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作者： Lu, Shan Yin, Baoqun Guo, Dong Department of Automation Key Lab. of Network Communication System and Control University of Science and Technology of China Hefei 230027 China

ISBN: (纸本)9787894631046

With wider application of P2P-based Media Delivery network (P2P-based MDN), much work has been done to improve the system' performance and efficiency in the process of media contents sharing. In this paper, we first propose a specific partially observable Markov Decision Process (POMDP) model for admission control of P2P-based MDN. Based on this model, we provide the observation-based randomized policy to conduct admission control and optimize the policy by applying policy-gradient algorithm. Observation-based policy can promote the system's performance in real time aspect and policy optimizing can increase the accuracy of controller's judgments based on partial information. Admission strategy in the paper can save the cost in operating the system for media service providers. Bandwidth allocation policy is designed to reduce service delay and provide high-quality service. The comparison results of system's performances under different policies indicate that, partial service can utilize the system's resource in a better way.

关键词： Markov processes

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Stochastic adaptive optimal control of under-actuated robots using neural networks

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NEUROCOMPUTING 2014年 142卷 190-200页

作者： Li, Jing Guo, Xi Li, Zhijun Chen, Weisheng Xidian Univ Sch Math & Stat Xian 710071 Peoples R China Minist Educ Key Lab Autonomous Syst & Network Control Beijing Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

Stochastic adaptive optimal control of robotic manipulators with a passive joint which has neither an actuator nor a brake is investigated. Firstly, the under-actuated system is decomposed into two subsystems with the first n-1 joints subsystem fully actuated while the second one unactuated. Secondly, a reference model for the first subsystem is derived by using the Linear Quadratic Regulator (LQR) optimization approach which guarantees the motion tracking and achieves the minimized moving accelerations. Instead of leaving the unactuated joint dynamics uncontrolled, the reference trajectory for the last joint is designed to indirectly affect the movements such that the desired trajectory can be achieved. Radial Basis Function neural networks (RBFNNs) have been employed to design the adaptive reference control and to construct a reference trajectory generator for the last joint. The stability and the optimal tracking performance in finite time have been rigorously established by theoretic analysis. Simulation studies show the effectiveness of the proposed control approach. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Under-actuated robots Stochastic control LQR Model reference control RBFNN

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On Motion Optimization of Robotic Manipulators with Strong Nonlinear Dynamic Coupling using Support Area Level Set Algorithm

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INTERNATIONAL JOURNAL OF control AUTOMATION AND systemS 2013年第6期11卷 1266-1275页

作者： Li, Zhijun Yang, Kun Bogdan, Stjepan Xu, Bugong S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China Shanghai Jiao Tong Univ Dept Math Shanghai 200030 Peoples R China Univ Zagreb Dept Control & Comp Engn Fac EE&C Zagreb 41000 Croatia

Aiming for a better dynamic performance from the robot beyond the physical limits set by the manufacturers, in this paper we propose to integrate the robot dynamics into motion planning and then to approximate the robot joint torques using parameterized B-splines. By introducing a high-dimensional non-linear fitness function, we transform the motion planning problem into an optimization of a non-linear fitness function, and then we develop the approach based on Support Area Level Set Algorithm (SALAS). It integrates dual-stage sampling strategies to avoid early convergence in a small search field and to improve the rate of convergence to the potential solution. The effectiveness of the proposed approach has been verified by the simulation of a two-link robotic manipulator.

关键词： Path planning robotic manipulators support vector machine

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A Switched control Strategy of Heterogeneous Vehicle Platoon for Multiple Objectives With State Constraints

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systemS 2019年第5期20卷 1883-1896页

作者： Zhai, Chunjie Liu, Yonggui Luo, Fei South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510641 Guangdong Peoples R China South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China

