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Consensus control of Second-Order Stochastic Delayed Multi-Agent systems with Intrinsic Dynamics and Undirected Topologies

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IFAC-PapersOnLine 2017年第1期50卷 2421-2426页

作者： Zong X. Li T. Zhang J.-F. School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan 430074 China Department of Mathematics East China Normal University Shanghai 200241 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China

In this paper, we address the consensus control of stochastic multi-agent systems with intrinsic dynamics based on measurements with time-delay and multiplicative noises under undirected graphs. By developing degenerate Lyapunov functional and stochastic stability theorem, we establish mean square and almost sure consensus conditions explicitly related to the nonlinearity of agent dynamics, control gains, noise intensities and parameters of network graphs. Especially, for the case with linear dynamics, we get necessary conditions for mean square consensus. It is shown that with respect to the weighted-average type control protocols, second-order multi-agent systems are kept mean square consentable with multiplicative measurement noises alone or intrinsic dynamics alone, but may become unconsentable due to the co-existence of multiplicative noises and intrinsic dynamics. © 2017

关键词： consensus intrinsic dynamics multiplicative noise Second-order multi-agent system time-delay

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Proposal of Initiative Service Model for Service Robot

Proposal of Initiative Service Model for Service Robot

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第十二届中国智能机器人大会

作者： Man Hao Weihua Cao Min Wu Zhentao Liu Luefeng Chen Ri Zhang School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Service robots are becoming a part of our *** realize friendly human-robot interaction,an initiative service model for service robot is proposed,which is composed of three layers,i.e.,information acquisition layer,in which communication information and environmental information are collected by sensors;decision layer,in which personal intention and emotional states are obtained by multi-modal emotion recognition and intention understanding,and users' demands are obtained by demand analysis model;initiative service execution layer,in which the task execution and emotion adaption of robot are carried *** service can sense motive of people,by which a humanized and real-time service could be *** service experiments are performed,including passive service and initiative service of *** results show that the drinking time of passive service lags behind the initiative service 30 minutes on average,and the initiative service renders drinking service 2 times more than passive service on average,besides,the water quantity provided by initiative service is more reasonable,which demonstrates the feasibility of the *** prospect,initiative service model could be applied to many occasions in our daily life,e.g.,family service,caring for the elderly,and medical rehabilitation.

关键词： service robots service pattern fuzzy production rules emotion recognition intention understanding

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Maximum power point tracking control of direct-drive permanent magnet wind turbine based on adaptive neuro-fuzzy inference system 5

Maximum power point tracking control of direct-drive permane...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Ding, Min Ou, Yingxiong Hu, Bo She, Jinhua Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China State Grid Energy Research Institute Beijing102200 China School of Engineering Tokyo University of Technology Tokyo192-0982 Japan

The power from wind varies depending on the environmental factors. Because of the randomness and intermittent of wind, it is difficult for the wind energy conversion system to locate and track the maximum power point (MPP) with fast speed and high accuracy under the condition of variable wind speed. In this paper, a variable-speed wind-generator maximum power point tracking (MPPT) control method based on adaptative neuro-fuzzy inference system (ANFIS) is presented. It is designed as a combination of the Sugeno fuzzy model and neural network. The ANFIS based controller predicts the optimum speed with the inputs as the speed change and power change, and controls the speed with PI controllers. The performance of the proposed controller is tested for direct-drive permanent magnet wind turbine based wind energy conversion system under fast wind speed variation in MATLAB/Simulink. The simulation results show that the designed control method has good dynamic characteristics and steady-state accuracy in wind power MPPT and improves the working efficiency.

关键词： Wind turbines

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A Method of Fault Diagnosis Based on DE-DBN

A Method of Fault Diagnosis Based on DE-DBN

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2017中国智能自动化会议(CIAC 2017)

作者： Yajun Wang Jia Zhang Fang Deng School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control of Complex System

1 Introduction With the development of science and technology,it becomes difficult to deal with modern complex equipment with the traditional methods of fault *** a new kind of multi-layer neural network learning algo... 详细信息

关键词： A Method of Fault Diagnosis Based on DE-DBN

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Suppressing the pressure fluctuations caused by drill string vibration by SP-EID method

Suppressing the pressure fluctuations caused by drill string...

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Asian control Conference

作者： Yang Zhou Xin Chen School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781509015740;9781509015733

During drilling process, the axial vibration of the drill string always causes the fluctuations of the bottom hole pressure, which may lead to serious accidents. At the same time the bottom hole pressure control system also has the phenomenon of parameter change and the feedback delay, so that the pressure is difficult to control. In view of this situation, we develop a method combining Smith Predictor with equivalent input disturbance(SP-EID) approach to achieve the disturbance suppression and delay compensation. First, considering the changes in the model parameters, we improve the existing hydraulic model to describe the dynamic characteristics of the bottom hole pressure, at same time the mathematical form of the disturbance is given. Then we use the Smith Predictor to compensate the delay of the feedback channel and apply EID method to suppress pressure disturbances. Finally the SP-EID method is used to adjust the mud flow on the ground to control the bottom hole pressure. The simulations are conducted to compare our method with SMC method, in order to show the superiority and effectiveness of our method.

