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42nd Chinese control Conference, CCC 2023

作者： Yin, Yongxin Li, Jianxiong Gao, Chongyi Fang, Yiming Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tangshan University Department of Electromechanical Engineering Tangshan063002 China

ISBN: (纸本)9789887581543

In this paper, the consensus control problem for multi-agent systems (MASs) suffering hybrid attacks is discussed, in which the hybrid attacks include randomly occurring deception attacks on system dynamic behavior and denial-of-service attacks (DoS). An event-triggered robust model predictive control (RMPC) method is presented to achieve the consensus of MASs under hybrid attacks. It can be proved that the consensus errors can be asymptotic with prescribed H∞ performance, the sufficient condition for stability can be given in terms of linear matrix inequalities (LMIs), and the controller gains are obtained by solving an optimization problem involving some LMIs. Employing the event-triggered mechanism with maximum trigger interval, not only can not only save computation time and facilitate the efficiency of the shared resources but also can effectively be responsible for the negative impact of cyber-attacks on system performance. Finally, simulation results are given to illustrate the validity and effectiveness of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Energy Efficiency Maximization for Hybrid Access Femtocell Networks via Incentive Mechanism and Power control Strategy 13

Energy Efficiency Maximization for Hybrid Access Femtocell N...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2023

作者： Liu, Xuelin Wang, Weimin Liu, Zhixin School of Control Science and Engineering Dalian University of Technology Dalian116023 China School of Electrical Engineering Yanshan University Qinhuangdao066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Province Qinhuangdao066004 China

ISBN: (纸本)9798350315196

Femtocell network has a great development space in increasing coverage and capacity of wireless network. In order to meet the quality of service (QoS) requirements of MUEs in MBS coverage, we propose a seed channel incentive mechanism in the two-tier femtocell network, where the MBS provides sub-channels to FBSs to motivate them to serve for the MUEs within the MBS coverage. To maximize the energy efficiency of femtocell layer after hybrid access, the optimization problem is modeled. The combined method of worst-case, Dinkelbach and continuous convex approximation is developed to make the optimization problem solvable. In addition, in order to realize the practical application of the proposed scheme, an optimization algorithm combining sub-channel and power allocation is developed. The numerical results show that the proposed algorithm is effective in improving the energy efficiency of the femtocell layer. © 2023 IEEE.

关键词： Femtocell

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Fixed-Time Sliding Mode Fault-Tolerant Consensus control for Second-Order Multi-Agent System with Actuator Fault 41

Fixed-Time Sliding Mode Fault-Tolerant Consensus Control for...

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第41届中国控制会议

作者： Jing Wang Yi-ming Fang Jian-xiong Li Kun-da Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problems of immeasurable leader state and actuator fault for second-order multi-agent system(MAS),the distributed robust sliding mode fault-tolerant control method based on fixed-time state observer(FTSO) is adopted to realize the fixed time fault-tolerant consensus tracking control for the *** MAS is under the undirected communication *** actuator fault is including partial loss of effectiveness(PLOE) fault and bias ***,a fixed time state observer is designed for each follower to obtain the state information of the ***,for followers with actuator faults,the distributed fixed-time robust sliding mode fault-tolerant controller is designed to realize fault-tolerant consensus tracking ***,the Lyapunov stability theorem is used to prove that the observation error and the consensus control error converge to zero in a ***,the effectiveness of the designed FTSO and fixed-time robust sliding mode fault-tolerant control algorithm is verified by numerical simulation.

关键词： fixed-time state observer fixed-time fault-tolerant control multi-agent systems consensus tracking control

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Optimal Time and Power Allocation in Full-Duplex Wireless-Powered Cognitive Radio Networks 13

Optimal Time and Power Allocation in Full-Duplex Wireless-Po...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2023

作者： Feng, Zhenyu Su, Ming Zhou, Meihua Liu, Zhixin School of Electrical Engineering Yanshan University Qinhuangdao066004 China Training Center of Liren College Yanshan University China Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Province Qinhuangdao066004 China

ISBN: (纸本)9798350315196

In this paper, we integrate wireless powered communication networks (WPCNs) with cognitive radio networks (CRNs) in order to develop wireless powered CRNs (WP-CRNs). The hybrid access point (HAP) is used to broadcast radio-frequency signals to the devices at the downlink stage, and to receive information from these devices. The HAP has two antennas to achieve full-duplex: one is for downlink wireless power transfer and the other is for receiving uplink information transmission from the users simultaneously in the uplink. In the underlay paradigms. The SUs can harvest energy to transmit data when the interference to primary users (PUs) does not exceed a tolerable threshold. To tackle the above network issues, an optimal resource allocation method is proposed to maximize the secondary system uplink throughput. The optimization problem with respect to time and power allocation is formulated including the constraint of energy causality and interference level. The non-convex problem is transformed into an equivalent convex optimization problem, then the joint optimal power and time allocation (JOPTA) algorithm is presented to determine the optimal solutions. The effectiveness of the proposed algorithm is verified in the simulations. © 2023 IEEE.

