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作者： Chen, Michael Z. Q. Zhang, Liangyin Su, Housheng Chen, Guanrong Department of Mechanical Engineering University of Hong Kong Pokfulam Hong Kong Hong Kong School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan430074 China Department of Electronic Engineering City University of Hong Kong KowloonHKG Hong Kong

This technical note deals with a modified algebraic Riccati equation (MARE) and its corresponding inequality and difference equation, which arise in modified optimal control and filtering problems and are introduced into the cooperative control problems recently. The stabilizing property of the solution to MARE is presented. Then, the uniqueness is proved for the almost stabilizing and positive semi-definite solution. Next, the parameter dependence of MARE is analyzed. An obtained parameter dependence result is finally applied to the study of semi-global synchronization of leader-following networks with discrete-time linear dynamics subject to actuator saturation. © 1963-2012 IEEE.

关键词： Riccati equations

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An overview of coordinated control for multi-agent systems subject to input saturation

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Perspectives in Science 2016年 7卷 133-139页

作者： Xiaoling Wang Housheng Su Xiaofan Wang Guanrong Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China Department of Electronic Engineering City University of Hong Kong Hong Kong China

Coordinated control of multi-agent systems has widespread application in engineering such as unmanned aerial vehicles and unmanned ground vehicles. Due to the fact that input saturation can lead a control system to deterioration and instability, a lot of efforts have been devoted to investigating this subject of great importance. The present article offers a survey of recent developments on coordinated control of multi-agents systems subject to input saturation. Some preliminaries about graph theory, stability theory and input saturation are first provided, followed by some important results in the area, which are categorized into semi-global and global coordinated controls. Future research topics are finally discussed.

关键词： Multi-agent system Coordinated control Consensus tracking Input saturation Low-and-high-gain feedback

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WiFi RSS Fingerprint Database Construction for Mobile Robot Indoor Positioning system

WiFi RSS Fingerprint Database Construction for Mobile Robot ...

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IEEE International Conference on systems, Man, and Cybernetics

作者： A.H. Ismail H. Kitagawa R. Tasaki K. Terashima System and Control Laboratory Department of Mechanical Eng. Toyohashi University of Technology Japan Department of Electronic Control Engineering Gifu National Institute of Technology Japan

ISBN: (纸本)9781509018987

Mobile robot positioning in an indoor environment via fingerprinting technique is made by matching the unknown WiFi data to a spatial WiFi power map database. In past years, this technique has gained reasonable accuracies in the cost of high labor yielded for the database. Thus, automatic database construction by means of interpolating missing data is desired. This paper described a variation of Inverse Distance Weight (IDW) interpolation which is the Modified Shepard's Method (MSM) for our medical-oriented mobile robot - Terapio. By properly selecting the reference locations, we found that this method is better than the conventional IDW method and comparable to the recently popular Kriging interpolation algorithm in an indoor environment by employing the state-of-the-art WKNN positioning algorithm.

关键词： interpolation algorithm indoor environment unknown indoor environment Interpolation Arithmetic data base construction Unknown Mobile robots reference locations Wi-Fi

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Simulation Modeling of Adaptive Dumping Forced Oscillations Combined control system

Simulation Modeling of Adaptive Dumping Forced Oscillations ...

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International Siberian Conference on control and Communications

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

Article deals with research problem of control system for damping object oscillations using active hydro bearing functioning. With the simulation the behavior of the system in the presence of various external harmonic... 详细信息

ISBN: (纸本)9781467383844

关键词： adaptive control active hydro bearing: serial dynamic corrector hyperstability criterion piezoelectric sensor simulation modeling

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Trajectory Tracking for a Quadrotor system: A Flatness-based Nonlinear Predictive control Approach

Trajectory Tracking for a Quadrotor System: A Flatness-based...

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IEEE Multi-Conference on systems and control

作者： Jose Oniram de A. Limaverde Filho Tiago S. Lourenco Eugenio Fortaleza Andre Murilo Renato V. Lopes Automation and Control Group (GRACO) Department of Mechanical Engineering University of Brasilia Department of Mechanical Engineering University of Brasilia Department of Automotive Engineering University of Brasilia Department of Electronic Engineering University of Brasilia

ISBN: (纸本)9781509007561

This paper proposes a flatness-based nonlinear predictive control strategy to solve the trajectory tracking problem for an underactuated quadrotor system model. It is shown that the present nonlinear model can be transformed to a controllable linear system on Brunovskys canonical form by using the differential flatness theory. Thus, a model predictive controller (MPC) is designed for the linear equivalent system to carry out trajectory tracking tasks. Since certain variables of the corresponding transformed system can not be measured directly, a state estimation is performed by a derivative-free Kalman filtering approach. The efficiency of the proposed control scheme is demonstrated through numerical simulations.

