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第26届中国控制与决策会议

作者： Liu Zhengfeng Wang Jingcheng Shi Yuanhao Wang Bohui Zhang Langwen Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

Monitoring system of furnace ash fouling is the foundation of the soot-blowing operation on furnace *** furnace exit gas temperature(FEGT) is the key parameter in monitoring system,a new CM-LSSVM-PLS method is proposed to predict *** the process of CM-LSSVM-PLS method,considering the characteristics of operational data,c-means(CM) cluster algorithm is used to partition the training data into several different *** are subsequently developed in the individual subsets based on least squares support vector machine(LSSVM).Finally,partial least squares(PLS) algorithm is employed as the combination *** single LSSVM is established to make a comparison with CM-LSSVM-PLS *** proposed model is verified through operation data of a 300 MW generating *** comparison result shows that the new CM-LSSVM-PLS method can predict FEGT accurately while the time consumed in modeling decrease drastically.

关键词： Coal-fired boiler Furnace exit gas temperature C-means cluster Least squares support vector machine Partial least squares

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Proper Handover Between VANET and Cellular Network Improves Internet Access

Proper Handover Between VANET and Cellular Network Improves ...

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IEEE Vehicular Technology Conference

作者： Shumin Bi Cailian Chen Rong Du Xinping Guan Key Laboratory of System Control and Information Processing Ministry of Education of China and Department of Automation Shanghai Jiao Tong University

ISBN: (纸本)9781479944484

There are currently several ways of wireless access to support vehicular communication, including vehicular ad-hoc networks (VANETs) and cellular networks (off-the-shelf 3G and LTE). It is necessary to make a seamless handover decision to guarantee quality of service (QoS) of communications for a vehicle moving in the regions covered by more than one access networks. In this paper, we provide a performance guaranteed optimized handover decision algorithm. With this algorithm, the communication of vehicles can handover through heterogeneous wireless access networks not only to reach overall load balance among all access points, but also to maximize the data rate of the whole networks as well as the vehicles' fairness. In addition, in the process of decision making, the data rate of handover vehicles is estimated. Simulations are performed to demonstrate the efficiency of the proposed algorithm.

关键词： Vehicles Handover Internet Wireless communication Optimization Roads

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Flocking of partially-informed multi-agent systems avoiding obstacles with arbitrary shape

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Autonomous Agents and Multi-Agent systems 2014年第5期29卷 943-972页

作者： Li, Jiaojie Zhang, Wei Su, Housheng Yang, Yupu Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Measurement and Control Technology Shanghai Dian Ji University Shanghai China School of Automation Key Laboratory of Image Information Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education National Key Laboratory of Science and Technology on Multispectral Information Processing Huazhong University of Science and Technology Wuhan China

In this paper, we study the flocking problem of multi-agent systems with obstacle avoidance, in the situation when only a fraction of the agents have information on the obstacles. Obstacles of arbitrary shape are allowed, no matter if their boundary is smooth or non-smooth, and no matter it they are convex or non-convex. A novel geometry representation rule is proposed to transfer obstacles to a dense obstacle-agents lattice structure. Non-convex regions of the obstacles are detected and supplemented using a geometric rule. The uninformed agents can detect a section of the obstacles boundary using only a range position sensor. We prove that with the proposed protocol, uninformed agents which maintain a joint path with any informed agent can avoid obstacles that move uniformly and assemble around a point along with the informed agents. Eventually all the assembled agents reach consensus on their velocity. In the entire flocking process, no distinct pair of agents collide with each other, nor collide with obstacles. The assembled agents are guaranteed not to be lost in any non-convex region of the obstacles within a distance constraint. Numerical simulations demonstrate the flocking algorithm with obstacle avoidance both in 2D and 3D space. The situation when every agent is informed is considered as a special case.

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A multi-step robust model predictive control scheme for polytopic uncertain multi-input systems

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IFAC Proceedings Volumes 2014年第3期47卷 8540-8545页

作者： Langwen Zhang Jingcheng Wang Bohui Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 Tel: 86-21-34205374

Model predictive control (MPC) has attracted wide attention in process industries with its ability to handle constrained multivariable processes. Computational complexity can become a limiting factor when MPC is applied to large-scale systems with fast sampling times. In this paper, a control scheme known as multi-step robust MPC is presented for polytopic uncertain multi-input systems. Only one or several state feedback laws are optimized at each time interval to reduce computational complexity. A set invariance condition for polytopic uncertain systems is identified and the invariant set is determined by solving a linear matrix inequality (LMI) optimization problem. Based on the set invariance condition, a min-max multi-step robust MPC scheme is proposed. Numerical simulations show the effectiveness of the proposed scheme.

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Design and application of consensus-based filtering for Local Strongly Coupled & constrained systems

Design and application of consensus-based filtering for Loca...

