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Observer-free output feedback adaptive control for multivehicle systems with exogenous disturbances

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Observer-free output feedback adaptive control for multivehi...

AIAA Guidance, Navigation, and control Conference, 2018

作者： Albattat, Ali Yucelen, Tansel Gruenwald, Benjamin C. Sarangapani, Jagannathan Department of Mechanical and Aerospace Engineering Missouri University of Science and Technology RollaMO65409 United States Department of Mechanical Engineering Laboratory for Autonomy Control Information and Systems University of South Florida TampaFL33620 United States Department of Electrical and Computer Engineering Missouri University of Science and Technology RollaMO65409 United States

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

A new observer-free output feedback adaptive control, (OF)2AC, method is proposed for continuous-time, minimum phase, and high-order linear multivehicle systems subject to exogenous disturbances (hereinafter referred to as "uncertain multivehicle systems"). In particular, the (OF)2AC is based on a nonminimal state-space realization for each follower vehicle of the multivehicle system, where this realization generates an expanded set of states using the filtered input, filtered output, and their derivatives of the follower vehicles. The (OF)2AC consists of i) a local cooperative controller and ii) a vehicle-level controller for each follower vehicle. Specifically, part i) of the proposed control method addresses the leader-follower containment control problem by receiving the relative output measurements of the neighboring vehicles and its part ii) consists of an augmenting adaptive controller for stabilization and command following in the presence of exogenous disturbances. Two illustrative numerical examples are provided to demonstrate efficacy of the (OF)2AC. © 2018 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Vehicles

Robust MPC for constrained uncertain systems with data-driven improvement

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Robust MPC for constrained uncertain systems with data-drive...

第37届中国控制会议

作者： Lingyi Yang Dewei Li Jianbo Lu Yugeng Xi Bin Li Department of Automation Shanghai Jiaotong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education Department of Automation Sichuan UniversitySchool of Electrical Engineering and Information

The adaptive model predictive control is regarded as an effective control method for unknown constrained ***, the adaptive model predictive control needs model identification. The process of identification demands a certain amount of data and places some requirements on data which makes it difficult to be implemented. To handle it, this paper proposes a novel data-driven approach without model identification. The data of previous time is utilized to describe state space and input space of the uncertain system instead of identifying the true model. Based on the data-driven method, the Quasi-MinMax control strategy is used to design the robust data-driven MPC controller which directly calculates the input from the past data. Combined with the data-driven method, a free control variable is introduced to compensate for the insufficiency of past data. It is shown that adopting the data-driven controller can reduce conservatism by lessening model uncertainty and improve control performance. Meanwhile, the proposed design is proven to be recursively feasible and stabilizing. A numerical example demonstrates the effectiveness and advantages of the proposed control method.

关键词： Adaptive learning control Data-driven approach Model predictive control

Optimal repairing schemes for Reed-Solomon codes with alphabet sizes linear in lengths under the rack-aware model

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arXiv 2019年

作者： Jin, Lingfei Luo, Gaojun Xing, Chaoping Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China Fudan-Zhongan Joint Laboratory of Blockchain and Information Security Shanghai Engineering Research Center of Blockchain Shanghai Institute of Intelligent Electronics and Systems Shanghai Department of Mathematics Nanjing University of Aeronautics and Astronautics Nanjing211100 School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China School of Physical and Mathematical Sciences Nanyang Technological University Singapore Singapore

In modern practical data centers, storage nodes are usually organized into equally sized groups, which is called racks. The cost of cross-rack communication is much more expensive compared with the intra-rack communication cost. The codes for this system are called rack-aware regenerating codes. Similar to standard minimum storage regenerating (MSR) codes, it is a challenging task to construct minimum storage rack-aware regenerating (MSRR) codes achieving the cut-set bound. The known constructions of MSRR codes achieving the cut-set bound give codes with alphabet size q exponential in the code length n, more precisely, q = Ω(exp(nn)). The main contribution of this paper is to provide explicit construction of MSRR codes achieving the cut-set bound with the alphabet size linear in n. To achieve this goal, we first present a general framework to repair Reed-Solomon codes. It turns out that the known repairing schemes of Reed-Solomon codes can be realized under our general framework. Several techniques are used in this paper. In particular, we use the degree decent method to repair failure node. This technique allows us to get Reed-Solomon codes with the alphabet size linear in n. The other techniques include choice of good polynomials. Note that good polynomials are used for construction of locally repairable code in literature. To the best of our knowledge, it is the first time in this paper to make use of good polynomials for constructions of regenerating codes. Keywods: Rack-aware model, Reed-solomon codes, minimum storage regenerating codes. Copyright © 2019, The Authors. All rights reserved.