关键词： trajectory tracking Nonlinear predictive control Linear system Nonlinear Models Kalman filtering State estimation tracking problem

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Adaptive-Periodic control for Nonlinear Dynamic Object with Delays on State Set of Functioning

Adaptive-Periodic Control for Nonlinear Dynamic Object with ...

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International Siberian Conference on control and Communications

For a priori undetermined nonlinear multi-mode dynamic object with several statement delays and the relative order greater than one, it offers a combined adaptive control system, synthesized using the hyperstability c... 详细信息

ISBN: (纸本)9781467383844

关键词： component control system combined regulator periodic signals generator dynamic corrector hyperstability criterion L-dissipativity delay

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Filtering and fusion of consensus-based multi-agent systems with imperfect constraints

Filtering and fusion of consensus-based multi-agent systems ...

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World Congress on Intelligent control and automation (WCICA)

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

ISBN: (纸本)9781467384155

In state estimation (filtering) applications, state vector of a target always includes some a priori constraints, and utilizing such constraints will help obtain a more precise estimation. While in some cases, a significant issue lies in that when such constraints are not perfect, how we exploit them and improve the performance of estimation. Information contains “imperfection” sometimes because our knowledge of the real world is not absolutely right. This essay proposes a deep research on multi-agent systems with imperfect constraints and highly artificial intelligence: firstly, by using the projection method, results of traditional Kalman Filtering are projected onto the constrain subspace; secondly, based on consensus, this essay has thoroughly introduced the local information exchange and fusion strategy; and thirdly, simulations on target tracking have proved the feasibility and precision of the algorithms mentioned within this essay.

关键词： Decision support systems Intelligent control automation Next generation networking DVD

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Combined adaptive control system for nonlinear object with delay and self-tuning dynamic correction unit

Combined adaptive control system for nonlinear object with d...

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Dynamics of systems, Mechanisms and Machines (Dynamics)

This article considers the problem of constructing an adaptive control system for nonlinear priori uncertain dynamic object with statement delay and relative order greater than one. As methods of solving the hyperstab... 详细信息

ISBN: (纸本)9781509040513

关键词： control systems Heuristic algorithms Adaptive control Nonlinear dynamical systems Transfer functions Integrated circuit modeling Delays

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Magnetic and force performance analysis of tubular linear motor with two halbach topologies

Magnetic and force performance analysis of tubular linear mo...

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Chinese control and Decision Conference, CCDC

作者： Fengqi Liang Hui Cong Zhigang Ji Yijing Zhao Control & Measurement Technology Department Chinese Academy of Aerospace Aerodynamics Beijing Automation Science and Electronic Engineering Department Beihang University Beijing

ISBN: (纸本)9781467397155

Halbach array has been widely applied to improve the magnetic and force performance of tubular linear motors for its attractive features. Conventionally, the Halbach permanent magnet (PM) array is mounted inside the windings to be the mover. Herein, the other kind of structure in which Halbach array is mounted outside the windings also draws our interest. The magnetic and force performances of the two kinds of motors are analyzed with Bessel functions and Lorenz Law. The analytical models of the magnetic field and the output force are then validated by the numerical simulations, respectively. Optimization analysis with a penalty function method is conducted as follows, and the magnetic and force performance of the two topologies are compared. The result of this paper can provide a basis for the generic motor designs.

关键词： Topology Magnetic flux Force Magnetic fields Windings Magnetic confinement Magnetic analysis

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Performance limits analysis of linear predictive control systems with input saturation 35

Performance limits analysis of linear predictive control sys...

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35th Chinese control Conference, CCC 2016

作者： Cai, Xin Ding, Yongsheng Hao, Kuangrong Li, Shaoyuan Engineering Research Center of Digitized Textile and Apparel Technology Ministry of Education College of Information Science and Technology Donghua University Shanghai201620 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

ISBN: (纸本)9789881563910

This paper proposes a novel method to analyze performance features of linear model predictive control (MPC) systems with input saturation. The performance of MPC is compared with that of saturated control to find out how well MPC can perform under input saturation case. By exploring the properties of Riccati difference equation (RDE) and geometric structure of linear MPC, upper and lower bounds of the ratio between performance of MPC and saturated control are obtained. The establishment of such relationship provides a feasible approach to quantify the performance enhancement by introducing receding horizon optimization method into input saturated systems. © 2016 TCCT.

关键词： Model Predictive control Finite Horizon Optimal control Riccati Difference Equation Saturated control

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