mo...

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2014 11th World Congress on Intelligent control and automation, WCICA 2014

作者： Jiang, Guolai Syed, Muhammad Umer Liu, Letian Ou, Yongsheng Xu, Yangsheng Malik, Muhammad Sarfaraz Chandio, Aftab Ahmed Center for Intelligent and Biomimetic Systems Institute of Advanced Integration Technology Chinese Academy of Sciences Guangdong China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Lab of Simulation and Intelligent Control University of Science and Technology of China Heife China Center for Cloud Computing Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781479958252

Localization of an autonomous mobile robot has always been a topic of interest in Robotics community. The constraints of working under different environments are constantly a challenge in designing an efficient localization system. We propose a localization algorithm for a mobile robot, which will be used for home security. The objective is to perform indoor localization efficiently and keeping the cost as low as possible so as to make it commercializable. Here, we introduce an approach based on recognizing a pattern generated by laser pointers on the wall, which is captured by an infrared camera. The image of this pattern is used to locate the position of a robot in the room. The problem of working under black ceiling has been overcomed because the projection is on the wall and is moving which also increases the range of operation. As the pattern is unique, the interference of strong sunlight has also been fixed to some extent. Experimental results show that the proposed approach is effective in real environment and opens new doors for future research. © 2014 IEEE.

关键词： Indoor positioning systems

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Design of an educational emulation framework for mechatronics control unit development

Design of an educational emulation framework for mechatronic...

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IEEE/ASME International Conference on Mechtronic and Embedded systems and Applications, MESA

作者： Tamás Bécsi Szilárd Aradi Péter Gáspár Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

Teaching mechatronics is a great challenge since the subject is a multidisciplinary area of electrical, mechanical and IT knowledge. Students must deepen their knowledge in these slightly related fields of engineering. Tasks and solving problems in mechatronics require cognitive and operational knowledge and practical experience about systems design and analysis. Since mechatronics engineering is a fast-developing and practice-oriented field placing more emphasis practical and project-based education at universities is strongly encouraged by the industry. The paper presents an educational framework designed for students with a specialization in vehicle mechatronics. The aim of the system is to provide the emulation of a real vehicle module, which must be operated by appropriately designed controller unit.

关键词： Mechatronics Vehicles Emulation Educational institutions Sensors Software

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All-optical clock division using period-one oscillation of optically injected semiconductor laser

All-optical clock division using period-one oscillation of o...

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2014 International Conference on Logistics Engineering, Management and Computer Science, LEMCS 2014

作者： Niu, Shengxiao Zhang, Mingjiang Shi, Shuhui Chen, Chao Science and Technology Research and Development Center Handan Polytechnic College Handan China Key Laboratory of Advanced Transducers and Intelligent Control Systems Taiyuan University of Technology Ministry of Education Taiyuan Shanxi China Physics Department Handan Collage Handan China Software Department Handan China

ISBN: (纸本)9789462520103

Nonlinear dynamics of a semiconductor laser subjected external optical is applied to all-optical clock division. By properly adjusting the injection conditions, the divide-by-two clock division and the divide-by-three clock division are achieved base on the period-one oscillation. The divide-by-two clock division and divide-by-three clock division can be implemented within different input signal frequency ranges: from 11.0 GHz to 20.0 GHz and from 16.5 GHz to 20.0 GHz, respectively, by adjusting the average power of the injection optical pulses. In addition, our experiment shows that the phase noise of the divided clock signals is below -100 dBc/Hz. The division process can be controlled by the power and the wavelength detuning of the injected optical pulses. A large locking range of 1.0GHz is measured in second clock division, and 1.8GHz is measured in third clock division. © 2014. The authors - Published by Atlantis Press.

关键词： Nonlinear optics

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Networked systems with incomplete information

Abstract and Applied Analysis

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Abstract and Applied Analysis 2015年第1期2015卷

作者： Wang, Zidong Shen, Bo Dong, Hongli He, Xiao Hu, Jun Department of Computer Science Brunel University London Uxbridge Middlesex UB8 3PH United Kingdom School of Information Science and Technology Donghua University Shanghai 200051 China College of Electrical and Information Engineering Northeast Petroleum University Daqing 163318 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Department of Automation Tsinghua University Beijing 100084 China Department of Applied Mathematics Harbin University of Science and Technology Harbin 150080 China

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Nanosecond Pulsed Laser Processing of Ion Implanted Single Crystal Silicon Carbide Thin Layers

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Physics Procedia 2014年 56卷 933-943页

作者： Tuğrul Özel Thanongsak Thepsonthi Voshadhi P. Amarasinghe George K. Celler Manufacturing & Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University New Jersey USA Institute for Advanced Materials Devices and NanotechnologyRutgers University Piscataway New Jersey USA

The attractiveness of single crystal SiC in a variety of high power, high voltage, and high temperature device applications such as electric vehicles and jet engines is counteracted by the very high cost of substrates. Precision cutting of multiple micrometre thick SiC layers and transferring them to lower cost substrates would drive the cost down and allow expanding the use of single crystal SiC. In this study, laser beam processing has been utilized to exfoliate thin layers from a surface of single crystal SiC that was prepared with hydrogen and boron ion implantation. The layer thickness of 1 μm has been achieved by ion implantation that formed voids and microcracks under the surface at a layer of 150 nm thick. High energy laser pulses provided the layer removal and its transfer to bonded Si substrate has been shown. Exfoliated surfaces and topography have been evaluated with Scanning Electron Microscopy. Furthermore, thermal modelling of pulse laser irradiation of implanted multi-layer SiC material has been conducted and temperature profiles are obtained at different peak pulse intensity settings to optimize exfoliation process parameters. It was found that laser exfoliation mechanism can be further improved by higher optical absorptance of defect rich layer obtained with boron ion implantation.

关键词： Laser processing Single Crystal Modelling

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Identification of linear parameter varying systems with missing output data using generalized expectation-maximization algorithm 19

Identification of linear parameter varying systems with miss...

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

作者： Yang, X. Xiong, W. Huang, B. Gao, H. Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang150080 China Jiangnan University Wuxi Jiangsu214122 China Department of Chemical and Materials Engineering University of Alberta EdmontonABT6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University Jinzhou121013 China

ISBN: (纸本)9783902823625

This paper is concerned with the identification problems of linear parameter varying (LPV) systems with randomly missing output data. Since one local linearized model cannot capture the global dynamics of the nonlinear industrial process, the multiple-model LPV model in which the global model is constructed by smoothly weighted combination of multiple local models is considered here. The problem of missing output variables data is commonly encountered in practice. In order to handle the multiple-model identification problems of LPV systems with incomplete data, the local model is taken to have a finite impulse response (FIR) model structure and the generalized expectation-maximization (EM) algorithm is adopted to estimate the unknown parameters of the global LPV model. To avoid the problems of ill-conditioned matrices and high sensitivity of parameters to noise, the prior information on the coefficients of each local FIR model is employed to construct the prior probability of unknown parameters. Then the maximum a posteriori (MAP) estimates of the global model parameters are derived via the generalized EM algorithm. The numerical example is presented to demonstrate the effectiveness of the proposed method. © IFAC.

关键词： Parameter estimation

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Identification of Linear Parameter Varying systems with Missing Output Data Using Generalized Expectation-Maximization Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 9364-9369页

作者： X. Yang W. Xiong B. Huang H. Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi Jiangsu 214122 China Department of Chemical and Materials Engineering University of Alberta Edmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University Jinzhou 121013 China and Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

关键词： Linear parameter varying systems Generalized EM algorithm Missing output data Maximum a posteriori estimates

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