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Swarm aggregations of heterogeneous multi-agent systems

International Journal of control 2014年第12期87卷 2594页

作者： Liang, Haili Su, Housheng Wang, Xiaofan Chen, Michael Z.Q. [a] Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China[b] School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China[c] Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more resembling the practical situations, where the agents have different dynamics. We show that the heterogeneous agents will gather with a certain error under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. [PUBLICATION ABSTRACT]

关键词： swarm multi-agent systems heterogeneous systems stability

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A secure distributed consensus scheme for wireless sensor networks against data falsification

A secure distributed consensus scheme for wireless sensor ne...

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World Congress on Intelligent control and automation (WCICA)

作者： Shichao Mi Hui Han Shanying Zhu Cailian Chen Bo Yang Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China The State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System(CEMEE) Luoyang P. R. China

This paper focuses on the problem of secure distributed consensus to defend covert misbehavior in wireless sensor networks (WSNs). Distributed consensus is a promising method to improve the efficiency and precision of consensus results in WSNs, but it introduces new security issues that malicious nodes may manipulate false sensing data to degrade the sensing result of the whole network. A data falsification attack, i.e., the attacker injects random values into its neighboring nodes at each time-step of consensus process, is considered. This kind of attack cannot be defended against by most of existing detection mechanisms. We present a distributed detection mechanism with adaptive local threshold to isolate the abnormal nodes. A Weighted Averaging-based Consensus Scheme (WACS) is proposed to decrease the negative impact of the attack and make the network converge to a consensus value. It is proved that convergence property can be guaranteed by the relationship between weighted average of the noise and stochastic approximation. Simulation results are presented to show the effectiveness of the proposed secure scheme.

关键词： Sensors Wireless sensor networks Detection algorithms Distributed databases Convergence Vectors Approximation methods

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Application Based on Fast Online MPC in Power Inverter system

Application Based on Fast Online MPC in Power Inverter Syste...

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第三十三届中国控制会议

作者： Xin Jiang Cunsheng Lu Dewei Li Yugeng Xi Bin Liu Key Laboratory of System Control and Information Processing Ministry of Education Department of AutomationShanghai Jiao Tong University Xichang Satellite Launch Center Nanchang Hangkong University

ISBN: (纸本)9781479947249

Adopting MPC to a fast changing system has always been a challenging problem due to the computational *** the equivalent aggregation strategy and the fast algorithm based on MPC proposed, the computational efficiency has been promoted greatly. This paper improves the fast algorithm combined with the equivalent aggregation strategy, and investigates the feasibility of adopting the fast algorithm based on MPC to DC-AC power inverter system which switching time is 52 μs. Simulation and the experiment have verified that the fast online MPC algorithm applied on the fast sampling system with embedded platform implementation works well.

关键词： Model Predictive control,Fast Algorithm,Computational Complexity,Power Inverter control

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Predictive Preview Trajectory Tracking control for Quadruped Robots with Zero Moment Point

Predictive Preview Trajectory Tracking Control for Quadruped...

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第三十三届中国控制会议

作者： Xiaohan He Shaoyuan Li Dan Huang Ning Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education School of Aeronautics and Astronautics Shanghai Jiao Tong University

ISBN: (纸本)9781479947249

In this paper,we propose a control algorithm for quadruped walking robots to track the Zero Moment Point(ZMP)trajectory using Preview *** critical moment of trot pace,we can assume the robot as a linear inverted pendulum so that the linear inverted pendulum model can be applied to describe the dynamic behavior of our quadruped robot.A preview controller therefore is designed for this non-minimum phase system to get the optimal input of the *** reference trajectory can be decomposed into two *** is on the direction of movement,and the other is on the vertical direction of *** the preview controller we can track the reference in both two directions and the optimal trajectory tracking can be achieved.

关键词： Preview control,Trajectory Tracking,Quadruped Robot

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Robust adaptive observer for fractional order nonlinear systems: an LMI approach

Robust adaptive observer for fractional order nonlinear syst...

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第26届中国控制与决策会议

作者： Chuang Li Jingcheng Wang School of Mechanical and Electric Engineering Hainan University Department of Automation Shanghai Jiao Tong Universityand key laboratory of System Control and Information ProcessingMinistry of Education of China

This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters and nonlinear in the states. According to the equivalent frequency distributed model of fractional integrator, the direct Lyapunov approach is adopted to derive a nonlinear adaptive non-fragile observer. The gain for the non-fragile observer is systematically obtained in terms of linear matrix inequality(LMI). A numerical example is provided to illustrate the efficiency and validity of the proposed approach.

