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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Evolutionary Dynamics and Individual Heterogeneity in Multi-agent networking systems 35

Evolutionary Dynamics and Individual Heterogeneity in Multi-...

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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

Autonomous docking experiment in the sea for visual-servo ty...

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SICE Annual Conference

作者： Khin Nwe Lwin Kenta Yonemori Myo Myint Akira Yanou Mamoru Minami Department of Intelligent Robotics and Control Laboratory University of Okayama Okayama Japan

ISBN: (纸本)9781509009374

Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.

关键词： Cameras Three-dimensional displays Solid modeling Visual servoing Vehicles Real-time systems Genetic algorithms

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： State estimation

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Fostering cooperation of selfish agents through public goods in relation to the loners

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Physical Review E 2016年第3期93卷 032320-032320页

作者： Jianlei Zhang Zengqiang Chen Zhongxin Liu Department of Automation College of Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China and Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China

Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public goods game model in which the benefits of cooperation are either discounted or synergistically enhanced at the appearance of multiple cooperators in a group. Moreover, we focus on the three-strategies profile by adding the role of loners, besides the often-used cooperation and defection. Using the replicator dynamic equations, we investigate a range of dynamical portraits that characterizes the properties of the steady state. Analysis results indicate that loners and cooperators both have chances to be the stable equilibrium points in the presence of perturbations, while defectors fail to do so in this three-strategy competition. Moreover, the coexistence state, in which all three strategies exist in equilibrium, can be led by suitable parameters and stabilized for perturbations. These results elucidate the interplay between the characteristics of the public goods game and evolutionary dynamics in well-mixed systems.

关键词： Social system dynamics Social networks Game theory models

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Probabilistic Punishment on Free Riders in Threshold Public Goods Games

Probabilistic Punishment on Free Riders in Threshold Public ...

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第三十四届中国控制会议

作者： ZHANG Chunyan LIU Zhongxin SUN Qinglin CHEN Zengqiang Department of Automation Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University

ISBN: (纸本)9781467374439

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails,can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism.

关键词： Cooperation,Evolutionary Game Theory,Public Goods Game

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Probabilistic punishment on free riders in threshold public goods games 34

Probabilistic punishment on free riders in threshold public ...

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34th Chinese control Conference, CCC 2015

作者： Chunyan, Zhang Zhongxin, Liu Qinglin, Sun Zengqiang, Chen Department of Automation Computer and Control Engineering Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin China

ISBN: (纸本)9789881563897

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails, can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Cooperation Evolutionary Game Theory Public Goods Game

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Pose estimation of a rigid body and its supporting moving pl...

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2016 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Yizhai Zhang Kehao Song Jingang Yi Zhansheng Duan Quan Pan Panfeng Huang Research Center of Intelligent Robotics Northwestern Polytechnical University Xi'an Shaanxi China Department of Control and Information Key Laboratory of Information Fusion Technology (LIFT) Xi'an Shaanxi China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ USA Department of Automation Xi'an Jiaotong University Xi'an Shaanxi China

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

关键词： Pose estimation Kinematics Gyroscopes Magnetic sensors Mathematical model

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