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Gain-scheduling Distributed MPC for Polytopic Uncertain systems subject to Actuator Saturation

IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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Distributed Leader-following Swarm of Heterogeneous Multi-agent systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. 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 Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever 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.

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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Swarm Stability of Heterogeneous Multi-agent systems via Periodically Intermittent control

Swarm Stability of Heterogeneous Multi-agent Systems via Per...

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第三十二届中国控制会议

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z. Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9789881563835

This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.

关键词： Multi-agent systems, Heterogeneous systems, Intermittent control, Swarm

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Vibration control of Active Electromagnetic Levitation system with Three-Dimensional Position Estimation by Current and Magnetic Flux

Vibration Control of Active Electromagnetic Levitation Syste...

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International Conference on control, automation and systems

作者： Yoshimitsu Kobayashi Yoko Terai Minoru Sasaki Department of Electronic Control Engineering Gifu National College of Technology Gifu 501-0495 Japan Course of Electronic System Engineering Gifu National College of Technology Gifu 501-0495 Japan Department of Mechanical Engineering Gifu University Gifu 501-1193 Japan

ISBN: (纸本)9781479905492

This paper describes the three-dimensional motion control of a magnetic levitated object in an active electromagnetic levitation conveyance system. Generally, the magnetic levitation conveyance system is useful when we convey products without qualitative degradation due to contact. However it is necessary to control the three-dimensional motion of the levitated object and it is difficult to measure the position. Therefore we propose how to estimate three-dimensional position without a position sensor. Four Hall elements are installed on the bottom of the electromagnet instead of the position sensor. A state observer estimates the three-dimensional position of the levitated object from the four Hall voltages and the current and the input voltage to the electromagnet. The three-dimensional motion controller uses a state-feedback control based on the estimated position. This controller has a large stability margin in order to compensate the modeliza-tion error. The validity of the proposed method is confirmed by experiment results.

关键词： Electromagnetic Levitation Position Estimation Vibration control Hall Element Observer

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Global Leader-Following Consensus of a Group of Multiple Integrator Agents Using Bounded controls

Global Leader-Following Consensus of a Group of Multiple Int...

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第三十二届中国控制会议

作者： Zhiyun Zhao Zongli Lin Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479900305

This paper studies the global leader-following consensus problem for a multi-agent system using bounded controls. Both the agents and the leader are described by a chain of integrators of arbitrary length. A saturated linear feedback control law is constructed for each system in the group. These feedback laws use a multi-hop relay protocol, in which each agent obtains the information of other agents through multi-hop paths in the communication network, and the feedback gains are constructed from the adjacency matrix of the communication network. It is shown that global leader-following consensus is achieved under the feedback control laws we have constructed when the communication topology among follower agents is a strongly connected and detailed balanced directed graph and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.

关键词： Multi-agent systems, leader-following consensus, bounded control, actuator saturation

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control of thermodynamical system with input-dependent state delays

Control of thermodynamical system with input-dependent state...

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IEEE Annual Conference on Decision and control

作者： Jan Bendtsen Miroslav Krstic Department of Electronic Systems Automation and Control Aalborg University 9210 Aalborg Denmark Department of Mechanical and Aerospace Engineering University of California San Diego La Jolla CA 92093-0411 USA

ISBN: (纸本)9781467357159

We consider control of a cooling system with several consumers that require cooling from a common source. The flow feeding coolant to the consumers can be controlled, but due to significant physical distances between the common source and the consumers, the coolant flow takes a non-negligible amount of time to travel to the consumers, giving rise to input-dependent state delays. We first present a simple bilinear model of the system, followed by a state feedback control design that is able to stabilize the system at a chosen equilibrium in spite of the delays. We also present a heuristic, performance-oriented improvement to the design. The strategy is illustrated with some simulation examples.

关键词： state feedback control Standing Orders systems input delay coolants

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Application of denoising algorithm based on LPSO-WNN in speech recognition

Application of denoising algorithm based on LPSO-WNN in spee...