关键词： Cognitive radio

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Predictive Cruise control for Connected Autonomous Vehicles Considering Communication Delay in Mixed Traffic

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IFAC-PapersOnLine 2024年第29期58卷 172-177页

作者： Xinyu Li Jin Zhang Jiaqi Xue Lin Qi Wenbin Tang Xiaohong Jiao Institute of Electrical Engineering Yanshan University Qinhuangdao China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 Hebei Province China

The stochastic behaviors of human-driven vehicles (HDVs) and the communication delay of Vehicle-to-Everything (V2X) technique present challenges to the advancement of connected autonomous vehicles (CAVs) in mixed traffic comprising CAVs, uncertain numbers of HDVs and connected HDVs (CHDVs). Consequently, a predictive cruise control strategy based on V2X communication is proposed for CAVs in a mixed platoon. Firstly, a long-short-term memory (LSTM) network combined with a conditional linear Gaussian (CLG) model is adopted for speed prediction of the preceding vehicle considering the communication delay. Subsequently, the CAV's speed planning is conducted for passing continuous signalized intersections without stopping. Then, the planned speed is tracked in energy-efficient, safe, and comfortable manners under a stochastic model predictive control (SMPC) framework. The simulation results validate the effectiveness and advantages of the proposed strategy.

关键词： Connected autonomous vehicles Mixed traffic Communication delay Predictive cruise control

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Design and Analysis of Polynomial Positive Fuzzy System controllers Based on Markov Transitions

Design and Analysis of Polynomial Positive Fuzzy System Cont...

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Chinese Automation Congress (CAC)

作者： Sen Chang Xiaomiao Li Fucai Liu Zhiyong Bao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This study explores polynomial Markov positive fuzzy systems, formulating controllers for these systems by examining the prerequisites for positivity and stochastic stability. Initially, polynomials are incorporated into the Markov positive fuzzy system to represent nonlinear elements better and enhance its capacity to model nonlinear systems. Concurrently, the study discusses the non-convex scenarios encountered in the stability analysis of the closed-loop system once the positive fuzzy system controller is integrated and confirms the stability of the Markov polynomial positive fuzzy system. Ultimately, the effectiveness of the proposed approaches is demonstrated through a numerical simulation example.

关键词： Automation Stochastic processes Numerical simulation Stability analysis Polynomials Numerical models Closed loop systems Nonlinear systems Numerical stability Fuzzy systems

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Fault Tolerant control Based on GA-DRE for a Manipulator with Actuator Fault

Fault Tolerant Control Based on GA-DRE for a Manipulator wit...

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第43届中国控制会议

作者： Jiongzhi Qiu Yiming Fang Donliang Zhao Le Liu Nuan Shao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Department of Environmental Engineering Hebei University of Environmental Engineering

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To solve the trajectory tracking control problem of a rigid manipulator system in the case of unexpected actuator failure,considering the uncertainty of system parameters and bounded disturbance,an adaptive fault-tolerant tracking control strategy is proposed in this ***,an adaptive strategy is designed to estimate and compensate the effects of actuator failure and system uncertainty,and the dynamic regression matrix is extended and mixed to improve the accuracy of parameter estimation without persistency of excitation(PE),which will enhance the trajectory tracking ***,in the framework of sliding mode fault-tolerant control,combined with standard Gradient Adaptive and Dynamic Regressor Extension(GA-DRE) parameter estimation technology,a composite adaptive fault-tolerant controller is ***,theoretical analysis and numerical simulation results show that the proposed method can perform accurate parameter estimation in a finite time under the premise of matching the new conditions based on DRE additional terms,and the trajectory tracking errors of the expected positions and velocities of each joint of the manipulator can asymptotically converge to zero.

关键词： Fault-tolerant control Gradient Adaptive and Dynamic Regressor Extension(GA-DRE) Manipulator Parameter estimation Persistence of excitation(PE)

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A Ship Power Sharing Strategy Based on Shapley Value Method and Cartel Mechanism

A Ship Power Sharing Strategy Based on Shapley Value Method ...