关键词： fractional order nonlinear systems,unknown parameter,nonlinear observer,LMI

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An Adaptive Predictive control Strategy for RMPPT under Partially Shaded Conditions

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IFAC Proceedings Volumes 2014年第3期47卷 4947-4952页

作者： Chao Ma Jing Wu Ning Li Shaoyuan Li Kang Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. However, these methods may fail when shading conditions occur and the power loss can over as much as 70% due to the multiple maxima in I – P curve in shading conditions v.s. single maximum point in uniformly solar irradiance. In this paper, a Real Maximum Power Point Tracking (RMPPT) strategy under Partially Shaded Conditions (PSCs) is introduced to deal with this kind of problems. An optimization problem, based on a predictive model which will change adaptively with environment, is developed to tracking the global maxima and corresponding adaptive control strategy is presented. No additional circuits are required to obtain the environment uncertainties. Finally, simulations show the effectiveness of proposed method.

关键词： Photovoltaic systems RMPPT Partial shading Adaptive predictive control

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Semi-global leader-following consensus of multiple linear systems with position and rate-limited actuators: The state feedback case

Semi-global leader-following consensus of multiple linear sy...

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World Congress on Intelligent control and automation (WCICA)

作者： Zhiyun Zhao Zongli Lin Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

This paper studies the semi-global leader-following consensus problem for a group of linear systems in the presence of both actuator position and rate saturation. Each follower agent in the group is described by a general linear system subject to simultaneous actuator position and rate saturation. We construct a low gain based linear state feedback control law for each follower agent and show that semi-global leader-following consensus can be achieved by using these control laws when the communication topology among follower agents is a connected undirected graph and the leader is a neighbor of at least one follower. Simulation results illustrate the theoretical results.

关键词： Actuators State feedback Topology Linear systems Multi-agent systems Closed loop systems Vectors

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An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps

An Extended Probabilistic Self-Localization Algorithm Using ...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Tianyi Li Ming Yang Liuyuan Deng Yong He Chunxiang Wang Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of China Research Institute of Robotics Shanghai Jiao Tong University

Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.

关键词： GPS Map An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps Hybrid

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An Improved Real-coded Genetic Algorithm Solution for Unit Commitment Problem Considering Energy Saving and Emission Reduction Demands

An Improved Real-coded Genetic Algorithm Solution for Unit C...

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第25届中国过程控制会议

作者： Qian Pan Xing He Yunze Cai Zhihua Wang Fan Su Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China State Grid Shanghai Municipal Electric Power Company

Unit commitment(UC),as a typical optimization problem in electric power system,faces new challenges as energy saving and emission reduction getting more and more vital in the way to a more environmentally friendly *** meet these challenges,the UC model considering energy saving and emission reduction is proposed in this *** using real-number coding method,swap-window and hill-climbing operators,an improved real-coded genetic algorithm(IRGA)solution for UC is presented,which shows an improvement in effectiveness and computational time compared with other algorithms approach to the proposed UC problem.

关键词： Genetic algorithm,Unit commitment,Real-number encoding

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On the Estimation of the Domain of Attraction for Saturated systems via Partitioning of the Input Space

On the Estimation of the Domain of Attraction for Saturated ...

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第三十三届中国控制会议

作者： Yuanlong Li Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479947249

This paper revisits the problem of estimating the domain of attraction for systems with saturation *** divide the input space into several regions. In one of these regions, none of the inputs saturate. In each of the remaining regions, there is a unique input that saturates everywhere with the time-derivative of its saturated signal being zero. These special properties of the inputs in different regions of the input space are combined with an existing piecewise quadratic Lyapunov functions that contains the information of input saturation to arrive at a set of less conservative stability conditions, from which a larger level set of the piecewise quadratic Lyapunov function can be obtained as an estimate of the domain of *** results indicate that the proposed approach has the ability to obtain a significantly larger estimate of the domain of attraction than the existing methods.

关键词： Actuator saturation,constrained control,domain of attraction,input saturation,piecewise quadratic Lyapunov functions,stability analysis

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