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ROBUST H∞ control FOR NETWORKED SYSTEMS WITH PARAMETER UNCERTAINTIES AND MULTIPLE STOCHASTIC SENSORS AND ACTUATORS FAULTS

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND control 2012年第4期8卷 2693-2704页

作者： Hu, Songlin Yue, Dong Liu, Jinliang Du, Zhaoping Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Minist Educ Image Proc & Intelligent Control Wuhan 430074 Peoples R China Nanjing Univ Finance & Econ Dept Appl Math Nanjing 210046 Jiangsu Peoples R China Jiangsu Univ Sci & Technol Coll Elect & Informat Zhenjiang 212003 Peoples R China

In this paper, the reliable robust H control problem is investigated for a class of uncertain discrete-time networked systems with network-induced delays and simultaneous consideration of multiple sensors and actuators failures. The failure rate for each individual sensor/actuator is described by an individual random variable satisfying a certain probabilistic distribution in the interval [0,theta] (theta >= 1). Attention is focused on the analysis and design of a reliable controller such that the closed loop control system is stable in the mean-square sense and preserves a guaranteed H-infinity performance index in the presence of network-induced delays, stochastic faults of multiple sensors and actuators. A sufficient condition is obtained for the existence of admissible controller by using Lyapunov functional method, and the cone complementarity linearization algorithm is employed to cast the controller design problem into a sequential minimization one subject to linear matrix inequalities. Moreover, the control design method is further extended to more general cases, where the system matrices of the considered plant contain parameter uncertainties, represented in either norm-bounded or polytopic frameworks. Finally, a simulation example is provided to illustrate the effectiveness of the proposed method.

关键词： Networked systems Stochastic sensor faults Stochastic actuator faults Reliable control Mean square stability Linear matrix inequality (LMI)

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A Novel Migrant PSO Algorithm for Vehicle Reentry Trajectory Optimization

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JOURNAL OF COMPUTATIONAL AND THEORETICAL NANOSCIENCE 2012年第2期9卷 276-285页

作者： Xie, Fu-Qiang Wang, Yong-Ji Hu, Cheng-Yu Zheng, Zong-Zhun Zu, Quan-Min Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Minist Educ Image Proc & Intelligent Control Wuhan 430074 Peoples R China Univ Souch China Sch Elect Engn Hengyang 421300 Peoples R China Univ W England Bristol Inst Technol Bristol BS16 1QY Avon England

In this study a novel Migrant Particle Swarm Optimization (Migrant PSO) algorithm is presented to upgrade the performance in multi-constraint trajectory optimization. To imitate the behaviour of a flock of migrant birds, the Migrant PSO algorithm integrates stochastic search and adaptive linear search mechanism effectively within both continuous space and discrete space. Then the developed algorithm is applied to the minimum control energy reentry trajectory optimization for X-33 vehicle model with free terminal time, some key issues such as parameterized method are discussed in detail. The effectiveness and efficiency of the proposed method are demonstrated by the comparison between the simulation result of the Migrant PSO algorithm and that of the Sequential quadratic programming (SQP) method.

关键词： Reentry Trajectory Optimization Migrant PSO Optimal control Multi-Constraints SQP

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Modeling and control of McKibben artificial muscle enhanced with echo state networks

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control ENGINEERING PRACTICE 2012年第5期20卷 477-488页

作者： Xing, Kexin Wang, Yongji Zhu, Quanmin Zhou, Hanying Zhejiang Univ Technol Coll Informat Engn Hangzhou 310032 Zhejiang Peoples R China Huazhong Univ Sci & Technol Dept Control Sci & Technol Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Univ W England Dept Engn Design & Math Bristol BS16 1QY Avon England

There has been a challenging work for using conventional techniques to model and control pneumatic artificial muscle (PM) due to poor knowledge and uncertainty of the process and/or complexity of the resulting mathematical model. Trying to deal with these problems, this study proposes a novel framework-Echo State Network (ESN) as a basis to implement the tasks in the PM's modeling and control. To describe the system dynamics and the external disturbance changes with time, the online ESN adaptation scheme is presented based on the recursive least squares (RLS) algorithm. Both simulation and experimental results show that the proposed procedure has better dynamic performance and strong robustness over the other typical/classical approaches. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Pneumatic muscle (PM) Echo state network Modeling Adaptive control RLS algorithm

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P systems with proteins working in the minimally parallel mode

P systems with proteins working in the minimally parallel mo...

