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Research Square 2021年

作者： Zhang, Yijin Huang, Jie 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 School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

For emergencies, the reliability of information can not be guaranteed. At the same time, due to the lack of information and knowledge, neither the criteria itself nor the credibility can be given a precise evaluation by decision-makers(DMs). Therefore, we combine intuitionistic fuzzy set and Z-number to get a new class of fuzzy set, complete Z-intuitionistic fuzzy set(CZIFS), and its degenerate form, A-type Z-intuitionistic fuzzy set(AZIFS) and B-type Z-intuitionistic fuzzy set(BZIFS). CZIFS can serve as a reliable tool to depict the hesitant degree both on the ambiguity and reliability of uncertain information. In addition, we introduce the score and accuracy functions and distance measure of complete Z-intuitionistic fuzzy number(CZIFN), with which we have considered both reliability information and DM-s’ preference on it. Then, we improve traditional MULTIMOORA by developing reference point(RP) model to consider both the risk and profile of alternatives and integrating analytic hierarchy process(AHP) in the process of ranking aggregation method to take into account the preference of DMs on three subordinate rankings. Besides, to solve multicriteria group decision making(MCGDM) problem, we develop improved MULTIMOORA method to the environment of CZIFN. Finally, to illustrate the proposed method, we give a numerical example, solving site selecting of Fangcang shelter hospital for COVID-19. © 2021, CC BY.

关键词： Analytic hierarchy process

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Dynamics of Small World Effect and Random Fuzzy Graph

Research Square

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Research Square 2021年

作者： Zhang, Yijin Huang, Jie Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing Municipal Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

Small World Effect (or Six Degrees of Separation theory) has generated significant influence in the world. Many researchers and institutes have done lots of work on the study of it. We model Small World Effect by random process and Graph, calculate the probability that any two people i and j in the world can contact each other after n steps (forwarding messages by intermediaries) based on different R (average number of acquaintances everyone has in the world).When R=50 or 80, if, the probability is 0.848 and the search is very likely to happen. When R=150, n=4, this probability is 0.99994, that is, after 4 steps, any two people in the world will establish connection almost surely. In the sense of Dunbar's number (R=150), six degrees of separation becomes four degrees of separation. We propose the concepts of (directed) Random Fuzzy Graph for the very first time which can describe the fact of recognition among people best, because the relation among persons is random and fuzzy. © 2021, CC BY.

关键词： Random processes

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Fuzzy Rate Analysis of Operators and its Applications in Linear Spaces

Research Square

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Research Square 2021年

作者： Zhang, Yijin Li, Honggang Jin, Maoming Lin, Zongbing Nanjing Changjiang Waterway Engineering Bureau China 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 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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Fully distributed consensus of second-order multi-agent systems using adaptive event-based control

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Science China(Information Sciences) 2018年第12期61卷 199-201页

作者： Wei ZHU Qianghui ZHOU DANDan WANG Gang FENG Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Key Lab of Industrial Internet of Things & Networked Control Ministry of EducationChongqing University of Posts and Telecommunications Department of Mechanical and Biomedical Engineering City University of Hong Kong

Dear editor,In recent years, the distributed consensus of multiagent systems (MASs) has attracted compelling attention because of its potential applications in many fields such as sensor networks, unmanned aerial vehicle (UAV) formation flying, and multiple signals tracking. The central task in the distributed consensus of MASs is to design distributed control protocols to achieve the consensus

关键词： In MAS Fully distributed consensus of second-order multi-agent systems using adaptive event-based control

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Ranging-aided relative navigation of multi-platforms

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control Theory and Technology 2018年第2期16卷 122-132页

作者： Hai-Long PEI Ruican XIA Key Lab of Autonomous Systems and Networked Control Ministry of Education China Unmanned System Engineering Center of Guangdong Province Guangzhou Guangdong 510640 China School of Automation South China University of Technology Guangzhou Guangdong 510640 China

This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba＇s Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive.