关键词： Reed-Solomon codes

Propagation of interacting diseases on multilayer networks

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Physical Review E 2018年第1期98卷 012303-012303页

作者： Shenyu Zhou Shuangdie Xu Lin Wang Zhixin Liu Guanrong Chen Xiaofan Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Beijing 100190 China Department of Electronic Engineering City University of Hong Kong Hong Kong China

The study on the dynamics of interacting diseases has attracted considerable attention in recent years. This paper proposes a model for two interacting epidemics spreading concurrently on a two-layer network, where both the epidemic thresholds and the dynamics of disease outbreaks are investigated. The analytical expression of the epidemic threshold shows strong coupling between the two interacting epidemics. Moreover, two metrics, the maximum prevalence and the highest spreading speed, are proposed to describe the outbreak process. Theoretical analysis together with extensive simulations illustrate the functions of various factors, including the network topological parameters, percentage of overlapped network links, vulnerable individuals, and the reciprocity of the two diseases. It is found that the seemingly important factor, i.e., the percentage of overlapped links, possesses no effect on the propagation, while the frequently overlooked factor, i.e., the percentage of vulnerable individuals, has significant effects. For the interaction of the two diseases, the recovery state of one disease is more influential than the other in both the mutually enhanced and the mutually impaired situations.

关键词： Network diffusion Network structure Multilayer & multiplex networks Epidemic spreading SIR model

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arXiv 2020年

作者： Li, Jiashuo Zhou, Sili Wei, Wendong Qi, Jianchuan Li, Yumeng Chen, Bin Zhang, Ning Guan, Dabo Qian, Haoqi Wu, Xiaohui Miao, Jiawen Chen, Long Liang, Sai Feng, Kuishuang Institute of Blue and Green Development Shandong University Weihai264209 State Key Laboratory of Coal Combustion School of Energy and Power Engineering Huazhong University of Science and Technology Wuhan430074 China School of International and Public Affairs Shanghai Jiao Tong University Shanghai200030 China State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Beijing100875 China Laboratory of Anthropogenic Systems Ecology College of Engineering Peking University Beijing100871 China Department of Earth System Science Tsinghua University Beijing100871 China Institute for Global Public Policy Fudan University Shanghai200433 China School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China Key Laboratory of Geographic Information Science Ministry of Education School of Geographic Sciences East China Normal University Shanghai200241 China

China has implemented retrofitting measures in coal-fired power plants (CFPPs) to reduce air pollution through small unit shutdown (SUS), the installation of air pollution control devices (APCDs) and power generation efficiency (PGE) improvement. The reductions in highly toxic Hg emissions and their related health impacts by these measures have not been well studied. To refine mitigation options, we evaluated the health benefits of reduced Hg emissions via retrofitting measures during China's 12th Five-Year Plan by combining plant-level Hg emission inventories with the China Hg Risk Source-Tracking Model. We found that the measures reduced Hg emissions by 23.5 tons (approximately 1/5 of that from CFPPs in 2010), preventing 0.0021 points of per-foetus intelligence quotient (IQ) decrements and 114 deaths from fatal heart attacks. These benefits were dominated by CFPP shutdowns and APCD installations. Provincial health benefits were largely attributable to Hg reductions in other regions. We also demonstrated the necessity of considering human health impacts, rather than just Hg emission reductions, in selecting Hg control devices. This study also suggests that Hg control strategies should consider various factors, such as CFPP locations, population densities and trade-offs between reductions of total Hg (THg) and Hg2+. Copyright © 2020, The Authors. All rights reserved.

关键词： Fossil fuel power plants

Deep joint source-channel coding for wireless image transmission

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arXiv 2018年

作者： Bourtsoulatze, Eirina Burth Kurka, David Gündüz, Deniz Communications and Information Systems Group Department of Electronic and Electrical Engineering University College London London United Kingdom Information Processing and Communications Laboratory Department of Electrical and Electronic Engineering Imperial College London London United Kingdom

We propose a joint source and channel coding (JSCC) technique for wireless image transmission that does not rely on explicit codes for either compression or error correction;instead, it directly maps the image pixel values to the complex-valued channel input symbols. We parameterize the encoder and decoder functions by two convolutional neural networks (CNNs), which are trained jointly, and can be considered as an autoencoder with a non-trainable layer in the middle that represents the noisy communication channel. Our results show that the proposed deep JSCC scheme outperforms digital transmission concatenating JPEG or JPEG2000 compression with a capacity achieving channel code at low signal-to-noise ratio (SNR) and channel bandwidth values in the presence of additive white Gaussian noise (AWGN). More strikingly, deep JSCC does not suffer from the "cliff effect", and it provides a graceful performance degradation as the channel SNR varies with respect to the SNR value assumed during training. In the case of a slow Rayleigh fading channel, deep JSCC learns noise resilient coded representations and significantly outperforms separation-based digital communication at all SNR and channel bandwidth values. Copyright © 2018, The Authors. All rights reserved.

