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arXiv 2020年

作者： Zhang, Yijin Li, Honggang Jin, Maoming Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Pass College of Chongqing Technology and Business University Chongqing401520 China Institute of Nonlinear Analysis Research Changjiang Normal University Chongqing400803 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

In this paper, a new concept, the fuzzy rate of an operator in linear spaces is proposed for the very first time. Some properties and basic principles of it are studied. Fuzzy rate of an operator B which is specific i... 详细信息

关键词： Membership functions

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An Efficient Restart-Enhanced Genetic Algorithm for the Coalition Formation Problem 1

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13th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2018

作者： Guo, Miao Xin, Bin Chen, Jie Wang, Yipeng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (数字)9789811328268

ISBN: (纸本)9789811328251

In multi-agent system (MAS), the coalition formation (CF) is an important problem focusing on allocating agents to different tasks. In this paper, the single-task single-coalition (STSC) formation problem is considered. The mathematical model of the STSC problem is built with the objective of minimizing the total cost with the ability constraint. Besides, an efficient restart-enhanced genetic algorithm (REGA) is designed to solve the STSC problem. Furthermore, this paper constructs a comparison experiment, employing a random sampling method, an estimation of distribution algorithm and a genetic algorithm without restart strategy as competitors. The results of statistical analysis by the Wilcoxon’s rank-sum test demonstrate that the designed REGA performs better than its competitors in solving the STSC cases of different scales. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

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Event-based model predictive control of discrete-time non-linear systems with external disturbances

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IET control Theory & Applications 2019年第1期13卷 27-35页

作者： Mengzhi Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Beijing 100081 People's Republic of China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 People's Republic of China

The event-based model predictive control (MPC) problem for discrete-time non-linear control systems with external disturbances is studied. Two triggering conditions are designed based on whether the system state is within the terminal region or not. The first one is triggered outside the terminal region when the difference between the actual system state trajectory and the corresponding optimal state trajectory violates a relative threshold, while the second one is triggered inside the terminal region if the difference between the actual system state trajectory and the predicted nominal state trajectory violates a desired relative threshold. The feasibility analysis and stability analysis are given in detail. Sufficient conditions for feasibility relating to the triggering threshold and disturbance bound are obtained. Sufficient conditions for stability of the event-based control system referring to system parameters, triggering threshold and disturbance bound are given. Besides, the upper bound of the state trajectory is obtained and a robust invariant set that the system state will enter in finite time is given. Finally, simulation examples are given to validate the effectiveness of the proposed method.

关键词： nonlinear control systems robust control stability predictive control control system analysis control system synthesis discrete time systems linear systems discrete-time nonlinear systems external disturbances event-based model predictive control problem discrete-time nonlinear control systems triggering conditions terminal region actual system state trajectory corresponding optimal state trajectory predicted nominal state trajectory desired relative threshold sufficient conditions triggering threshold disturbance event-based control system system parameters

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Dynamical primal-dual accelerated method with applications to network optimization

arXiv

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arXiv 2019年

作者： Zeng, Xianlin Lei, Jinlong Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of control science and engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China

This paper develops a continuous-time primal-dual accelerated method with an increasing damping coefficient for a class of convex optimization problems with affine equality constraints. We then analyze critical values for parameters in the proposed method and prove that the rate of convergence is O(t12 ) by choosing proper parameters. As far as we know, this is the first continuous-time primal-dual accelerated method that can obtain the optimal rate. Then this work applies the proposed method to two network optimization problems, a distributed optimization problem with consensus constraints and a distributed extended monotropic optimization problem, and obtains two variant distributed algorithms. Finally, numerical simulations are given to demonstrate the efficacy of the proposed method. Copyright © 2019, The Authors. All rights reserved.

关键词： Continuous time systems

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Optimal fusion estimation for stochastic systems with cross-correlated sensor noises

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Science China(Information Sciences) 2017年第12期60卷 57-70页

作者： Liping YAN Yuanqing XIA Mengyin FU School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is concerned with the optimal fusion of sensors with cross-correlated sensor *** taking linear transformations to the measurements and the related parameters, new measurement models are established, where the sensor noises are decoupled. The centralized fusion with raw data, the centralized fusion with transformed data, and a distributed fusion estimation algorithm are introduced, which are shown to be equivalent to each other in estimation precision, and therefore are globally optimal in the sense of linear minimum mean square error(LMMSE). It is shown that the centralized fusion with transformed data needs lower communication requirements compared to the centralized fusion using raw data directly, and the distributed fusion algorithm has the best flexibility and robustness and proper communication requirements and computation complexity among the three algorithms(less communication and computation complexity compared to the existed distributed Kalman filtering fusion algorithms). An example is shown to illustrate the effectiveness of the proposed algorithms.

关键词： optimal estimation distributed fusion Kalman filter cross-correlated noises linear transformation

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A Guide for Human Walking Model and control — Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control — Insights from...