关键词： Multi-vehicles relative navigation Wahba＇s Problem pose estimation extended Kalman filter

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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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Fuzzy rate analysis of operators and its applications in linear spaces

arXiv

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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

关键词： Membership functions

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Position control of Continuum Manipulator with Twin-Pivot Compliant Joints

Position Control of Continuum Manipulator with Twin-Pivot Co...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Xin Liu Chenguang Yang Shilu Dai Ying Feng Key Lab of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

This paper proposes a novel closed-loop PD controller based on kinematic for continuum manipulator with twin-pivot compliant joints. The purpose of the twin-pivot compliant joints is to decrease the twisting angle caused by gravity of manipulator and payload. We build the forward and inverse kinematic to control the end-effector of continuum manipulator with twin-pivot compliant joints. In this paper, first we build forward and inverse kinematic of continuum manipulator with twin-pivot compliant joints. We then build the controller based on kinematic models for a continuum manipulator with 24 Degrees of Freedom (DoF). Finally, simulation studies are carried out to test the proposed approach.

关键词： Kinematics End effectors Jacobian matrices Service robots Aerospace electronics

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Disturbance observer based sliding mode control for unmanned helicopter hovering operations

Disturbance observer based sliding mode control for unmanned...

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第三届国际航空科学青年学者学术会议

作者： Ihsan ULLAH Hai-Long PEI Key Lab of Autonomous Systems and Networked Control Ministry of Education School of Automation South China University of Technology

Numerous control techniques are developed for miniature unmanned helicopters to do hover operation with each methods having its own advantages and limitations. During the hover operation helicopters suffer from unknown external disturbances such as wind and ground effect. For a stable operation, these disturbances must be compensated accurately. This paper presents a disturbance observer based sliding mode control technique for small-scale unmanned helicopters to do hover operation in presence of external disturbances. To counteract both matched and mismatched uncertainties a new sliding surface is designed based on the disturbances estimations. The controller design is based on the linearized state-space model of the helicopter which effectively describes helicopter dynamics during the hover operations. The model mismatch and external disturbances are estimated as lumped disturbances and are compensated in the controller design. The proposed controller reduces chattering and is capable of handling matched and mismatched uncertainties. The control performance is successfully tested in Simulink.

关键词： Unmanned helicopter External Disturbances Sliding mode control Disturbance Observer Chatter reduction Mismatched uncertainty

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RF chain reduction for MIMO systems: A hardware prototype

arXiv

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arXiv 2019年

作者： Gong, Tierui Shlezinger, Nir Ioushua, Shahar Stein Namer, Moshe Yang, Zhijia Eldar, Yonina C. State Key Lab of Robotics Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel School of Electrical Engineering Tel Aviv University Tel Aviv Israel Faculty of Electrical Engineering Technion Haifa Israel

RF chain circuits play a major role in digital receiver architectures, allowing passband communication signals to be processed in baseband. When operating at high frequencies, these circuits tend to be costly. This increased cost imposes a major limitation on future multiple-input multiple-output (MIMO) communication technologies. A common approach to mitigate the increased cost is to utilize hybrid architectures, in which the received signal is combined in analog into a lower dimension, thus reducing the number of RF chains. In this work we present a hardware prototype implementing analog combining for RF chain reduction. The prototype consists of a specially designed configurable combining board as well as a dedicated experimental setup. Our hardware prototype allows to evaluate the effect of analog combining in MIMO systems using actual communication signals. The experimental study, which focuses on channel estimation accuracy in MIMO channels, demonstrates that using the proposed prototype, the achievable channel estimation performance is within a small gap in a statistical sense from that obtained using a costly receiver in which each antenna is connected to a dedicated RF chain. Furthermore, in the considered scenarios, this gap becomes negligible when the reduction rate, i.e., the ratio of the number of RF chains to the number of antennas, is above 62.5%. Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

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