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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xinxing Li Zhihong Peng Li Liang Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, a novel online Q-Iearning approach is proposed to solve the Infinite Horizon Linear Quadratic Regulator (IHLQR) problem for continuous-time (CT) linear time-invariant (LMI) systems. The proposed Q-Iearning algorithm employing off-policy reinforcement learning (RL) technology improves the exploration ability of Q-Iearning to the state space. During the learning process, the Q-Iearning algorithm can be implemented just using the data sets which just contains the information of the behavior policy and the corresponding system state, thus is data- driven. Moreover, the data sets can be used repeatedly, which is computationally efficient. A mild condition on probing noise is established to ensure the converge of the proposed Q-Iearning algorithm. Simulation results demonstrate the effectiveness of the developed algorithm.

关键词： Silicon Optimal control Convergence Approximation algorithms Manganese Regulators Adaptation models

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Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model

Adaptive robust controller for electric cylinder with fast p...

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第36届中国控制会议

作者： Duo yang Li Jun Zheng Wang Ren Jian Hao Shou Kun Wang Wei Shen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In this paper,the adaptive robust control（ARC） algorithm is proposed for tracking control of the electric cylinder *** to the analysis of the working principle of the electric cylinder servo system,the model of the system is established on the modified Lugre friction model,and single observer is designed for calculating friction as *** the ARC controller and adaptive law are designed for on-line parameters estimation,frictional compensation and the suppression external *** the Lyapunov approach,the stability of this system can be obtained in this *** simulation result shows that ARC can suppresses external disturbances effectively and realize real-time online parameter estimation.

关键词： adaptive robust control Lugre model parameter estimation

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Distributed adaptive tracking on Lagrangian systems with reduced interaction

Distributed adaptive tracking on Lagrangian systems with red...

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World Congress on intelligent control and Automation (WCICA)

作者： Yuchen Liu Hao Fang Yutian Mao Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fraction of agents within the leader's communication range are informed about the position of the leader. Without using the leader's velocity information, a connectivity-preserving adaptive controller is proposed to achieve tracking control on Lagrangian systems with the leader of constant velocity. Moreover, position and velocity consensus can be achieved asymptotically with the proposed control strategy. Numerical simulations are further provided to illustrate the theoretical results.

关键词： intelligent control Automation

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Sliding-Mode Based Fixed-Time control of Takagi-Sugeno Fuzzy systems 36

Sliding-Mode Based Fixed-Time Control of Takagi-Sugeno Fuzzy...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Chen, Xili Wang, Leimin Tan, Xingxing China Univ. of Geosci. Hubei Key Lab. of Adv. Control and Intelligent Automation for Complex Systems School of Automation Wuhan430074 China

ISBN: (纸本)9781665437127

In this paper, the fixed-time stabilization of Takagi-Sugeno (T-S) fuzzy system with discrete time delays and external disturbances is investigated via sliding-mode control. Firstly, a suitable controller and sliding-mode surface are designed. After that, by means of Lyapunov functions and inequality technique, state variables of T-S fuzzy system can achieve the designed sliding-mode surface in a fixed time, then keep on it. Finally, the validity of theoretical results is supported by two numerical examples. © 2021 IEEE.

关键词： Fuzzy systems

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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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Information Fusion of Topological Structure and Node Features in Graph Neural Network

Information Fusion of Topological Structure and Node Feature...

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第40届中国控制会议

作者： Hongwei Zhang Can Wang Yuanqing Xia Tijin Yan Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

Graph neural networks(GNNs) have shown great popularity and achieved promising performance on various graph-based tasks in the past years. However, there is little work that explores the information fusion mechanism, which plays an import role in GNNs. Besides, datasets in the real world often have noises, which make the information fusion difficult. In this paper, we give an information-theoretic explanation. Specifically, we focus on how the information from topological structures and node features fuses and how different information contributes to the downstream task. Furthermore, we propose a general framework named M-GCN to express the fusion process in GNNs. Graph embeddings and feature graph are introduced to extract the information from topological structure and node features separately in M-GCN. Extensive experiments are conducted on several benchmark datasets and experimental results show that our proposed models are more robust and outperform state-of-the-art methods.