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World Congress on Intelligent control and automation (WCICA)

作者： Hengyu Duan Hua O. Wang Yunze Cai Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Department of Mechanical Engineering Boston University Boston MA USA

In the brand new era of “big data”, finding creative strategies for information fusion in a complicated system is important. Previous researchers have introduced a model called “Local Strongly Coupled system”, in which every agent stochastically communicates only with its neighbours (i.e. “coupled” nodes). However, the meaning of a system's intrinsic a priori constraints is always neglected. And we assume that in practical instances, the whole system is supposed to take on a consistent result, or “consensus” decision. This paper, taking constraints into account, presents a new strategy to help minimize the filtering error. Furthermore, based on consensus policy, the approach is applied to local strongly coupled systems, especially systems with packet loss. Effectiveness and practicability of all the proposed algorithms are shown through simulations.

关键词： Filtering Mathematical model Equations State estimation Estimation error Target tracking

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Trajectory Tracking of Hard Rock Tunnel Boring Machine with Cascade control Structure

Trajectory Tracking of Hard Rock Tunnel Boring Machine with ...

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2014中国制导、导航与控制学术会议

作者： Huajiang Liu Jingcheng Wang Langwen Zhang Guanglei Zhao Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240

ISBN: (纸本)9781479946983

In this paper,trajectory tracking control of hard rock Tunnel Boring Machine (TBM) is studied with a cascade control *** TBM thrust hydraulic system can adjust position and orientation during tunnel *** model of thrust hydraulic system and the compound control technique of thrust hydraulic system are *** order to realize trajectory tracking control,the dynamic model of TBM has been *** model provides a foundation for the trajectory tracking control of TBM *** and orientation controller of TBM have been designed and the controller calculates the force of thrust hydraulic *** compound controller of thrust hydraulic system produces the designed *** effectiveness of the proposed methods is shown by illustrative example.

关键词： boring machines cascade control construction equipment control system synthesis force control trajectory control TBM orientation TBM position TBM thrust hydraulic system cascade control structure compound control technique controller design hard rock tunnel boring machine trajectory tracking Equations Force Mathematical model Rocks Trajectory Valves

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Torque constraints for hexapod robot slope walking

Torque constraints for hexapod robot slope walking

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IEEE International Conference on Cyber Technology in automation, control, and Intelligent systems

作者： Tianle Ge Hesheng Wang Weidong Chen Bowen Gui Ministry of Education of China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China

This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.

关键词： Robot kinematics Legged locomotion Stability analysis Torque Angular velocity Force

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Constrained Distributed MPC for LPV systems with Actuator Saturation and State Delay

Constrained Distributed MPC for LPV Systems with Actuator Sa...

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American control Conference

作者： Langwen Zhang Jingcheng Wang Yang Ge Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240

ISBN: (纸本)9781479932757

In this work, a new approach to design constrained distributed MPC is proposed for linear parameter varying (LPV) systems subject to saturating actuator and state delay. Polytopic type uncertainty and only one state delay are considered in this paper. The algorithm requires decomposing the whole system into M subsystems and solving M linear matrix inequality (LMI) optimization problems for each subsystem. An iterative online algorithm for constrained distributed MPC is developed to coordinate the distributed controllers. The algorithm is a flexible structure of robust control, which allows the independent computation of the state feedback laws for the subsystems. A numerical example is simulated to show the effectiveness of the constrained distributed MPC algorithm.

关键词： Distribute Flexible structures SUB-system Robust control actuators

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On overcoming limitations of a class of linear systems with first-order reset elements

On overcoming limitations of a class of linear systems with ...

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World Congress on Intelligent control and automation (WCICA)

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing China Electrical Engineering and Computer Science Queens University Belfast UK

This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control model is proposed, such that the non-overshoot performance specification can be met for any minimum phase relative degree one plants, the results imply some limitations of linear systems are overcome and clearly illustrate the advantages of reset control. A numerical example is given to show the effectiveness.

关键词： Closed loop systems Stability analysis Gold Linear systems Steady-state Educational institutions

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Consensus of Edge Dynamics on Directed Multi-agent systems

Consensus of Edge Dynamics on Directed Multi-agent Systems

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The 33th Chinese control Conference第33届中国控制会议

作者： Xiaofan Wang Xiaoling Wang Housheng Su Department of Automation Shanghai Jiaotong Universityand Key Laboratory of System Control and Infor School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry o

ISBN: (纸本)9781479947249

Consensus in multi-agent systems means that reach an agreement among states of the whole ***,almost all the existed works on consensus have been in the description of the states of nodes,and fewer efforts have been devoted to the consensus taking place on the edges of multi-agent *** this paper,we focus on the dynamics proceed on the edges and establish a discrete-time and a continuous-time edge consensus protocols respectively for directed multi-agent *** mapping the edge topology to its line graph of the original nodal topology,we analyze the consensus of the edge protocols rigorously,and get that both the discrete-time protocol and the continuous-time protocol of directed multi-agent systems can guarantee that an edge consensus is asymptotically reached for all initial states when the original directed system is strongly *** simulations are provided to show the effectiveness of both the discrete-time and the continuous-time models.

关键词： Consensus Edge Protocol Multi-agent systems Line Graph

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