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American control Conference

作者： Heng Zhang Peng Cheng Ling Shi Jiming Chen State Key Laboratory of Industrial Control Technology Zhejiang University and Cyber Innovation Joint Research Center Hangzhou China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China

ISBN: (纸本)9781479932757

Recently a flood of literature concerned on the security issues of wireless networked control system. However, it is still lack of investigation on how the attacker should optimize its attack schedule in order to maximize the effect on the system performance due to the insufficiency of energy at the attacker side. This paper fills this gap from the aspect of control system performance. Especially, this paper investigates the optimal jamming attack which maximizes the linear quadratic Gaussian control cost function under energy constraint. After analyzing the properties of the cost function under an arbitrary attack schedule, we derive the optimal jamming attack schedule and the corresponding cost function. System stability under this optimal attack schedule is also considered. Different examples are provided to demonstrate the effectiveness of the proposed optimal jamming schedule.

关键词： Schedules Jamming Cost function Stability analysis Wireless sensor networks Sensors Networked control systems

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Design of multi-loop ADRC controllers based on the effective open-loop transfer function method

Design of multi-loop ADRC controllers based on the effective...

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Chinese control Conference (CCC)

作者： Qian Liu Donghai Li Wen Tan School of Control & Computer Engineering North China Electric Power University Beijing Beijing CN State Key Lab of Power Systems Tsinghua University Beijing Beijing CN

A decentralized active disturbance rejection control (ADRC) design method based on effective open-loop transfer function (EOTF) for multi-input/multi-output (MIMO) interactive processes is proposed. The MIMO system is decomposed into a set of equivalent single loops. The coupling effects for a particular loop from all the other closed loops are directly incorporated into the EOTF, and then, the individual controller of each single loop can be designed directly and independently. This multi-loop ADRC control system has advantages in easy understanding, simple tuning and excellent disturbance rejection ability. Several simulation examples demonstrate that the proposed method is effective.

关键词： Transfer functions Tuning MIMO Process control Couplings Design methodology Observers

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A Fully Distributed Approach to Formation Maneuvering control of Multi-Agent Systems

A Fully Distributed Approach to Formation Maneuvering Contro...

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IEEE Annual Conference on Decision and control

作者： Zhimin Han Zhiyun Lin Minyue Fu State Key laboratory of Industrial Control Technology College of Electrical Engineering Zhejiang University 38 Zheda Road Hangzhou 310027 P.R. China School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia

ISBN: (纸本)9781467360890

This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant overall group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the single-integrator kinematics case and the double-integrator dynamics case.

关键词： Shape Sensors Eigenvalues and eigenfunctions Laplace equations Kinematics Decentralized control Heuristic algorithms

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Affine Formation of Multi-Agent Systems over Directed Graphs

Affine Formation of Multi-Agent Systems over Directed Graphs

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IEEE Annual Conference on Decision and control

作者： Lili Wang Zhiyun Lin Minyue Fu State Key laboratory of Industrial Control Technology College of Electrical Engineering Zhejiang University 38 Zheda Road Hangzhou 310027 P.R. China School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia

ISBN: (纸本)9781467360890

This paper proposes a simple, distributed control protocol for multi-agent systems with relative sensing capability over a directed network to achieve an affine formation. In contrast to the linear consensus protocol, the control protocol in this paper takes both positive and negative weights that partially encode the target formation shape and is thus able to achieve a formation pattern rather than just consensus. Having possibly negative weights in a graph, the associated Laplacian is called the generalized Laplacian. The connection between the generic rank property of the generalized Laplacian and the connectivity of a directed graph is established, based on which a necessary and sufficient graphical condition is developed to ensure the emergence of an affine formation by the proposed distributed control protocol.

关键词： Laplace equations Eigenvalues and eigenfunctions Vectors Nickel Protocols Multi-agent systems Aerospace electronics

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TOC: Localizing Wireless Rechargeable Sensors with Time of Charge

TOC: Localizing Wireless Rechargeable Sensors with Time of C...

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IEEE International Conference on computer Communications

作者： Yuanchao Shu Peng Cheng Yu Gu Jiming Chen Tian He State Key Laboratory of Industrial Control Technoloay Zhejiang University China Zhejiang University Hangzhou Zhejiang CN Singapore University of Technology and Design Singapore SG Dept. of Computer Science and Engineering University of Minnesota USA

Wireless rechargeable sensor network is a promising platform for long-term applications such as inventory management, supply chain monitoring and so on. For these applications, sensor localization is one of the most fundamental challenges. Different from traditional sensor node, wireless rechargeable sensor has to be charged above a voltage level by the wireless charger in order to support its sensing, computation and communication operations. In this work, we consider the scenario where a mobile charger stops at different positions to charge sensors, and propose a novel localization design that utilizes the unique Time of Charge (TOC) sequences among wireless rechargeable sensors. Specifically, we introduce two efficient region dividing methods, Inter-node Division and Inter-area Division, to exploit TOC differences from both temporal and spatial dimensions to localize individual sensor nodes. To further optimize the system performance, we introduce both an optimal charger stop planning algorithm for single sensor case and a suboptimal charger stop planning algorithm for the generic multi-sensor scenario with a provable performance bound. We have extensively evaluated our design by both testbed experiments and large-scale simulations. The experiment and simulation results show that by as less as 5 stops, our design can achieve sub-meter accuracy and the performance is robust under various system conditions.

关键词： Sensors Wireless sensor networks Wireless communication Algorithm design and analysis Peer-to-peer computing Approximation algorithms Conferences

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A single-station location method based on long baseline interferometer

A single-station location method based on long baseline inte...