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作者： Lu, Chun Chen, Xiao-Jie Shi, Xiao-Long Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9783642277078

Membrane systems are distributed and parallel computing devices inspired from the structure and the functioning of living cells, called P systems. Most variant of P systems have been proved to be universal in the model of maximally parallel mode. But this hypothesis does not have biologically realistic support. In order to construct a more "realistic" system, we introduce the minimal parallelism into the protein P systems. Minimal parallelism is a way the rules of a P system used: from each set of applicable rules associated to the same membrane, at least one must be applied. We investigate the computing power of P systems with proteins on membranes working in the minimal parallelism mode. Such systems are shown to be computationally complete even with only three membranes and one protein on each membrane. © 2012 Springer-Verlag GmbH Berlin Heidelberg.

关键词： Membranes

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Comparison of noninvasive and remote temperature estimation employing magnetic nanoparticles in DC and AC applied fields

Comparison of noninvasive and remote temperature estimation ...

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IEEE Instrumentation and Measurement Technology Conference

作者： Yin Li Wenzhong Liu Jing Zhong Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

This paper examines the advantages and disadvantages of noninvasive and remote temperature estimation employing magnetic nanoparticles (MNPs) in DC and AC applied fields. A Langevin function that describes the magnetization of the MNPs in different applied magnetic fields is investigated to obtain a noninvasive and remote measurement of on-site temperature using MNPs. Several nonlinear functions, in which temperature and concentration are independent variances, are found by discretizing the Langevin function model of the magnetization of MNPs. Then, the temperature estimation range from 310 K to 350 K is transformed to the solution of the nonlinear function using the temperature independence of the saturation magnetization of the MNPs.

关键词： Temperature measurement Estimation Nanoparticles Mathematical model Saturation magnetization Magnetic resonance imaging Magnetization

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Adaptive Second-order Consensus of Multi-agent Systems With Nonlinear Dynamics and Time-varying Delays

Adaptive Second-order Consensus of Multi-agent Systems With ...

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31st Chinese control Conference

作者： Liu Bo Wang Xiaoling Zhang Jie Su Housheng North China Univ Technol Coll Sci Beijing 100144 Peoples R China Huazhong Univ Sci & Technol Educ Minist China Key Lab Image Proc & Intelligent Control Dept Control Sci & Engn Wuhan 430074 Peoples R China

ISBN: (纸本)9789881563811

We investigate second-order consensus of multi-agent systems with undirected topology and two kinds of time-varying delays. By introducing adaptive strategies to both the coupling strengths and the feedback gains of the position and velocity, we propose a decentralized adaptive consensus algorithm for multi-agent systems. For the derivable and bounded time-varying delays, we have proved that the position and the velocity of each agent can converge to those of the virtual leader even through only one agent is informed if the network is connected. Finally, we give some numerical simulations to verify the theoretical results.

关键词： Adaptive control Second-order consensus Pinning control Time-varying Delays Virtual leader

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Object recognition using polar Zernike moments for micromanipulation

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Journal of Computational Information Systems 2012年第13期8卷 5303-5310页

