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arXiv 2018年

作者： Wei, Yue Fang, Hao Zeng, Xianlin Chen, Jie Pardalos, Panos M. School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Industrial and Systems Engineering University of Florida

This technical note studies a class of distributed nonsmooth convex consensus optimization problem. The cost function is a summation of local cost functions which are convex but nonsmooth. Each of the local cost functions consists of a twice differentiable (smooth) convex function and two lower semi-continuous (nonsmooth) convex functions. We call this problem as single-smooth plus double-nonsmooth (SSDN) problem. Under mild conditions, we propose a distributed double proximal primal-dual optimization algorithm. The double proximal operator is designed to deal with the difficulty caused by the unproximable property of the summation of those two nonsmooth functions. Besides, it can also guarantee that the proposed algorithm is locally Lipschitz continuous. An auxiliary variable in the double proximal operator is introduced to estimate the subgradient of the second nonsmooth function. Theoretically, we conduct the convergence analysis by employing Lyapunov stability theory. It shows that the proposed algorithm can make the states achieve consensus at the optimal point. In the end, nontrivial simulations are presented and the results demonstrate the effectiveness of the proposed algorithm. Copyright © 2018, The Authors. All rights reserved.

关键词： Cost functions

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Model-Based and Data-Driven control of Event- and Self-Triggered Discrete-Time LTI systems

arXiv

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arXiv 2022年

作者： Wang, Xin Berberich, Julian Sun, Jian Wang, Gang Allgöwer, Frank Chen, Jie The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70550 Germany The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

The present paper considers the model-based and data-driven control of unknown linear time-invariant discretetime systems under event-triggering and self-triggering transmission schemes. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which also offers a way of co-designing the ETS matrix and the controller. To further alleviate the sampling burden of ETS due to its continuous/periodic detection, a self-triggering scheme (STS) is developed. Leveraging pre-collected input-state data, an algorithm for predicting the next transmission instant is given, while achieving system stability. Finally, numerical simulations showcase the efficacy of ETS and STS in reducing data transmissions as well as of the proposed co-design methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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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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Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin Institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

关键词：

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Copy-move Forgery Detection Based on YIQ and ORB for Color Images

Copy-move Forgery Detection Based on YIQ and ORB for Color I...

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2018 2nd International Conference on Computer Science and intelligent Communication(CSIC 2018)

作者： Zheng Jiming Hu Mengqi School of Computer Science and Technology Chongqing University of Posts and Telecommunications Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications

In order to solve the problem of the false matching in detecting copy-move forgeries, an improved method based on Oriented FAST and Rotated BRIEF(ORB) and YIQ color space is proposed. First, to detect the key points of the original image and extract ORB features. Secondly, for each key point, the YIQ color feature is extracted. Finally, the ORB feature descriptor and the YIQ color feature vector between every two different key points are matched to determine the copy-move regions. The experimental results show that the proposed algorithm can not only guarantee the high efficiency of the detection algorithm, but also can effectively reduce the false matching rate comparing with the ORB algorithm. What's more, the proposed algorithm has better robustness even when an image is distorted by Gaussian blur, white noise and JPEG compression.

关键词： digital image forensics copy-move detection YIQ color space mismatch elimination

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Application of partial least squares support vector machines (PLS-SVM) in spectroscopy quantitative analysis

Application of partial least squares support vector machines...

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6th World Congress on intelligent control and Automation, WCICA 2006

作者： Jianfeng, Lv Liankui, Dai National Key Lab. of Industrial Control Technology Institute of Intelligent Systems and Decision Making Zhejiang University Hangzhou 310027 China

ISBN: (纸本)1424403324

In order to overcome the high dimension and collinearity problem of spectrum data in spectroscopy quantitative analysis, we introduce a partial least squares support vector machines (PLS-SVM) method, which integrates partial least squares (PLS) and support vector machines (SVM). The method uses PLS to extract the feature of spectrum. Then the feature serves as the input of SVM calibration model instead of the whole spectrum. Experimental results show that PLS-SVM is superior to PLS in terms of prediction precision, while the modeling time is greatly reduced compared with SVM without feature extraction. © 2006 IEEE.

关键词： Support vector machines

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A Memetic Algorithm for Curvature-Constrained Path Planning of Messenger UAV in Air-Ground Coordination

A Memetic Algorithm for Curvature-Constrained Path Planning ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Yulong Ding Bin Xin Hao Zhang Jie Chen School of Automation Beijing Institute of Technology Beijing China Peng Cheng Laboratory Shenzhen China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

This paper addresses a UAV path planning problem for a team of cooperating heterogeneous vehicles composed of one unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly all UGVs to transmit information. The path planning of messenger UAV is formulated as a Dynamic Dubins Traveling Salesman Problem with Neighborhood (DDTSPN). A novel memetic algorithm is proposed to find the shortest route enabling the UAV to fly over all requested UGVs. In the memetic algorithm, the combination of genetic algorithm and local search is employed to find a high-quality solution in a reasonable time, and a gradient-based repair strategy is used to repair the individuals violating dynamic constraints. The calculation results on both small and large instances show that the proposed method can generate high-quality solutions as compared with the state-of-the-art algorithms.

关键词： Memetics Heuristic algorithms Maintenance engineering Traveling salesman problems Unmanned aerial vehicles Path planning Vehicle dynamics

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Active disturbance rejection control for synchronization of different fractional-order chaotic systems

Active disturbance rejection control for synchronization of ...

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World Congress on intelligent control and Automation (WCICA)

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang Liaoning Province China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

This paper investigates the fractional-order active disturbance rejection control for the synchronization of two different fractional-order chaotic systems. By the fractional-order extended state observers, the nonlinear dynamics in the synchronization error equations for each subsystems are estimated in real time. Compensating the nonlinear estimations into controllers, the active disturbance rejection controllers are designed to achieve the synchronization. Finally, two examples of synchronization issues on different fractional-order chaotic systems are provided to verify that the fractional-order ADRC is irrelevant with the nonlinear dynamics in the fractional-order chaotic systems. The proposed controllers can achieve the synchronization and estimate the nonlinear dynamics effectively for different fractional-order chaotic systems.

关键词： Synchronization Nonlinear dynamical systems Chaos Equations Noise Observers

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Security of Networked control systems with Incomplete Information Based on Game Theory

Security of Networked Control Systems with Incomplete Inform...

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第三十九届中国控制会议

作者： Lei Gao Jian Sun Jun Li Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center China Industrial Control Systems Cyber Emergency Response Team

The security problem of networked control systems（NCSs） suffering denial of service（DoS） attacks with incomplete information is investigated in this paper. Data transmission among different components in NCSs may be blocked due to DoS attacks. We use the concept of security level to describe the degree of security of different components in an NCS. Intrusion detection system（IDS） is used to monitor the invalid data generated by DoS attacks. At each time slot, the defender considers which component to monitor while the attacker considers which place for invasion. A one–shot game between attacker and defender is built and both the complete information case and the incomplete information case are considered. Furthermore, a repeated game model with updating beliefs is also established based on the Bayes’ rule. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Networked control systems Security DoS attacks Game theory Incomplete information

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