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Chinese control and decision Conference, CCDC

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing P.R. China Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Beijing P.R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P.R. China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a representative subject was selected. Secondly, one of the simplest human walking model was set up. The mechanical property analysis of human walking was done based on the established walking model via fitting. Thirdly, the feasibility and effectiveness of proposed walking model were validated by numerical simulations. Finally, the intrinsical relationships among human walking, biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Legged locomotion Numerical models Force Analytical models Numerical simulation

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Exponentially Convergent Algorithm Design for Constrained Distributed Optimization via Non-smooth Approach

arXiv

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arXiv 2020年

作者： Li, Weijian Zeng, Xianlin Liang, Shu Hong, Yiguang Department of Automation University of Science and Technology of China HefeiAnhui230027 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China

We consider minimizing a sum of non-smooth objective functions with set constraints in a distributed manner. As to this problem, we propose a distributed algorithm with an exponential convergence rate for the first time. By the exact penalty method, we reformulate the problem equivalently as a standard distributed one without consensus constraints. Then we design a distributed projected subgradient algorithm with the help of differential inclusions. Furthermore, we show that the algorithm converges to the optimal solution exponentially for strongly convex objective functions. Copyright © 2020, The Authors. All rights reserved.

关键词： Constrained optimization

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Event-Based Leader-Follower Consensus for Linear Multi-Agent systems with Adaptive Weighting under Directed Communication Topologies

Event-Based Leader-Follower Consensus for Linear Multi-Agent...

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Asian control Conference

作者： Limin Zhang Jian Sun Guanyu Lai Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Guanyu Lai is with the Faculty of Automation Guangdong University of Technology Guangzhou Guangdong China

ISBN: (纸本)9781728102634

In this paper, a novel distributed event-triggered scheme is proposed to solve the problem of the leader-following consensus for a class of multi-agent systems with linear dynamics under directed topology. At first, a sufficient condition of the leader-following consensus for multi-agent systems based on the distributed event-trigger controller is presented. Furthermore, we proof the multi-agent system can achieve consensus with the proposed distributed event-triggered control protocols and can exclude the Zeno behavior. Finally, We have applied the designed event-triggered communication strategy and controller to vehicle platooning, and the effectiveness and efficiency of the proposed approach is simulated in the prescan.

关键词： Multi-agent systems Topology Couplings Protocols Integrated circuits Indexes

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Robust human-computer interaction for unstable camera systems

Robust human-computer interaction for unstable camera system...

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作者： Zhu, Hao You, Qing Chen, Wenjie School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

A lot of vision systems have been embedded in devices around us, like mobile phones, vehicles and UAVs. Many of them still need interactive operations of human users. However, specifying accurate object information could be a challenging task due to video jitters caused by camera shakes and target motions. In this paper, we first collect practical hand drawn bounding boxes on real-life videos which are captured by hand-held cameras and UAV-based cameras. We give a deep look into human-computer interactive operations on unstable images. The collected data shows that human input suffers heavy deviations which are harmful to interaction accuracy. To achieve robust interactions on unstable platforms, we propose a target-focused video stabilization method which utilizes a proposal-based object detector and a tracking-based motion estimation component. This method starts with a single manual click and outputs stabilized video stream in which the specified target stays almost stationary. Our method removes not only camera jitters but also target motions simultaneously, therefore offering an comfortable environment for users to do further interactive operations. The experiments demonstrate that the proposed method effectively eliminates image vibrations and significantly increases human input accuracy. © Copyright 2018 The Institute of Electronics Information and Communication Engineers.

关键词： Cameras

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Research on High Precision control of Joint Position Servo System for Hydraulic Quadruped Robot

Research on High Precision Control of Joint Position Servo S...

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第三十八届中国控制会议

作者： CHEN Zhihua WANG Shoukun XU Kang WANG Junzheng ZHAO Jiangbo NIU Shanshuai Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

Electro-hydraulic servo valve-controlled cylinder(EHSVCC) is a highly integrated and high-performance electrohydraulic servo driving unit(EHSDU), which is the basic driving unit of the leg joint for hydraulic quadruped robot. The robot impedance control mostly adopts control methods based on position inner loop and impedance outer loop, the high precision control of position inner loop is the key to improve impedance control. Therefore, it is of great significance to study a high precision position control method. Firstly, the electro-hydraulic servo drive unit of the foot robot is taken as the research object. The model of the nonlinear system is established, and the feedback linearization of the system is carried out. Secondly, in order to improve the tracking performance and anti-jamming ability of the position inner loop input/output a sliding mode variable structure robust controller(SMVSRC) with switching function, variable structure control rate and improved boundary layer function is designed. Finally, the electro-hydraulic servo drive unit(EHSDU) and the hydraulic foot robot test platform are tested, the influence of the two control algorithms on the position response and tracking error for EHSDU is analyzed and compared under the control of sinusoidal signals with different amplitudes and frequencies and diagonal gait signals. The experimental results show that the improved SMVSRC algorithm is feasible and effective, which provides a theoretical basis for the later study of impedance control based on position inner loop.

关键词： Hydraulic quadruped robot Position control Feedback linearization Sliding mode controller

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