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Distributed subgradient algorithm for multi-agent optimization with directed communication topology

IFAC-PapersOnLine 2015年第28期48卷 863-868页

作者： YIN, Yanhui LIU, Zhongxin CHEN, Zengqiang College of Computer and Control Engineering Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300071 China College of Science Civil Aviation University of China Tianjin300300 China

This paper studies a distributed subgradient algorithm in directed graphs. In contrast to previous work the problem is considered when the weighted adjacency matrices are not doubly stochastic. First the paper shows that an agreement can be reached in general directed graphs, but the global optimal function may not be minimized. Then some knowledge about homogeneous Markov chains is used to analyze the transition matrices and a new update rule is proposed to ensure that the a lgorithm converges to the optimal set for the case when the topology of graphs is fixed and known to all agents. For switching topology the paper establishes the relationship between the optimal results and the limit vector sequence. The paper provides explicit proof for the results and stimulation research validates the effectiveness. © 2015

关键词： Topology Chains Directed graphs Graphic methods Markov processes Multi agent systems Stochastic systems Adjacency matrices Communication topologies Distributed optimization Doubly stochastic Homogeneous markov chains Sub gradient algorithm Switching topology Transition matrices

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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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Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Pose estimation of a rigid body and its supporting moving pl...

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2016 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Yizhai Zhang Kehao Song Jingang Yi Zhansheng Duan Quan Pan Panfeng Huang Research Center of Intelligent Robotics Northwestern Polytechnical University Xi'an Shaanxi China Department of Control and Information Key Laboratory of Information Fusion Technology (LIFT) Xi'an Shaanxi China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ USA Department of Automation Xi'an Jiaotong University Xi'an Shaanxi China

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

关键词： Pose estimation Kinematics Gyroscopes Magnetic sensors Mathematical model

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Combined actuator sensor unit for interaction with honeybees

Combined actuator sensor unit for interaction with honeybees

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IEEE Sensors Applications Symposium, SAS

作者： Karlo Griparic Tomislav Haus Damjan Miklic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

Interacting with a specific animal society by integrating autonomous robot/s into the society, has become a powerful method to influence the behaviour of animals and investigate collective behaviour of both, animal and robot societies. In order to interact with animals, artificial unit/s should be well integrated into their society. In the European project ASSISIbf, a network of static autonomous robots called CASUs (Combined Actuator Sensor Units) for interaction with young honeybees has been designed. In the proposed approach CASUs can affect honeybees using three types of physical stimuli: heat, vibration and light. To provide feedback signals necessary for controlling CASU interaction with honeybees, accurate and reliable measurements of the stimuli are necessary. This paper describes the mechanical and electronic design of CASUs, capable of emitting controllable heat, vibration and light stimulations. Each CASU is equipped with temperature sensors, 3-axis accelerometers, infrared proximity sensors and microcontroller for data processing. Preliminary experimental results with honeybee groups are presented.

关键词： Robot sensing systems Vibrations Temperature measurement Temperature sensors Animals Heating

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Solving type-2 fuzzy relation equations via semi-tensor product of matrices

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control Theory and Technology 2014年第2期12卷 173-186页

作者： Yongyi YAN Zengqiang CHEN Zhongxin LIU College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

The problem of solving type-2 fuzzy relation equations is investigated. In order to apply semi-tensor product of matrices, a new matrix analysis method and tool, to solve type-2 fuzzy relation equations, a type-2 fuzzy relation is decomposed into two parts as principal sub-matrices and secondary sub-matrices; an r-ary symmetrical-valued type-2 fuzzy relation model and its corresponding symmetrical-valued type-2 fuzzy relation equation model are established. Then, two algorithms are developed for solving type-2 fuzzy relation equations, one of which gives a theoretical description for general type-2 fuzzy relation equations; the other one can find all the solutions to the symmetrical-valued ones. The results can improve designing type-2 fuzzy controllers, because it provides knowledge to search the optimal solutions or to find the reason if there is no solution. Finally some numerical examples verify the correctness of the results/algorithms.

关键词： Fuzzy control system Type-2 fuzzy logic system Type-2 fuzzy relation Type-2 fuzzy relation equation Semi- tensor product of matrices

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Task specific cooperative grasp planning for decentralized multi-robot systems

Task specific cooperative grasp planning for decentralized m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rajkumar Muthusamy Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Ville Kyrki The authors are with the Intelligent Robotics Group Aalto University Finland Control Systems Laboratory National Technical University of Athens Zografou Greece

ISBN: (纸本)9781479969241

Grasp planning in multi-robot systems is usually studied in a centralized setting with all robots sharing common knowledge about the overall system. Relaxing this assumption would allow multiple mobile manipulators to cooperate even without strict and precise coordination. Moreover, most typical tasks for cooperative settings, such as transporting heavy objects, require certain forces/torques to be exerted along/around particular directions, for instance, compensating for the weight of the transported object. In this paper, we propose task specific multi-robot grasp planning strategies that allow decentralized planning. Each agent plans its own actions without precise information about the other's plans. The approach is based on analysing a task specific grasp quality metric in a probabilistic context, compensating thus for the incomplete knowledge. Results from simulation experiments demonstrate that task independent planning is clearly inferior when task characteristics are known and thus task specific quality measures should be used. Furthermore, the proposed decentralized planning approaches clearly outperform the baseline and show close to globally optimal performance.

