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Self-triggered Consensus control for Linear Multi-agent systems With Input Saturation

IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 150-157页

作者： Yanxu Su Qingling Wang Changyin Sun School of Automation Southeast UniversityNanjing 210096and also with the Key Laboratory of Measurement and Control of Complex System of EngineeringMinistry of EducationSoutheast UniversityNanjing 210096China

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

关键词： Input saturation linear matrix inequalities(LMIs) multi-agent systems(MASs) self-triggered control

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Robotic Etiquette:Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction

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Journal of Bionic engineering 2010年第2期7卷 150-160页

作者： Kun Qian,Xudong Ma,Xianzhong Dai,Fang Fang key lab of measurement and control of complex systems of engineering (Ministry of Education,China), Southeast University,Nanjing 210096,P.R.China [a] Key Lab of Measurement Control of Complex Systems of Engineering (Ministry of Education China) Southeast University Nanjing 210096 P. R. China

Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic *** on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational *** human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading *** simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.

关键词： robotic etiquette navigation human motion prediction human-robot interaction service robot

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Hybrid genetic-ant colony algorithm based job scheduling method research of arc welding robot

Hybrid genetic-ant colony algorithm based job scheduling met...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Meng, Zhengda Chen, Qinqi Key Lab. of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (纸本)9781424457021

Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant job scheduling optimization methods are designed. Genetic algorithm and ant colony algorithm are applied to robot welding job scheduling first. Then, based on the characteristics of both algorithms, hybrid genetic ant colony algorithm is designed to improve optimization performance. With simulated weldment as the subject, genetic algorithm, ant colony algorithm and hybrid genetic ant colony algorithm are analyzed and compared by simulation. Validity of above methods is verified. ©2010 IEEE.

关键词： Genetic algorithms

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An Adaptive Method based on QRCP Decomposition for Single Sample Problem 33

An Adaptive Method based on QRCP Decomposition for Single Sa...

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第三十三届中国控制会议

作者： HU Changhui LU Xiaobo DU Yijun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781479947249

In this paper,an adaptive approximation image reconstruction method based on orthogonal triangular with column pivoting(QRCP) decomposition algorithm is proposed for single sample problem in face *** using QRCP the single sample and its transpose are decomposed to two sets of basis *** an adaptive approximation image reconstruction method is proposed to reconstruct two approximation images from the two basis image sets *** single training sample and its two approximation images of each object form a new training set,which can make the fisher linear discriminant analysis(FLDA) be applied to single sample problem in face *** performance of the proposed method is verified on Yale,FERET,and ORL face *** experimental results indicate that the proposed method is efficient and outperforms some existing methods which are proposed to overcome the single sample problem.

关键词： Face recognition,single sample problem,orthogonal triangular decomposition with column pivoting,adaptive approximation image reconstruction method

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Stator flux oriented control with improved integrator for speed-sensorless induction motor drives

Stator flux oriented control with improved integrator for sp...

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2010 International Conference on E-Product E-Service and E-Entertainment, ICEEE2010

作者： Zhang, Hao Dai, Xianzhong Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9781424471614

This paper presents a speed-sensorless control algorithm for induction motors, based on the stator fluxoriented control. The algorithm has the advantage of insensitivity to rotor parameters and load varying, stator flux and rotor speed is closed loop controlled respectively. The main improvement is that stator flux is estimated based on a modified integrator which is developed to solve the problems associated with pure integrator. The performance of the proposed algorithm is verified using a dSPACE system with DS1103 controller board based on the digital signal processor (DSP) TMS320F240. The experimental results show the estimated speed is true of exactly actual speed and good behavior of the drive in both transient and steady state lowspeed operating conditions is proved. ©2010 IEEE.

关键词： Induction motors

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An Enhanced Local Ternary Patterns Method for Face Recognition 33

An Enhanced Local Ternary Patterns Method for Face Recogniti...

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第三十三届中国控制会议

作者： WANG Zhenyu HUANG Rong YANG Wankou SUN Changyin School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

Feature descriptor based methods(*** Binary Patterns,Local Ternary Patterns) have gained encouraging results in face *** one needs to manually set the threshold in Local Ternary Patterns(LTP).The threshold in LTP is not data adaptive and not robust to *** some cases,we may not give a suitable threshold for *** by Weber's Law,here a data adaptive threshold strategy is prosed for LTP and an enhanced LTP is given for face *** evaluate the enhanced LTP on ORL and FERET face databases and the results demonstrate that the enhanced LTP significantly improves the performances.

关键词： local ternary patterns,Weber's Law,feature descriptor,face recognition

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Distributed MPC with Application to AGC of Power system with Wind-Photovoltaic Hybrid Generation 36

Distributed MPC with Application to AGC of Power System with...

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第36届中国控制会议

作者： Yubin Jia Changyin Sun School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781538629185

In modern power system,renewable energy（e.g.,wind and solar energy） is an essential part of the smart *** problem of the fluctuate output of renewable energy generation and cooperation with traditional energy generation present significant challenges to the automatic generation control（AGC） in future smart *** paper presents a distributed model of AGC that contains thermal,hydro and wind-solar power *** on this model,we formulate a distributed model predictive control（DMPC） problem and propose a quadratic programming（QP） based approach to solve *** performance of the proposed method is demonstrated through simulations.

关键词： Distributed model predictive control wind and solar generation system automatic generation control

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Emulating manual welding process by two cooperative robots 33

Emulating manual welding process by two cooperative robots

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第三十三届中国控制会议

作者： GAN Yahui DAI Xianzhong DA Qi School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

The problem of how to emulate a manual welding process by two cooperative robotic manipulators is investigated in this *** emulating process is intrinsically a trajectory planning process for the two cooperative *** of skilled welders and technical requirements in a welding process have been modeled and integrated into the robot trajectory planning *** model of trajectory planing for two cooperative robots doing a welding task is in a constrained optimization form.A Genetic Algorithm solver has been adopted to solve such an optimization ***-connect-pipe welding experiment has been carried out at the end of the paper and the weld results verified the effectiveness of our method.

关键词： emulate manual welding,cooperative robot,Genetic Algorithm,Pipe-connect-pipe welding

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A compensation method for the packet loss deviation in system identification with event-triggered binary-valued observations

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Science China(Information Sciences) 2020年第12期63卷 266-268页

作者： Jing-Dong DIAO Jin GUO Changyin SUN School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education

Dear editor,With the rapid development of network and communication technology, group systems interrelated in terms of both time and space are commonly encountered, such as sensor networks, multi-agent systems, and sm... 详细信息

关键词： system identification event-triggered binary-valued observations packet loss convergence

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Human-like Manipulation Planning for Articulated Manipulator

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Journal of Bionic engineering 2012年第4期9卷 434-445页

作者： Yahui Gan Xianzhong Dai School of Automation Southeast UniversityNanjing 210096P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096P.R.China

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词： manipulation planning human likeness rapid upper limb assessment applied ergonomics task compatibilitymeasurement velocity transmission ratio

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