Vehicle safety, passenger comfort, formation control, and fuel economy are the major objectives in the cooperative adaptive cruise control of intelligent vehicles. However, almost none of the current literature takes all of the above objectives into comprehensive consideration. In this paper, a switched control strategy of heterogeneous vehicle platoon for multiple objectives with state constraints is proposed, in which the above four major objectives are all taken into account. To achieve the four major objectives, the distributed model predictive control with multiple objectives (DMPCMO) is proposed. To solve the problem that the DMPCMO controller cannot be achieved because of the inappropriate initial states of the vehicle platoon or the large perturbations in front of the platoon, the safety controller acting as the emergency brake to guarantee vehicle safety is also designed. The switch between the DMPCMO controller and the safety controller forms the switched control strategy of heterogeneous vehicle platoon for multiple objectives (SCSHPM). Since the DMPCMO controller has to be obtained by solving the nonlinear DMPCMO problem, in order to reduce the computational burden as much as possible, the DMPCMO problem is transformed into non-negative and non-positive 0-1 mixed integer linear programming problems after the fuel consumption table is constructed and calculated off-line. Finally, extensive experiments of heterogeneous platoon under different communication topologies are performed in simulation to demonstrate the effectiveness of the proposed SCSHPM.

关键词： CACC distributed model predictive control passenger comfort formation control fuel economy

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Trilateral Teleoperation of Adaptive Fuzzy Force/Motion control for Nonlinear Teleoperators With Communication Random Delays

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IEEE TRANSACTIONS ON FUZZY systemS 2013年第4期21卷 610-624页

作者： Li, Zhijun Ding, Liang Gao, Haibo Duan, Guangren Su, Chun-Yi S China Univ Technol Key Lab Autonomous Syst & Network Control Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China

In this paper, an adaptive fuzzy control scheme is proposed for hybrid motion/force of trilateral teleoperation systems with a dual-master-single-slave configuration under stochastic time-varying delays in communication channels. Different from previous works on bilateral teleoperation systems, this paper addresses dual-master trilateral control of a single holonomic-constrained robotic manipulator, where the communication delays are modeled as multiple Markov chains, and the motion/force controls are investigated under consideration of unsymmetric stochastic time-varying delays and system dynamical uncertainties. Using partial feedback linearization, the whole trilateral teleoperation system, which consists of both master and slave manipulator dynamics, is transformed into three subsystems. By integrating Markov jump systems to handle random delays, adaptive fuzzy control strategies are developed for the nonlinear teleoperators with modeling uncertainties and external disturbances by using the approximation property of the fuzzy logic systems (FLSs). It is proven that the trilateral teleoperation system is stochastically stable in mean square under specific linear matrix inequality (LMI) conditions, and all the signals of the resulting closed-loop system are uniformly bounded. The proposed scheme is validated by extensive simulations.

关键词： Fuzzy control random delays teleoperators

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Cooperative Look-Ahead control of Vehicle Platoon for Maximizing Fuel Efficiency Under system Constraints

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IEEE ACCESS 2018年 6卷 37700-37714页

作者： Zhai, Chunjie Luo, Fei Liu, Yonggui South China Univ Technol Minist Educ Sch Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China

The fuel consumption and greenhouse gas emissions can be reduced by organizing a group of vehicles into a platoon at a short inter-vehicular distance. Additionally, the eco-driving technology has the potential to further increase fuel efficiency by optimizing the speed trajectories of vehicles. However, little research has been done into the eco-driving of a vehicle platoon. This paper proposes a cooperative look-ahead control strategy for maximizing the fuel efficiency of vehicle platoon travelling on a road with varying slopes. In this paper, the aerodynamic drag, nonlinear engine fuel consumption model, discrete gear ratios, and three engine operating modes are considered in the control strategy;under system constraints, a cooperative optimal fuel consumption problem of vehicle platoon based on distributed model predictive control is formulated;to obtain the optimal solution of the formulated nonlinear optimization problem, after the minimum fuel consumption table and the corresponding optimal control variable tables are obtained, the nonlinear optimization problem with discrete control variables is transformed into a 0-1 binary mixed linear programming problem. Simulation results showthat, compared with benchmarks, the proposed control strategy can significantly improve fuel efficiency under different passenger comfort requirements, allowed speed ranges, and predictive control horizons.

关键词： Road vehicles cooperative systems fuel economy distributed control integer linear programming

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Oil Spills Boundary Tracking Using Universal Kriging And Model Predictive control By UAV 11

Oil Spills Boundary Tracking Using Universal Kriging And Mod...