关键词： Planning Robot kinematics Grasping Measurement Force Multi-robot systems

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ADRC Based Attitude control of a Quad-rotor Robot

ADRC Based Attitude Control of a Quad-rotor Robot

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2015年中国智能自动化学术会议

作者： Yi Li Zengqiang Chen Mingwei Sun Zhongxin Liu Qing Zhang Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University College of Science Civil AviationUniversity of China

In this paper,active disturbance rejection control(ADRC) technique is described in *** algorithms for each component are given as *** order to control the attitudes of a quad-rotor robot as we desired,two kinds of continuous ADRC controllers are *** satisfactory real-time control experimental results indicate that the continuous ADRC can not only meet the control accuracy requirement but also can achieve rapid and effective response for the nonlinear coupled ***,the advantages and scopes of application of the two controllers are summarized.

关键词： ADRC Extended state observer Quad-rotor Nonlinear dynamics

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Distributed formation control for a multi-agent system with dynamic role assignment

Distributed formation control for a multi-agent system with ...

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第三十四届中国控制会议

作者： Zhengguang Ma Zhongxin Liu Zengqiang Chen Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781467374439

This paper investigates the dynamic role assignment and collision avoidance for the discrete-time system without global information. Based on the traditional formation control protocol, the formation control algorithm with dynamic role assignment is proposed. To make each agent act efficiently, we give an assignment transformation matrix by solving an optimal problem with distributed auction algorithm. Modified formation control algorithm with derivation of an avoidance function is presented, which can guarantee collision-free movement for each agent. Mathematical theory and simulation verify the effectiveness of the proposed algorithms.

关键词： Multi-agent system,formation,distributed auction algorithm,dynamic role assignment

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Adhesion characteristics analysis of wafer transfer plane based on the acceleration adjustment

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Open Automation and control Systems Journal 2015年第1期7卷 1434-1440页

作者： Shen, Lei Song, Fang Hu, Yigang Chen, Tao Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai201600 China Research Center of Robot and Micro system Soochow University SuZhouJiangsu215006 China

As a key element in the semiconductor industry, efficient and stable transfer of the wafer set the very high re- quest to the wafer transfer manipulator. At present, wafer transfer robot(SCARA-type, R-θ type) widely used in IC manufacturing equipment can only realize translational transmission to wafer, can not realize the posture change. So wafer transfer acceleration can only rely on its own gravity to generate frictional force to achieve, translational transmission greatly limits the transmission efficiency of wafer. In response to this shortage, this paper, starting from analyzing the adhesion mechanism of microstructure array, analyzes the wafer transfer acceleration performance. The result shows that: the maximum acceleration using the way of pose adjustment transfer wafer is up to 7.6m/s2, much larger than the acceleration by the way of horizontal pose transmission. © Shen et al.

关键词： Microstructure

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Sample Efficient Path Integral control under Uncertainty 15

Sample Efficient Path Integral Control under Uncertainty

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Annual Conference on Neural Information Processing Systems

作者： Yunpeng Pan Evangelos A. Theodorou Michail Kontitsis Autonomous Control and Decision Systems Laboratory Institute for Robotics and Intelligent Machines School of Aerospace Engineering Georgia Institute of Technology Atlanta GA 30332

ISBN: (纸本)9781510825024

We present a data-driven optimal control framework that is derived using the path integral (PI) control approach. We find iterative control laws analytically without a priori policy parameterization based on probabilistic representation of the learned dynamics model. The proposed algorithm operates in a forward-backward manner which differentiate it from other PI-related methods that perform forward sampling to find optimal controls. Our method uses significantly less samples to find analytic control laws compared to other approaches within the PI control family that rely on extensive sampling from given dynamics models or trials on physical systems in a model-free fashion. In addition, the learned controllers can be generalized to new tasks without re-sampling based on the compositionality theory for the linearly-solvable optimal control framework. We provide experimental results on three different tasks and comparisons with state-of-the-art model-based methods to demonstrate the efficiency and generalizability of the proposed framework.

关键词： Optimal control PI control Curvilinear integral control law Generalization Uncertainty Frameworks Religious Missions

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