关键词： Deep neural networks

Neural Signatures of Motor Skill in the Resting Brain

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Neural Signatures of Motor Skill in the Resting Brain

IEEE International Conference on systems, Man and Cybernetics

作者： Ozan Özdenizci Timm Meyer Felix Wichmann Jan Peters Bernhard Schölkopf Müjdat Çetin Moritz Grosse-Wentrup Department of Electrical and Computer Engineering Northeastern University Boston MA United States Max Planck Institute for Intelligent Systems Tübingen Germany Faculty of Science University of Tübingen and Bernstein Center for Computational Neuroscience Tübingen Tübingen Germany FG Intelligente Autonome Systeme Technische Universität Darmstadt Darmstadt Germany Signal Processing and Information Systems Laboratory Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

Stroke-induced disturbances of large-scale cortical networks are known to be associated with the extent of motor deficits. We argue that identifying brain networks representative of motor behavior in the resting brain would provide significant insights for current neurorehabilitation approaches. Particularly, we aim to investigate the global configuration of brain rhythms and their relation to motor skill, instead of learning performance as broadly studied. We empirically approach this problem by conducting a three-dimensional physical space visuomotor learning experiment during electroencephalographic (EEG) data recordings with thirty-seven healthy participants. We demonstrate that across-subjects variations in average movement smoothness as the quantified measure of subjects' motor skills can be predicted from the global configuration of resting-state EEG alpha-rhythms (8-14 Hz) recorded prior to the experiment. Importantly, this neural signature of motor skill was found to be orthogonal to (independent of) task-as well as to learning-related changes in alpha-rhythms, which we interpret as an organizing principle of the brain. We argue that disturbances of such configurations in the brain may contribute to motor deficits in stroke, and that reconfiguring stroke patients' brain rhythms by neurofeedback may enhance post-stroke neurorehabilitation.

关键词： Electroencephalography End effectors Task analysis Integrated circuits Stroke (medical condition) Planning Visualization

AIM 2019 challenge on real-world image super-resolution: Methods and results

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arXiv 2019年

作者： Lugmayr, Andreas Danelljan, Martin Timofte, Radu Fritsche, Manuel Gu, Shuhang Purohit, Kuldeep Kandula, Praveen Suin, Maitreya Rajagopalan, A.N. Joon, Nam Hyung Won, Yu Seung Kim, Guisik Kwon, Dokyeong Hsu, Chih-Chung Lin, Chia-Hsiang Huang, Yuanfei Sun, Xiaopeng Lu, Wen Li, Jie Gao, Xinbo Bell-Kligler, Sefi Computer Vision Lab ETH Zurich Indian Institute Of Technology Madras India Image Communication & Signal Processing Laboratory Hanyang University Seoul Korea Republic of CVML Chung-Ang University Department Management Information Systems National Pingtung University of Science and Technology Department of Electrical Engineering National Cheng-Kung University Xidian University Weizmann Institute of Science Israel

This paper reviews the AIM 2019 challenge on real world super-resolution. It focuses on the participating methods and final results. The challenge addresses the real world setting, where paired true high and low-resolution images are unavailable. For training, only one set of source input images is therefore provided in the challenge. In Track 1: Source Domain the aim is to super-resolve such images while preserving the low level image characteristics of the source input domain. In Track 2: Target Domain a set of high-quality images is also provided for training, that defines the output domain and desired quality of the superresolved images. To allow for quantitative evaluation, the source input images in both tracks are constructed using artificial, but realistic, image degradations. The challenge is the first of its kind, aiming to advance the state-of-the-art and provide a standard benchmark for this newly emerging task. In total 7 teams competed in the final testing phase, demonstrating new and innovative solutions to the problem. Copyright © 2019, The Authors. All rights reserved.

关键词： Optical resolving power

Semi-global leader-following output consensus of discrete-time linear multi-agent systems with input saturation

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Semi-global leader-following output consensus of discrete-ti...

2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

作者： Shi, Liangren Li, Yuanlong Lin, Zongli Brown, Charles L. Innovation Center Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Automation Shanghai Jiao Tong University China Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 CharlottesvilleVA22904-4743 United States

ISBN: (纸本)9781538668689

We consider the problem of semi-global leader-following output consensus for a group of agents, consisting of a leader agent and some follower agents, which are described by discrete-time linear systems and connected on a directed network. For each follower agent, a distributed observer is built that estimates the state of the leader. Based on the estimates of the leader state and the solution of a parameterized algebraic Riccati equation, we design low gain consensus protocols that are shown to solve the semi-global output consensus problem as long as the leader agent is reachable globally on the network. Numerical simulation shows the performance of the proposed consensus protocols. © 2018 IEEE.

关键词： Multi agent systems