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Chinese Control Conference (CCC)

作者： Qianghui Zhou Dandan Wang Wei Zhu Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing P. R. China

This paper investigates the consensus problem of first-order multi-agent systems with adaptive event-based impulsive controller. The triggering function based on the states of the agents is designed. The impulsive instants are determined by the triggering function and triggering condition, that is, the impulsive effect performs at the instants when the events occur, and so as the controllers update. It is shown that not only the consensus can be achieved without the continue communication between neighboring agents but also the global information/parameters of the concerned closed-loop system are avoided. Moreover, the Zeno-behavior is excluded for the concerned closed-loop system. Finally, a numerical example is provided to illustrate the effectiveness of the obtained theoretical results.

关键词： Multi-agent systems Closed loop systems Protocols Topology Laplace equations Eigenvalues and eigenfunctions

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Global attracting set and asymptotic behavior for a class of impulsive functional Hopfield neural networks by a novel vector inequality

Global attracting set and asymptotic behavior for a class of...

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Chinese Control and decision Conference, CCDC

作者： Weisong Zhou Guihua Li Wei Zhu Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing P. R. China

This article is concerned with a class of nonlinear and nonautonomous functional Hopfield neural networks with impulsive effects. The existence of attracting set and invariant set of the desired impulsive differential equations is established. Firstly, we construct a novel vector inequality, which considers the features of M-matrix. Based on the more general vector inequality, we ensure the positive invariant set and global attracting set for a class of the impulsive functional differential equations. By means of numerical simulation, the effectiveness of our theoretical results is demonstrated.

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Exponential p-stability of stochastic impulsive fuzzy reaction-diffusion Cohen-Grossberg neural networks with mixed delays

Exponential p-stability of stochastic impulsive fuzzy reacti...

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Chinese Control and decision Conference, CCDC

作者： Weisong Zhou Sa Xiao Wei Zhu Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing P. R. China

ISBN: (纸本)9781665478977

In this paper, the pth moment exponential stability of a class of stochastic impulsive fuzzy reaction-diffusion Cohen-Grossberg neural networks (CGNNs) with mixed delays is studied. By means of the property of "M-cone", Lyapunov functional, Itô formula and Hanalay inequality techniques, sufficient conditions for exponential p-stability of our model are obtained. Finally, a simulation example is given to verify the validity of our result.

关键词： Sufficient conditions Stability Neural networks Switches Markov processes Control systems Delays

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Distributed State and Fault Fusion Filtering for Nonlinear systems Subject to Quantization Effects 8

Distributed State and Fault Fusion Filtering for Nonlinear S...

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8th International Conference on Control Science and systems Engineering, ICCSSE 2022

作者： Hu, Zhibin Hu, Jun Du, Junhua Zhao, Yuna Harbin University of Science and Technology Department of Mathematics Heilongjiang Prov. Key Lab. of Optimization Control and Intelligent Analysis for Complex Systems Harbin China School of Automation Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781665484138

In this paper, the distributed state and fault fusion filtering problem is discussed for a class of multi-sensor networked systems (MSNSs) with randomly occurring quantized measurements (ROQMs). A series of random variables obeying the Bernoulli distribution are adopted to depict the phenomenon of the ROQMs and the fault signal is assumed to appear with an unknown constant type. The aim of this paper is to provide the state and fault fusion filtering algorithm by using the inverse covariance intersection fusion method. Moreover, a proper filter gain is designed by minimizing the local upper bound of filtering error covariance. Finally, the effectiveness of the presented fusion method is verified by using an illustrative example. © 2022 IEEE.

关键词： Inverse problems

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An Adaptive Event-triggered Nonlinear Filtering for Power systems Subject to Hybrid Measurements and Multiple Cyber-Attacks 8

An Adaptive Event-triggered Nonlinear Filtering for Power Sy...

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8th International Conference on Control Science and systems Engineering, ICCSSE 2022

作者： Huang, Jinpeng Hu, Jun Li, Jiaxing Cao, Zhipeng Harbin University of Science and Technology Department of Mathematics Harbin150080 China Harbin University of Science and Technology Heilongjiang Prov. Key Lab. of Optimization Control and Intelligent Analysis for Complex Systems Harbin150080 China

ISBN: (纸本)9781665484138

In this paper, an adaptive event-triggered filtering problem is discussed for power systems subject to multiple cyberattacks and hybrid measurements. A model describing the multiple cyber-attacks is constructed, which includes the denial of service attack and replay attack. In order to decrease the data transmission frequency, according to the practical requirements, an adaptive event-triggered strategy is adopted to schedule the node transmission. To be specific, the upper bound of the estimation error covariance is firstly obtained by solving the difference equations and employing the time-stamp method. Next, the desired estimator gain matrix is designed by minimizing the corresponding upper bound. Finally, an illustrative example is used to demonstrate the effectiveness of the proposed estimation algorithm. © 2022 IEEE.

关键词： Denial-of-service attack

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Gait Planning and Motion Control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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The fictitious domain method based on navier slip boundary condition for simulation of flow-particle interaction

arXiv

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arXiv 2020年

作者： Zhang, Rong He, Qiaolin Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing400065 China School of Mathematics Sichuan University Chengdu610064 China

In this article, we develop a least–squares/fictitious domain method for direct simulation of fluid particle motion with Navier slip boundary condition at the fluid–particle interface. Let Ω and B be two bounded domains of Rd such that B ⊂ Ω. The motion of solid particle B is governed by Newton’s equations. Our goal here is to develop a fictitious domain method where one solves a variant of the original problem on the full Ω, followed by a well–chosen correction over B and corrections related to translation velocity and angular velocity of the particle. This method is of the virtual control type and relies on a least–squares formulation making the problem solvable by a conjugate gradient algorithm operating in a well chosen control space. Since the fully explicit scheme to update the particle motion using Newton’s equation is unstable, we propose and implement an explicit–implicit scheme in which, at each time step, the position of the particle is updated explicitly, and the solution of Navier-Stokes equations and particle velocities are solved by the the least–squares/fictitious domain method implicitly. Numerical results are given to verify our numerical method. © 2020, CC BY.

关键词： Numerical methods

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Obstacle Avoidance for Kinematically Redundant Robot

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IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators System stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

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Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent systems

Distributed Quadratic Stabilization of Uncertain Linear Mult...

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The 24th Chinese Control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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Exponential input-to-state stability of impulsive stochastic fuzzy Cohen-Grossberg neural networks with distributed infinite transmission delays

Exponential input-to-state stability of impulsive stochastic...

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第三十八届中国控制会议

作者： Weisong Zhou Dan Shi Wei Zhu Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications

In this paper, we study a class of impulsive stochastic fuzzy delayed Cohen-Grossberg neural networks with distributed infinite transmission delays. By Razumikhin technique and differential inequalities, some sufficient conditions ensuring the mean-square exponential input-to-state stability of our considered Cohen-Grossberg neural networks are obtained. These results can include constant delay and bounded distributed delay as its special cases, and generalize and improve some earlier publications. A numerical example is demonstrated to verify the theoretical results.

关键词： Impulsive Stochastic Infinite delays Cohen-Grossberg neural networks Exponential input-to-state stability

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