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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Limit-Cycle-Based design of Formation control for Mobile Agents

Limit-Cycle-Based Design of Formation Control for Mobile Age...

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作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

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Formation control for multiple agents with local measurements: Continuous-time and sampled-data-based cases

arXiv

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arXiv 2019年

作者： Wang, Chen Li, Shuai Xia, Weiguo Sun, Jinan Xie, Guangming National Engineering Research Center for Software Engineering Peking University Beijing100871 China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric pattern while keeping a desired distance to a static/moving target. The prescribed formation is a general one which can be any geometric pattern, and the neighboring relationship of the N-agent system only has the requirement of containing a directed spanning tree. To solve the formation control problem, a distributed controller is proposed based on the idea of decoupled design. One merit of the controller is that it only uses each agent's local measurements in its local frame, so that a practical issue that the lack of a global coordinate frame or a common reference direction for real multi-robot systems is successfully solved. Considering another practical issue of real robotic applications that sampled data is desirable instead of continuous-time signals, the sampled-data based controller is developed. Theoretical analysis of the convergence to the desired formation is provided for the multiagent system under both the continuous-time controller with a static/moving target and the sampled-data based one with a static target. Numerical simulations are given to show the effectiveness and performance of the controllers. Copyright © 2019, The Authors. All rights reserved.

关键词： Multi agent systems

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control water level of a photovoltaic pumping system

Control water level of a photovoltaic pumping system

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2013 International Conference on control, Decision and Information Technologies, CoDIT 2013

作者： Khiareddine, Abla Salah, Chokri Ben Mimouni, Mohamed Faouzi ENIM Monastir Tunisia Research Unit on Intelligent Control Optimization Design and Optimization of Complex Systems ENIS Sfax Tunisia

ISBN: (纸本)9781424497966

The purpose of this paper is the regulation of water level in a photovoltaic pumping system. To reach this objective, we have developed an algorithm with Matlab / simulink which gives as result, the value of the reference speed required for vector control of induction motor taking into account the level of water in the tank and the variation of solar illumination. The string of photovoltaic pumping is simulated under matlab-Simulink. © 2013 IEEE.

关键词： Simulink

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Improving mobile robot robustness in visual servoing application

Improving mobile robot robustness in visual servoing applica...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Laroussi Hammouda Hassen Mekki Khaled Kaaniche Mohamed Chtourou Intelligent Control design and Optimization of complex Systems University of Sfax Tunisia National School of Engineering of Sousse University of Sousse Tunisia

ISBN: (纸本)9781467364591

This paper proposes a novel method to improve mobile robot robustness with respect to kinematic modeling errors during visual servoing task. Instead of using first-order error-dynamics, as it is usually done, we use the second-order error-dynamics leading to a new control law. The main aim of this approach is to guarantee a robust visual servoing scheme. In fact, the new control law ensures the convergence of the mobile robot to its desired pose even in the presence of modeling errors. Experimental results are presented to validate our approach and to demonstrate its efficiency.

关键词： Visual servoing Mobile robots Visualization Cameras Robot kinematics

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Path planning for 3D visual servoing: For a wheeled mobile robot

Path planning for 3D visual servoing: For a wheeled mobile r...

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International Conference on Individual and Collective Behaviors in Robotics (ICBR)

作者： Hassen Mekki Manel Letaief Intelligent Control design and Optimization of complex Systems University of Sfax Tunisia National School of Engineering of Sousse University of Sousse Tunisia

In this paper, we are interested in 3D visual servoïng path planning and path tracking. In fact, in the 3D visual servoïng task, there is no control in the image space and the object may get out of the camera field of view during servoing. To solve this problem, we have used a new approach based on a flatness concept. The 3D visual servoïng suffer from another major problem, is to determine the relative pose of the camera and the object. Generally, the pose estimation is made by correspondences between points of one image and points of the space that is the 2D-3D correspondence. In our work we have used a 3D visual sensor called Kinect. To show the efficiency of the proposed algorithm, we have implemented it on a wheeled Koala robot.

关键词： Visualization Cameras Robot vision systems Feature extraction Servomotors Mobile robots

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2D visual servoïng of wheeled mobile robot by neural networs

2D visual servoïng of wheeled mobile robot by neural networ...

