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Distributed trajectory tracking control for multiple nonholonomic mobile robots

IFAC-PapersOnLine 2016年第4期49卷 31-36页

作者： Yang, Qingkai Fang, Hao Cao, Ming Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Faculty of Mathematics and Natural Sciences University of Groningen Groningen AG9747 Netherlands

In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots' trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system's complexity and broadening the proposed controller's practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems controllers Distributed parameter control systems Mobile robots Navigation Chained form system Distributed control Distributed controller Distributed tracking Non holonomic mobile robots Tracking controls Trajectory tracking control Variable transformation

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Event-based H∞filtering for networked singular systems 35

Event-based H∞filtering for networked singular systems

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35th Chinese control Conference, CCC 2016

作者： Song, Weixu Sun, Jian Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789881563910

In this paper, the problem of H∞filtering for networked singular systems with an event-triggered scheme is investigated. With a modified event generator, remote sensor evaluates the periodically sampled data and only transmits those violate a certain event-triggered condition, and thus reduces the communication burden. The filtering error system is converted into a time-delay system model which can be studied using the Lyapunov stability theory. Based on this model, sufficient criteria are derived to guarantee the filtering error system regular, impulse free and stable with a prescribed H∞performance. The design method of the filter is also considered. Finally, an example is exploited to illustrate the effectiveness of the proposed method. © 2016 TCCT.

关键词： Event-triggered communication H∞ filtering Network-induced delay Singular system

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Framework of future innovative urban transport 19

Framework of future innovative urban transport

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19th IEEE International Conference on intelligent Transportation systems, ITSC 2016

作者： Dong, Xisong Zhou, Jiehan Hu, Bin Riekki, Jukka Xiong, Gang Wang, Feiyue Zhu, Fenghua State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Center for Ubiquitous Computing University of Oulu Oulu Finland State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Cloud Computing Center Chinese Academy of Sciences Dongguan China Qingdao Academy of Intelligent Industries Qingdao China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509018895

Rapidly growing urbanization is putting more pressure on the well-being of citizens and the environment. Applying the latest ICT technology to address urban transport challenges is a key strategy to release the new innovation powerhouse of urbanization. This paper introduces a framework of future Innovative Urban Transport (IUT), to support next generation urban transport, based on IoT, 4G, Big Data, Cloud Computing and other novel ICT technologies. We present the construction of the framework, its reference architecture, and contribution to the environmental and socially important impacts. IUT aims to advance the existing smart city transport, to foster urban innovations that maximize the well-being of citizens while minimizing the negative effects like traffic congestion, air pollution high resource congestion, and traffic accidents. © 2016 IEEE.

关键词： Traffic congestion

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Adaptive Robust Dead-Zone Compensation control of Electro-Hydraulic Servo systems with Load Disturbance Rejection

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Journal of systems Science & complexity 2015年第2期28卷 341-359页

作者： HE Yudong WANG Junzheng HAO Renjian Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

A backstepping method based adaptive robust dead-zone compensation controller is pro- posed for the electro-hydraulic servo systems （EHSSs） with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. The constant part is regarded as a parameter of the system to be estimated real time. The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method, a dead-zone compensator is incor- porated in the EH$S without constructing a dead-zone inverse. Combining backstepping method, an adaptive robust controller （ARC） with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all the uncertain parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.

关键词： Adaptive robust control dead-zone servo systems tuning method. compensation disturbance rejection electro-hydraulic

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12.2: A 3D Display Parallel System: Light Field Re-rendering and Depth Sense Optimization

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SID Symposium Digest of Technical Papers 2018年第S1期49卷

作者： Renjing Pei Kui Ma Feiyue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye's visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer's demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance.