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International Symposium on Communications and Information Technologies (ISCIT)

作者： Li Ping Wang Guohong Xiaopeng Yan Gong Peng Wenbo Shi Liu Jian Beijing Institute of Technology National Key Lab. of Mechatronic Engineering and Control Beijing China Northeastern University School of Computer and Communication Engineering Qinhuangdao China China Electronics Technology Group Corporation Zhejiang China

ISBN: (纸本)9781479944156

Conventional long baseline interferometer based Direction of Arrival (DOA) requires multi-group long baselines and short baselines to deblur. In this paper, only using the time difference of arrival (TDOA) data of long baseline interferometer can cancel the debluring shortage and achieve high-precision DOA estimation. Meanwhile iterative filtering algorithm is adopted to extract high-precision changing rate of phase difference from the fuzzy phase difference data of long baseline. Combined with the measured DF and the change rate of phase difference, particle filter algorithm is utilized to achieve high-precision single-station passive location. Parameter measurement and the distribution of location error are verified through theoretical simulations. And the simulation results demonstrate the efficiency of the single-station location method based on long baseline interferometer.

关键词： Direction-of-arrival estimation Accuracy Filtering Atmospheric measurements Particle measurements

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An EMG Enhanced Impedance and Force control Framework for Telerobot Operation in Space

An EMG Enhanced Impedance and Force Control Framework for Te...

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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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Identification of inactive constraints for SCED model considering uncertain power injection

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2014年第34期34卷 6050-6057页

作者： Ding, Tao Bo, Rui Guo, Qinglai Sun, Hongbin Huang, Can Li, Fangxing State Key Lab of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing100084 China Midwest ISO St. Paul MN55108 United States Department of Electrical Engineering and Computer Science The University of Tennessee Knoxville TN37996 United States

With the constant expansion of power grid, a large number of security constraints have put tremendous challenges to the online economic dispatch. An efficient tool to eliminate the inactive constraints becomes necessary for security constraints economic dispatch (SCED) in large power systems. In this paper, considering the uncertainty of renewable energy integration, a fast and effective method to identify the inactive security constraints was proposed. Firstly, the definition of uncertain inactive security constraints and a necessary and sufficient condition to identify those were presented respectively. Considering the time-consuming identification, we relaxed the feasible region of original SCED model and utilized greedy algorithm to quickly eliminate part of inactive constraints. Then another necessary and sufficient condition was proposed and verified, where the remaining inactive constraints could be identified. Through the simulation of 24-time periods 9-bus system and 96-time periods IEEE 118-bus system, the speed and effectiveness of proposed method were verified. Moreover, the results can help dispatch operators to locate the transmission lines with the highest congestion risk. © 2014 Chin. Soc. for Elec. Eng.

关键词： Scheduling

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Optimal power allocation for heterogeneous data traffic in NAF relay-assisted uplink transmission

Optimal power allocation for heterogeneous data traffic in N...

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International Symposium on Communications and Information Technologies (ISCIT)

作者： Peng Gong Haiqiao Wu Ping Li Wenbo Shi Duk Kyung Kim Beijing Institute of Technology National Key Lab. of Mechatronic Engineering and Control Beijing China Northeastern University School of Computer and Communication Engineering Qinhuangdao China Department of Information and Communication Engineering Inha University Nam-gu Incheon Korea

ISBN: (纸本)9781479944156

For the future wireless networks, heterogeneous data traffic services, i.e., variant bit-rate (VBR) service and constant bit rate (CBR) service are needed to be supported. The optimal power allocation algorithm for the non-orthogonal AF (NAF) Relays-assisted multicast transmission, which may be suitable for the VBR service, has been investigated in [2]. However, the power allocation algorithms for the cases of CBR service and heterogeneous data traffics service are not considered. In this paper, a power allocation problem is addressed by considering the heterogeneous data traffic with VBR and CBR services in the uplink data transmission, where Different from assumption of infinite length of spreading code in [2], a finite length of spreading code is considered and the interference among the signals from mobile terminal and relays exists. And then, an optimal power allocation algorithm is proposed by solving its inverse problem. Simulation results demonstrate the efficiency of the proposed algorithm.

关键词： Relays Mobile communication Algorithm design and analysis Three-dimensional displays Resource management Power demand Radio access networks

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Application of artificial bee colony algorithm to select architecture of a optimal neural network for the prediction of rolling force in hot strip rolling process

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Journal of Chemical and Pharmaceutical Research 2013年第9期5卷 563-570页

作者： Zhao, Zhiwei Yang, Jingming Che, Haijun Sun, Hao Yang, He Key Lab of Industrial Computer Control Engineering of Hebei Province Institution of Electrical Engineering Yanshan University Qinhuangdao China National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University Qinhuangdao China Department of Computer Science and Technology Tangshan College Tangshan China

In the face of global competition, the requirement for dimensional accuracy, mechanical properties and surface properties has become a major challenge on aluminum manufacturing industries. Conventional rolling force formulas, however, provide not more than reasonably exact approximations. The mathematical modeling of the hot rolling process has long been recognized to be a desirable approach to aid in rolling operating practice and the design of mill equipment to improve productivity and quality. However, many factors make the theoretical analysis of the rolling process very complex and time-consuming. This paper presents a prediction method based on the Artificial Bee Colony algorithm and BP neural network, which was developed in order to improve the prediction of rolling force in hot strip rolling process. The architecture of BP neural network is optimized by Artificial Bee Colony algorithm. Comparing with the Sims mathematical model and BP neural network, the experimental results show that the prediction accuracy and error of rolling force is superior to the other two methods, and the predicted rolling force is very close to the practical rolling force.

关键词： Neural networks

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