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International Conference on Individual and Collective Behaviors in Robotics (ICBR)

作者： Rania Zouaoui Hassen Mekki National School of Engineering of Sousse University of Sousse Tunisia Intelligent Control design and Optimization of complex Systems University of Sfax Tunisia

We are interested in this paper in the 2D visual servoïng for a mobile robot type Koala using radial basis function (RBF) neural network (NN). Seen that the interaction matrix, expressing the relationship between the camera motion and the consequent changes on the visual features, contains parameters to be estimated (depth) and requires a calibration phase of the camera. In more, the model of the robot can contain uncertainties engendered the movement with sliding. An online identification, using NN was proposed to overcome these problems. The RBF NN is used to estimate the block formed by the interaction matrix and the model inverts of the robot. The considered images are described by objects given by four points. Seen that the variables number of the estimated function is important, what can cause a problem of the use of an excessive number of RBFs. As remedy, we used a new approach consists in considering that a single point is sufficient to solve the problem of the 2D visual servoïng of the mobile robot.

关键词： Visualization Artificial neural networks Cameras Robot vision systems Jacobian matrices Gold

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Method of model's parameters classification using neural network for meat characterization

Method of model's parameters classification using neural net...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： M. Guermazi O. Kanoun N. Derbel Chair for Measurement and Sensor Technology Chemnitz University of Technology Reichenhainer Straße 70 09126 Chemnitz GERMANY Intelligent Control design & Optimization of complex Systems (ICOS) University of Sfax Sfax Engineering School Sfax TUNISIA Universite de Sfax Sfax TN Intelligent Control design & Optimization of complex Systems (ICOS) University of Sfax Sfax Engineering School BP W 1173-3038 TUNISIA

ISBN: (纸本)9781467364591

The main objective of this work is to develop the classification application for a new promising method for meat characterization getting information about the state of the vacuum packed meat in supermarket. A supervised training using neural networks and according to the back error propagation method is used. The training ensure a classification with high precision and with ability to answer correctly the inputs then with ability to classify the erroneous inputs which do not exist in the data base, without creating new classes. Method classification consist to classify the model parameters of the physical model of the meat according to a data base including the model's parameters for different beef muscle in different days.

关键词： Biomedical measurement Biology Phase measurement Biomembranes Impedance

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Track following problem of a VCM actuator servo system for hard disc drives using predictive control

Track following problem of a VCM actuator servo system for h...

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9th International Multi-Conference on systems, Signals and Devices, SSD 2012

作者： Meziou, M. Taktak Ghommam, J. Derbel, N. National School of Engineering of Sfax Intelligent Control Design and Optimization of Complex Systems Unit Tunisia

ISBN: (纸本)9781467315906

This paper describes a Predictive control method used for track following control in hard disc drives (HDD). While reading/ writing data, the head must be positioned on the target data track quickly and precisely, and with the predictive control, we have achieved good tracking with the suppression of vibrations from high-order resonance modes. Simulation results show the effectiveness of the proposed approach and the servo system with predictive control presents good performances. © 2012 IEEE.

关键词： Servomechanisms

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Training a neural observer using a hybrid approach

Training a neural observer using a hybrid approach

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9th International Multi-Conference on systems, Signals and Devices, SSD 2012

作者： Loukil, Rania Chtourou, Mohamed Damak, Tarak Intelligent Control Design and Optimization of Complex Systems National Engineering School of Sfax Sfax Tunisia Automatic Control Unit National Engineering School of Sfax Sfax Tunisia

ISBN: (纸本)9781467315906

In this work, we use the approach based on observers such as the neural observer in order to introduce the diagnosis of nonlinear systems. There are different techniques for training the neural networks. Among these techniques, we quote the backpropagation technique, the backpropagation technique with momentum and the hybrid one which is a mixture between the backpropagation technique and the sliding variable structure. The robustness of this kind of training for neural observer is tested through a physical example. The obtained results show that the third type of training is better than using a classic kind of training especially concerning the rapidity of convergence. © 2012 IEEE.

关键词： Backpropagation

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