作者： Liu, Chang Huang, Xinhan Wang, Min Peng, Gang Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Multi micro parts recognition is one of the important tasks for the assembly of multi micro objects in micromanipulation. Zernike moments have been widely used as invariant features in many image analysis and pattern recognition problems because of their superiority compared to other moments. However, they suffer from high computation cost and inherent error. This study proposes a polar coordinate based algorithm for the computation of Zernike moments, which improves the invariance properties dramatically. Due to the symmetry property of the Zernike basis functions, Zernike moments can be obtained by computing only one octant of the Zernike basis functions, which means that the number of pixels involved in the computation of Zernike moments is only 12.5% of previous method. This leads to significant reduction in the computational complexity requirements. A comparison with other conventional method is performed in detail. To achieve multi micro parts recognition with higher performance, we present a support vector machine algorithm, which employs polar Zernike moments based on edge extraction to obtain feature attribute to identify and classify the targets. The obtained results show the superiority of the proposed method. © 2011 by Binary Information Press.

关键词： Object recognition

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A NOVEL VISUAL SERVOING MICROASSEMBLY SYSTEM

A NOVEL VISUAL SERVOING MICROASSEMBLY SYSTEM

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2012 IEEE 2nd International Conference on Cloud Computing and Intelligence Systems

作者： Xinhan Huang Shangqin Mao Min Wang The Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Department of Control Science and EngineeringHuazhong University of Science and Technology

The focus of this paper is the design and development of an automatic system for microassembly. The automatic processing is made possible by (i) the development of a machine vision algorithm to identify the targets and end-effectors, (ii) an uncalibrated visual servoing algorithm to lead the end-effector to grasp the micro-pieces and then assemble the target. The experimental results demonstrate that this prototype microassembly system is effective and practicable for automatic microassembly applications.

关键词： microassembly target recognition visual servoing

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An Approach with Nested Partition for Resource-Constrained Project Scheduling Problem

An Approach with Nested Partition for Resource-Constrained P...

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2012 IEEE 19th International Conference on Industrial Engineering and Engineering Management(IE&EM 2012)

作者： Zhen-yuan Liu Wen-min Yu Institute of Systems Engineering Huazhong University of Science and Technology Key Laboratory of Education Ministry for Image Processing and Intelligent Control

A time-based nested partition （NP） approach is proposed to solve resource-constrained project scheduling problem （RCPSP） in this paper. In iteration, one activity is selected as the base point of which the finish time interval calculated by CPM is divided into two parts to form two subregions on the basis of the promising region of the last iteration. Then sampling is taken in both subregions and the surrounding region to determine the promising region and aggregate the other as the surrounding region of this iteration so that whether the backtracking or the moving operation being performed is determined. Double justification is also performed in iteration to improve the results. The results of numerical tests on PSPLIB show the effectiveness and time-efficient of the proposed NP method.

关键词： Double justification nested partition RCPSP sampling

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Robustness Analysis of Global Exponential Stability of Recurrent Neural Networks in the Presence of Time Delays and Random Disturbances

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2012年第1期23卷 87-96页

作者： Shen, Yi Wang, Jun Huazhong Univ Sci & Technol Dept Control Sci & Engn Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Minist Educ Image Proc & Intelligent Control Wuhan 430074 Peoples R China Chinese Univ Hong Kong Dept Mech & Automat Engn Shatin Hong Kong Peoples R China Dalian Univ Technol Sch Control Sci & Engn Dalian 116024 Peoples R China

In recent years, the global stability of recurrent neural networks (RNNs) has been investigated extensively. It is well known that time delays and external disturbances can derail the stability of RNNs. In this paper, we analyze the robustness of global stability of RNNs subject to time delays and random disturbances. Given a globally exponentially stable neural network, the problem to be addressed here is how much time delay and noise the RNN can withstand to be globally exponentially stable in the presence of delay and noise. The upper bounds of the time delay and noise intensity are characterized by using transcendental equations for the RNNs to sustain global exponential stability. Moreover, we prove theoretically that, for any globally exponentially stable RNNs, if additive noises and time delays are smaller than the derived lower bounds arrived at here, then the perturbed RNNs are guaranteed to also be globally exponentially stable. Three numerical examples are provided to substantiate the theoretical results.

关键词： Global exponential stability random disturbances recurrent neural networks robustness time delays

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