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11th World Congress on Intelligent control and Automation

作者： Zhang, Cheng Pei, Hailong South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510640 Guangdong Peoples R China SOA Key Lab Technol Safeguarding Marine Rights & Inte Guangzhou 510310 Guangdong Peoples R China

ISBN: (纸本)9781479958252

In this paper, Universal Kriging (UK) technology combined with Model Predictive control (MPC) algorithm is exploited to estimate the unknown situation of oil dispersion for just one unmanned aerial vehicle (UAV) to predict and track the objective boundary automatically. The advantage of the Kriging method is that it is an optimal interpolator in the sense that the estimates are unbiased and the minimum variance is known, so that it can relatively accurately construct the environment map. In addition, the advantage of the MPC is its constraint handling capacity. These two uncorrelated technologies, however, can be combined to realize some special functions. The simulation based on an advection diffusion equation demonstrates the proposed method is feasible and effective.

关键词： Oil spill Universal Kriging(UK) Model Predictive control(MPC) Unmanned Aerial Vehicle (UAV)

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Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory

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NONLINEAR DYNAMICS 2014年第1期76卷 459-471页

作者： Yue, Ming Wei, Xing Li, Zhijun Dalian Univ Technol Sch Automot Engn Dalian 116024 Peoples R China S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Peoples R China Zhejiang Univ State Key Lab Fluid Power Transmiss & Control Hangzhou 310027 Peoples R China Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA

The two-wheeled inverted pendulum vehicle yields wide application prospects due to its compact construction, convenient operation, high maneuverability, and low fuel consumption. However, influenced by the underactuated characteristic, it is very difficult to achieve satisfactory control performances besides holding the vehicle body to be stable. In this study, based on the nonlinear dynamic model, the overall system is considered as three subsystems: rotational motion, longitudinal motion, and zero dynamics. Particularly, the tilt angle of the vehicle is treated as zero dynamics where the longitudinal acceleration is taken as the control input. With the control effects, the zero-dynamics subsystem could come up to be stable. Based upon the zero dynamics, the controllers for rotational and longitudinal subsystems are constructed in the following. In addition, the sliding-mode control techniques are used to derive the controllers since their insensitive characteristic to parameter variation and disturbance rejection.

关键词： Two wheeled vehicle Inverted pendulum Zero dynamics Sliding mode control

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Model Predictive control of Nonholonomic Chained systems Using General Projection Neural networks Optimization

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IEEE TRANSACTIONS ON systemS MAN CYBERNETICS-systemS 2015年第10期45卷 1313-1321页

作者： Li, Zhijun Xiao, Hanzhen Yang, Chenguang Zhao, Yiwen S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510640 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England

In this paper, a class of nonholonomic chained systems is first converted into two subsystems, and then an explicit exponential decaying term is introduced into the input of the first subsystem to guarantee its controllability. After a state-scaling transformation, a model predictive control (MPC) scheme is proposed for the nonholonomic chained systems. The proposed MPC scheme employs a general projection neural network (GPN) to iteratively solve a quadratic programming (QP) problem over a finite receding horizon. The GPN employed in this paper is proved to be stable in the sense of Lyapunov, and its global convergence to the optimal solution is guaranteed for the reformulated QP. A simulation study is performed to show stable and convergent control performance under the proposed method, irrespective of whether the control input u(1) vanishes or not.

关键词： General projection neural networks (GPNs) model predictive control (MPC) nonholonomic chained systems scaling transformation

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Decentralized control of Multiple Cooperative Manipulators with Impedance Interaction Using Fuzzy systems

Decentralized Control of Multiple Cooperative Manipulators w...

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IEEE International Conference on Information and Automation (ICIA)

作者： Li, Zhijun Deng, Shuming Su, Chun-Yi Chai, Tianyou Yang, Chenguang Fu, Jun S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Peoples R China

ISBN: (纸本)9781479941001

In this paper, a decentralized adaptive fuzzy control scheme has been developed for two robotic manipulators that collaboratively moves an object with impedance interaction in the presence of dynamics uncertainties and unknown external disturbances. By modelling the contact forces using gradients of nonlinear potentials, we obtain the deformations of the contact surface by impedance approach. By regarding the cooperating manipulators as an aggregation of subsystems, we develop the decentralized local dynamics coupled with physical interactions. Then, we construct a decentralized fuzzy control combing parameter adaptations and disturbance observer. To test the developed control, experiments are carried out on two robots. The experimental results verify the effectiveness of the proposed control.

关键词： Force Manipulator dynamics Robot kinematics Surface impedance Vectors

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