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第36届中国控制会议

作者： ZHANG Jianlei ZHU Yuying CHEN Zengqiang CAO Ming Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781538629185

The collective cooperation dilemma,where players are involved in a public goods game and must decide whether to make an individual contribution or not,has gained increasing attention from game theorists and control *** from the traditional definition,defectors here will face the payoff restriction after adopting the strategy of free riding others' ***,we introduce payoff ceilings applied to the gained benefits of the defectors,which leads to an extensive public goods game *** the number of cooperators is lower than the threshold value,the current model can be transferred to the setups of the general public goods *** further increasing the number of cooperators will bring the restricted payoffs for *** results suggest that the payoff ceilings provide us with more insight into the resolution of cooperative ***,together with other parameters(e.g.,the amplification factor and the size of gaming population) of the introduced model,lower values of the payoff ceilings can better facilitate the domination of cooperation strategy at the steady state.

关键词： Evolutionary game theory Replicator dynamics Public goods games

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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On Trajectory Tracking for an Under-actuated Helicopter 35

On Trajectory Tracking for an Under-actuated Helicopter

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第35届中国控制会议

作者： LI Junfang LI Yi Gao Qiang SUN Mingwei CHEN Zengqiang Tianjin Key Laboratory of Intelligent Robotics Nankai University Dept of Automation College of Computer and Control Engineering Nankai University Dept of Automation College of Automation Tianjin University of Technology

ISBN: (纸本)9781509009107

This paper tackles the problem of the attitude tracking control for the 3-DOF helicopter. A robust tracking control scheme is proposed based on active disturbance rejection control(ADRC). Aiming at the 3-DOF helicopter manufactured by Quanser Inc, a high order nonlinear ESO is designed to implement the real-time estimation and online compensation of the external disturbance. Simulation results show high performance and good robustness in the presence of the external disturbance.

关键词： helicopter active disturbance rejection controller high order ESO trajectory tracking control

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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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Modeling and Reachability Analysis of A Class of Petri Nets via Semi-tensor Product of Matrices 34

Modeling and Reachability Analysis of A Class of Petri Nets ...

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第三十四届中国控制会议

作者： HAN Xiaoguang CHEN Zengqiang ZHANG Kuize LIU Zhongxin ZHANG Qing College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China College of Automation Harbin Engineering University

ISBN: (纸本)9781467374439

This paper investigates the matrix expression of state equation and reachability of a class of Petri nets(PNs) by using the semi-tensor product of matrices(STP). First, we get the formula for the number of states of the PNs based on the combinatorial mathematics method. The states and transitions of the PNs are expressed as vector forms, respectively, then the state equation of the PNs is established by using STP. Second, the transition-state adjacency matrix(TSAM) of the PNs is proposed, several necessary and sufficient conditions are obtained for the reachability of the PNs by using this state equation and TSAM. An algorithm is also designed to find all the firing sequences of any two reachable states. Finally, an example is presented to illustrate the theoretical results in this paper and shows that the new results are very effective in investigating the reachability of the PNs.

关键词： Petri nets,Semi-tensor product,Reachability,Transition-state transfer matrix,Transition-state adjacency matrix

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Decision making in multi-agent systems based on the evolutionary game with switching probabilities

Decision making in multi-agent systems based on the evolutio...

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Chinese Intelligent Systems Conference, CISC 2017

作者： Xu, Zimin Zhang, Jianlei Li, Qiaoyu Chen, Zengqiang Department of Automation College of Computer and Control Engineering Nankai University Tianjin300071 China

ISBN: (纸本)9789811064951

Much attention has been paid on exploring the solutions for cooperative dilemma in multi-agent systems. Thereinto, the evolutionary game theory which describes cooperative dilemma is seen as an effective approach. Notably, many of previous works are based on the ideal hypothesis that individuals can feasibly obtain their neighbours’ payoffs to update strategies. Considering the difficulty of getting the exact information about payoffs, we propose the switching probabilities between strategies which do not require the payoffs. Here the evolutionary dynamics driven by the switching probabilities in a three-strategy game model is established. Results show that the steady state of the gaming system is closely related with the switching probability matrix. These findings give a novel account about the decision making process in the gaming systems, when a strategy updating rule weakening the ideal assumption about payoffs is established. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Parafoil Trajectory Tracking control Based on Interval Type-2 Fuzzy Active Disturbance Rejection control 35

Parafoil Trajectory Tracking Control Based on Interval Type-...

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第35届中国控制会议

作者： Li Yongxin ZOU Kuansheng ZHANG Yunxi College of Computer and Control Engineering Nankai University School of Electrical Engineering and Automation Jiangsu Normal University School of Automation and Electrical Engineering Tianjin University of Technology and Education

ISBN: (纸本)9781509009107

It was a key technology in a disaster or an emergency situation,that the rescue material was air-dropped to a set point exactly with parafoil,the trajectory tracking is the primary issue of the air-dropped *** this background,a parafoil trajectory tracking control method was proposed by using the fuzzy Active Disturbance Rejection control(ADRC) based on the interval type-2 fuzzy logic,which was according to the parafoil dynamical model with six degrees-of-freedom and combined with the cross track *** inputs of the fuzzy ADRC controller were the cross track error and the variation of the *** outputs were the control parameters of the ADRC *** control parameters of the ADRC can be adaptively selected based on our presented method;it greatly reduced the complexity of the control parameters *** experiments verified that the tracking performance of the proposed method is better than that of the ADRC.

关键词： Active Disturbance Rejection control Trajectory Tracking Interval Type-2 Fuzzy Logic

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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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A continuous second-order sliding mode guidance against highly maneuverable targets 54

A continuous second-order sliding mode guidance against high...

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54th Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2015

作者： Yongkun, Wang Zhongxin, Liu Mingwei, Sun Zengqiang, Chen Department of Automation Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China

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. © 2015 The Society of Instrument and control Engineers-SICE.

关键词： Lyapunov methods

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Neurological functional evaluation based on accurate motions in big animals with traumatic brain injury

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Neural Regeneration Research 2019年第6期14卷 991-996页

作者： Ji-Peng Jiang Xue-Gang Niu Chen Dai Ke Ma Hui-You Xu Shi-Xiang Cheng Zhi-Wen Zhang Feng Duan Xu Zhu Yu-Ting Wang Xu-Yi Chen Sai Zhang Center for Neurology and Neurosurgery Medical Center of People's Armed Policed ForceKey Laboratory of Neurotrauma Repair of Tianjin Department of Neurosurgery Tianjin Fourth Central Hospital Department of Automation College of Computer and Control EngineeringNankai University Graduate School Tianjin Medical University

An accurate and effective neurological evaluation is indispensable in the treatment and rehabilitation of traumatic brain injury. However,most of the existing evaluation methods in basic research and clinical practice are not objective or intuitive for assessing the neurological function of big animals, and are also difficult to use to qualify the extent of damage and recovery. In the present study, we established a big animal model of traumatic brain injury by impacting the cortical motor region of beagles. At 2 weeks after successful modeling, we detected neurological deficiencies in the animal model using a series of techniques, including three-dimensional motion capture, electromyogram and ground reaction force. These novel technologies may play an increasingly important role in the field of traumatic brain injury diagnosis and rehabilitation in the future. The experimental protocol was approved by the Animal Care and Use Committee of Logistics university of People's Armed Police Force(approval No. 2017-0006.2).

关键词： nerve regeneration evaluation method neurological deficiency traumatic brain injury motion capture electromyogram ground reaction force neural regeneration

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