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2024 International Annual Conference on Complex Systems and Intelligent Science, CSIS-IAC 2024

作者： Zhang, Zhengxu Yang, Jie Ma, Kai Guo, Shiliang Li, Hui School of Electrical Engineering Yanshan University Qinhuangdao China Yanshan University Key Laboratory of Power Electronics for Energy Conservation and Drive Control of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Intelligent Control and Neural Information Processing of the Ministry of Education Qinhuangdao China

ISBN: (纸本)9798331504755

With the development of the maritime industry, the number and capacity of existing port cold-ironing (CI) equipment can no longer meet the power demand of ships during berthing, resulting in significant carbon emissions from ships within the port area. Therefore, a ship power sharing strategy based on Shapley value method and Cartel mechanism is proposed. Firstly, the rolling optimization model of ship power scheduling is established to adjust the ship power scheduling strategy according to the real-time information. Secondly, the cooperative game model of ship power sharing is established, and the cost sharing among cooperative ships is realized by Shapley value method. Finally, in order to reduce the situation that ships increase their own profits by deviating from cooperation and affect the overall profits, this paper introduces Cartel mechanism to punish the behavior of deviating from cooperation. The simulation results show that the power sharing strategy proposed in this paper can reduce the total ship cost and carbon emission by 5.28% and 3.78%, respectively. The introduction of Cartel mechanism can increase the cost of non-cooperative behavior, thus ensuring that all ships take cooperative behavior. The power sharing strategy based on Shapley method and Cartel mechanism proposed in this paper is helpful to the construction of green ports. © 2024 IEEE.

关键词： Profitability

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Event-Triggered-Based Robust control of Heterogeneous Connected Vehicles Platoon with Communication Delay and Random Packet Loss 8

Event-Triggered-Based Robust Control of Heterogeneous Connec...

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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Liu, Chen Ru, Shuangkun Qi, Lin Fang, Jiayi Zhang, Ting Yanshan University Hebei Key Laboratory of Industrial Computer Control Engineering Hebei Province Qinhuangdao066004 China School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China School of Vehicle and Mobility Tsinghua University Beijing100081 China

ISBN: (纸本)9798331504892

With the development of vehicle autonomous driving technology and wireless network communication technology, the mix platoon of connected autonomous vehicles (CAVs) and connected human-driven vehicles (CHVs) is becoming inevitable. The abnormal V2V communication and uncertain vehicle dynamics may affect the CAV control performance. Considering time-varying communication delays and random packet loss, an event-trigger-based robust control strategy is proposed based on the stability theory of stochastic time-delay systems. The Bernoulli packet loss model is constructed to solve the random packet loss problem. The robust controller with the event-triggered mechanism designed using the Lyapunov functional stability theory of stochastic systems ensures the stability of the mix platoon with vehicle heterogeneity and the stability of CAV. The simulation comparison has verified that the proposed control strategy can better suppress the fluctuation of the preceding vehicle and more quickly reach the desired value when both time delay and packet loss are present. © 2024 IEEE.

关键词： Stochastic systems

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Trajectory Optimization of Manipulator for Loading and Unloading the Ladle Nozzle Based on Decomposition Multi-Objective Improved Whale Optimization Algorithm 13

Trajectory Optimization of Manipulator for Loading and Unloa...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2023

作者： Zhao, Dongliang Fang, Yiming Yang, Chen Xin, Jingliang Yanshan University Key Lab of Industrial Computer Control Engineering Hebei Province Qinhuangdao China Eng. Res. Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Yanshan University Hebei Province Qinhuangdao China Hebei Iron and Steel Group Hebei Province Tangshan China

ISBN: (纸本)9798350315196

In recent years, industrial manipulators are widely used in factories. To solve the problems of low efficiency and high joint jitter in ladle nozzle loading and unloading, a new trajectory optimization method is proposed. Firstly, a manipulator model is established on the base of mechanical construction and parameters of KR1000L750. And the 3-5-3 segmented polynomial interpolation approach is used to design the trajectory. Then a trajectory optimization model is proposed based on time and impact as optimization objectives. Secondly, the traditional whale optimization algorithm is improved by introducing a nonlinear adaptive convergence factor to balance the exploration and development of the algorithm. The improved algorithm has also added a new search mechanism during the exploration phase. To reduce the waste of exploration resources, the information on the current optimal solution is added by the Cauchy mutation method. Then, a decomposition-based multi-objective improved whale optimization algorithm (DMOIWOA) is proposed. The algorithm combines a penalty-based boundary intersection approach with the improved whale optimization algorithm. Six representative optimization algorithms are selected for comparison on the test functions. The DMOIWOA has evident superiority in convergence and distribution. Finally, the algorithm is applied to the trajectory optimization model to obtain a better Pareto front. In conclusion, the DMOIWOA can reasonably optimize the manipulator trajectory, improving the manipulator operation efficiency and reducing the manipulator jitter. © 2023 IEEE.

关键词： Trajectories

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