关键词： 3D Display Parallel System Depth Sense Light Field Re-rendering 3D Video Processing One-shot Segmentation

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The paralleleye dataset: Constructing large-scale artificial scenes for traffic vision research

arXiv

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arXiv 2017年

作者： Li, Xuan Wang, Kunfeng Tian, Yonglin Yan, Lan Wang, Fei-Yue School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China Department of Automation University of Science and Technology of China Hefei230027 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Video image datasets are playing an essential role in design and evaluation of traffic vision algorithms. Nevertheless, a longstanding inconvenience concerning image datasets is that manually collecting and annotating large-scale diversified datasets from real scenes is time-consuming and prone to error. For that virtual datasets have begun to function as a proxy of real datasets. In this paper, we propose to construct large-scale artificial scenes for traffic vision research and generate a new virtual dataset called "ParallelEye". First of all, the street map data is used to build 3D scene model of Zhongguancun Area, Beijing. Then, the computer graphics, virtual reality, and rule modeling technologies are utilized to synthesize large-scale, realistic virtual urban traffic scenes, in which the fidelity and geography match the real world well. Furthermore, the Unity3D platform is used to render the artificial scenes and generate accurate ground-truth labels, e.g., semantic/instance segmentation, object bounding box, object tracking, optical flow, and depth. The environmental conditions in artificial scenes can be controlled completely. As a result, we present a viable implementation pipeline for constructing large-scale artificial scenes for traffic vision research. The experimental results demonstrate that this pipeline is able to generate photorealistic virtual datasets with low modeling time and high accuracy labeling. Copyright © 2017, The Authors. All rights reserved.

关键词： Pipelines

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controllability of giant connected components in a directed network

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Physical Review E 2017年第4期95卷 042318-042318页

作者： Xueming Liu Linqiang Pan H. Eugene Stanley Jianxi Gao Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Automation Huazhong University of Science and Technology Wuhan 430074 Hubei China Center for Polymer Studies and Department of Physics Boston University Boston Massachusetts 02215 USA School of Electric and Information Engineering Zhengzhou University of Light Industry Zhengzhou 450002 Henan China Center for Complex Network Research and Department of Physics Northeastern University Boston Massachusetts 02115 USA

When controlling a complex networked system it is not feasible to control the full network because many networks, including biological, technological, and social systems, are massive in size and complexity. But neither is it necessary to control the full network. In complex networks, the giant connected components provide the essential information about the entire system. How to control these giant connected components of a network remains an open question. We derive the mathematical expression of the degree distributions for four types of giant connected components and develop an analytic tool for studying the controllability of these giant connected components. We find that for both Erdős-Rényi (ER) networks and scale-free (SF) networks with p fraction of remaining nodes, the minimum driver node density to control the giant component first increases and then decreases as p increases from zero to one, showing a peak at a critical point p=pm. We find that, for ER networks, the peak value of the driver node density remains the same regardless of its average degree 〈k〉 and that it is determined by pm〈k〉. In addition, we find that for SF networks the minimum driver node densities needed to control the giant components of networks decrease as the degree distribution exponents increase. Comparing the controllability of the giant components of ER networks and SF networks, we find that when the fraction of remaining nodes p is low, the giant in-connected, out-connected, and strong-connected components in ER networks have lower controllability than those in SF networks.

关键词： Network structure

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Optimal Innovation-Based Deception Attack on Remote State Estimation

Optimal Innovation-Based Deception Attack on Remote State Es...

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American control Conference

作者： Shuang Wu Ziyang Guo Dawei Shi Karl Henrik Johansson Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 China ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781509045839

The security issue in cyber-physical systems has attracted growing interests in the last decades. This paper considers how false data injection attack can degrade the estimation quality of a remote state estimation system. In this system, smart sensors measure a dynamic process and send preprocessed data through a communication network to a remote estimator to estimate the process. It is assumed that there are malicious attackers in the communication network, who are able to obtain and falsify all the data sent by the sensors. It is common that the remote estimator is equipped with a residue-based detector to detect potential attacks. We propose a class of deception attack and analyze its feasibility. We show that the proposed attack enables the attacker to inject false data into the remote estimator without being detected. We derive a criterion to judge the optimality of performance of this type of attack in the sense of maximizing the estimation error covariance. Furthermore, we find that a simple linear attack strategy, which flips the sign of intercepted signal, satisfies the optimality criterion. We present numerical examples to illustrate our theoretical results.

关键词： Cyber-physical systems (CPS) deception attack remote state estimation

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Distributed trajectory tracking control for multiple nonholonomic mobile robots

Distributed trajectory tracking control for multiple nonholo...

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关键词： Multi agent systems

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LAR Routing Stability Protocol Based on Mobility Prediction

LAR Routing Stability Protocol Based on Mobility Prediction

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第35届中国控制会议

作者： Tang Chao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.

关键词： Ad Hoc high-relative velocity motion model link lifetime

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