关键词： Mathematical model Delays Matrix decomposition Vibrations State feedback Symmetric matrices

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Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

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Chinese Journal of Aeronautics 2016年第3期29卷 722-737页

作者： Liu Xiangdong Xin Xing Li Zhen Chen Zhen Sheng Yongzhi School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators, This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the oniline near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

关键词： Actuator saturation Attitude control Identification Momentum transfer Satellites

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Path Planning of Messenger UAV in Air-ground Coordination

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IFAC-PapersOnLine 2017年第1期50卷 8045-8051页

作者： Yulong D. Bin X. Jie C. Hao F. Yangguang Z. Guanqiang G. Lihua D. School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses a UAV path planning problem for a team of cooperating heterogeneous vehicles composed of one unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators while the UAV serves as a messenger to achieve information sharing among the UGVs. The UAV needs to fly over each UGV periodically to collect the information and then transmit the information to the other UGVs. The UAV path planning problem with messenger mechanism is formulated as a Dynamic Dubins Traveling Salesman Problem with Neighborhood (DDTSPN). The goal of this problem is to find the shortest route enabling the UAV to deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is introduced to sequentially determine the access sequence of UGVs for UAV and the access location of UAV in the communication neighborhood of each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on several randomly generated instances. © 2017

关键词： Air-ground coordination DDTSPN Dubins path planning messenger mechanism

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A GA-SVM and D-S evidence theory based method for shunt-fault diagnosis in power systems

A GA-SVM and D-S evidence theory based method for shunt-faul...

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Asian control Conference

作者： Xiaomin Wu Dianhong Wang Weihua Cao Min Ding School of Automation China University of Geosciences Wuhan China Hubei KEY Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781509015740;9781509015733

In this paper, a novel genetic algorithm support vector machine (GA-SVM) and Dempster Shafer (D-S) evidence theory based diagnostic method is proposed to improve the efficiency and accuracy for power system fault diagnosis. The fault diagnosis method proposed consists of two steps, first step is the preliminary diagnosis, the second step is the fault fusion. The preliminary diagnosis with two GA-SVM classifiers decreases the information dimension and improve the efficiency. The fault fusion based on D-S evidence theory reduces the conflict of the preliminary diagnosis faults. The voltage phasor and current phasor information are utilized together in the method, the diagnosis accuracy is improved by weakening the detection uncertainties. The method proposed applied in an actual power system in hubei province in China. The practical results verified the feasibility and effectiveness of the method.

关键词： Support vector machines Genetic algorithms Fault diagnosis Substations Training Uncertainty

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Nesterov Accelerated Gradient Descent-based Convolution Neural Network with Dropout for Facial Expression Recognition

Nesterov Accelerated Gradient Descent-based Convolution Neur...

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Asian control Conference

作者： Wanjuan Su Luefeng Chen Min Wu Mengtian Zhou Zhentao Liu Weihua Cao School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781509015740;9781509015733

Nesterov accelerated gradient descent-based convolution neural network (NAGDCNN) with dropout is proposed for facial expression recognition, which fuses the convolution neural network (CNN) with Softmax regression to construct a deep convolution neural network (DCNN) that can excavate high-level expression features and classify them. The dropout layer is added after the sub-sampling layer which can effectively reduce overfitting and the network's training time, moreover, the Nesterov accelerated gradient descent (NAGD) is used to optimize the network weights that can predictably prevent the algorithm from going too fast or too slow and enhance the response capability of the network. To verify the effectiveness of the proposal, experiments on benchmark database are conducted, and the experimental results show that the proposal outperforms the state-of-the-art methods. Futhermore, the application experiment is also curried out and the results indicate the feasibility of the proposal in practical applications.

关键词： Deep learning Facial expression recognition Nesterov accelerated gradient descent Dropout Principal component analysis

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Token economics in energy systems: Concept, functionality and applications

arXiv

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arXiv 2018年

作者： Zhang, Jun Wang, Fei-Yue Chen, Si-Yuan School of Electrical Engineering Wuhan University Wuhan430072 China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing100190 China Parallel Economic Research Institute Profile of Qingdao Academy of Intelligent Industries Qingdao266071

Traditional centralized energy systems have the disadvantages of difficult management and insufficient incentives. Blockchain is an emerging technology, which can be utilized in energy systems to enhance their management and control. Integrating token economy and blockchain technology, token economic systems in energy possess the characteristics of strong incentives and low cost, facilitating integrating renewable energy and demand side management, and providing guarantees for improving energy efficiency and reducing emission. This article describes the concept and functionality of token economics, and then analyzes the feasibility of applying token economics in the energy systems, and finally discuss the applications of token economics with an example in integrated energy systems. Copyright © 2018, The Authors. All rights reserved.

关键词： Emission control

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