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2013 International Conference on Communications, Circuits and systems, ICCCAS 2013

作者： Zhou, Longfu Hu, Yonghe Xiahou, Shiyi Zhang, Wei Zhang, Chaoqun Li, Zheng Hao, Dapeng Department of Medical Engineer General Hospital of Chengdu No.270 Rongdu Road Chengdu 610083 Sichuan China Center for Disease Control and Prevention of Chengdu Command No.118 Daguan Road Kunming 650032 China School of Automation Engineering University of Electronic Science and Technology of China No.2006 Xiyuan Road Chengdu 611731 Sichuan China

ISBN: (纸本)9781479930517

This paper introduces an intelligent evaluation method based on improved PSO-WNN (partiele swarm optimization-wavelet neural network) for speech denoising in high background noise. Firstly, by using Lyapunov stability theory, the convergence conditions for single particle in PSO algorithm are discussed and a new strategy based on the result is introduced to improve the performance of PSO algorithm. Then, LPSO-WNN is introduced, in which the improved PSO algorithm is used to optimize the parameters of WNN. Finally, the trained LPSO-WNN is used to identify and recognition the speech signal in high background noise. Experimental results show that the new method is high efficient and practicable for filtering the high background noise and recognition the speech signal. © 2013 IEEE.

关键词： Speech recognition

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An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

An improved parameterized approach for real time optimal mot...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Wenhao Luo Jun Peng Jing Wang Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method.

关键词： Trajectory Planning Vehicle dynamics Dynamics Collision avoidance Kinematics Optimization

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AN improved Ant Colony Optimization Algorithm for QoS-Aware Dynamic Web Service Composition

AN improved Ant Colony Optimization Algorithm for QoS-Aware ...

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International Conference on Industrial control and electronics engineering (ICICEE)

作者： Zhao Shanshan Ma Lin Wang Lei Wen Zepeng Department of Automation USTC Key laboratory of network communication system and control Anhui Department of Electronic Engineering & Information Science USTC Key laboratory of network communication system and control Anhui

ISBN: (纸本)9780769547923

A lot of work have been carried out to find the efficient algorithms for QoS-aware dynamic web service composition. The multi-objective multi-choice problem as an evolutive multi-dimension multi-objective 0-1 knapsack problem (MMKP) can be reduced into the web service composition with multiple QoS constraints, while many approaches based on ant colony optimization (AOC) have been introduced in order for solving MMKP. This paper presents a novel QoS-aware dynamic web service composition optimization algorithm with improved AOC. The essence of the algorithm is that the problem of dynamic web service selection with QoS global optimality is transformed into a multi-objective multi-choice QoS-aware web services composition optimization (an evolutive MMKP), for the final purpose of our algorithm is to achieve Pareto Optimality.

关键词： Multi-objective multi-choice problem AOC QoS service composition

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Block-based compressive low-light-level imaging

Block-based compressive low-light-level imaging

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Jun Ke Ping Wei Xin Zhang Edmund Y. Lam Key Laboratory of Photo-electronic Imaging Technology and System Beijing Institute of Technology Beijing China Chinese Academy of Sciences Institute of Automation Beijing China Electrical and Electronic Engineering Department University of Hong Kong Pokfulam Hong Kong China

In this paper, block-based compressive low-light-level imaging (BCL-imaging) is studied. To obtain larger measurement SNR (signal to noise ratio), instead of object pixels, linear combinations of pixels, referred to as features, are collected. PCA and Hadamard features are studied. Measurement SNR and reconstruction error are analyzed to quantify BCL-imaging performance. Compared with conventional imaging, BCL-imaging presents better reconstruction quality. Between PCA and Hadamard projections, PCA has smaller reconstruction error. However, after sorting the projection vectors using measurement SNR, Hadamard can obtain similarly performance as PCA. Biased vector and dual-measurements are studied with experimental results for the implementation of both projections in the end of this paper.

关键词： Imaging Principal component analysis Vectors Image reconstruction Signal to noise ratio Extraterrestrial measurements

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