关键词： Information Fusion Graph Neural Network Graph embedding

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Spatially Dense Multi-Target Track Segment Association Algorithm

Spatially Dense Multi-Target Track Segment Association Algor...

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第42届中国控制会议

作者： Yan Yao Liping Yan Yuanqing Xia Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In the field of radar data processing, track interruption seriously affects target tracking, track fusion, and other *** existing track segment association algorithms have low correlation accuracy in dense distributed or long-time interruption situations. To this purpose, a dense multi-target track segment association(DMTTSA) algorithm is proposed. Firstly, two identical networks based on the multi-head probability sparse(ProbSparse) self-attention are used to capture the long-term dependencies of the tracks. Then, the bidirectional quadruplet hard sample loss(BiQuaHard loss) is constructed to make the tracks belonging to the same targets closer and the tracks belonging to the different targets farther. Finally, DMTTSA takes the closest track pairs in the feature space as the associated tracks and divides the unassociated tracks into the birth and dead tracks in chronological order. Some comparative experiments are carried out to show the anti-noise performance of the DMTTSA, as well as the effectiveness of solving the problem of dense multi-target track interruption.

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A review of cooperative path planning of an unmanned aerial vehicle group

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Frontiers of Information Technology & Electronic Engineering 2020年第12期21卷 1671-1694页

作者： Hao ZHANG Bin XIN Li-hua DOU Jie CHEN Kaoru HIROTA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China Department of Computational Intelligence and Systems Science Tokyo Institute of TechnologyTokyo 1528550Japan

As a cutting-edge branch of unmanned aerial vehicle(UAV)technology,the cooperation of a group of UAVs has attracted increasing attention from both civil and military sectors,due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks,e.g.,search and rescue,fire-fighting,reconnaissance,and *** path planning(CPP)is a key problem for a UAV group in executing tasks *** this paper,an attempt is made to perform a comprehensive review of the research on CPP for UAV ***,a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements,i.e.,task,UAV group,and environment,as a basis for a comprehensive classification of different types of CPP *** following the proposed framework,a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified ***,a review and a statistical analysis are presented based on the taxonomy,emphasizing the coordinative elements in the existing CPP *** addition,a collection of challenging CPP problems are provided to highlight future research directions.

关键词： Unmanned aerial vehicle group Cooperation Path planning Optimization problem

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Distributed trajectory tracking control for multiple nonholonomic mobile robots

Distributed trajectory tracking control for multiple nonholo...

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作者： Yang, Qingkai Fang, Hao Cao, Ming Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Faculty of Mathematics and Natural Sciences University of Groningen Groningen AG9747 Netherlands

In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots' trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system's complexity and broadening the proposed controller's practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems

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A comparative study on evolutionary algorithms for the agent routing problem in multi-point dynamic task

A comparative study on evolutionary algorithms for the agent...

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作者： Lu, Sai Xin, Bin Dou, Lihua Wang, Ling School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Department of Automation Tsinghua University Beijing China

The agent routing problem in multi-point dynamic task (ARP-MPDT) proposed recently is a novel permutation optimisation problem. In ARP-MPDT, a number of task points are located at different places and their states change over time. The agent must go to the task points in turn to execute the tasks, and the execution time of each task depends on the task state. The optimisation objective is to minimise the time for the agent to complete all the tasks. In this paper, five evolutionary algorithms are redesigned and tried to solve this problem, including a permutation genetic algorithm (GA), a variant of the particle swarm optimisation (PSO) and three variants of the estimation of distribution algorithm (EDA). In particular, a dual-model EDA (DM-EDA) employing two probability models was proposed. Finally, comparative tests confirm that the DM-EDA has a stronger adaptability than the other algorithms though GA performs better for the large-scale instances. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Genetic algorithms

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