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第35届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this work,an event-triggered high gain observer（ET-HGO） design is considered for a continuous-time nonlinear system combined with disturbance and *** the event-trigger scheme,the performance of the ET-HGO depends on the triggering condition ***,in this work,for the high-gain observer considered,an event-triggered transmission strategy,which does not relies on the other system state but the output of the control system,is proposed such that the observation error is asymptotically ***,with mild restriction,the observation error is guaranteed to be bounded all the *** obtained theoretical results are evaluated through the numerical simulations.

关键词： High-gain observer event-triggered transmission state estimation

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Analysis of LoRa for Electronic Shelf Labels Based on Distributed Machine Learning 42

Analysis of LoRa for Electronic Shelf Labels Based on Distri...

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42nd Chinese control Conference, CCC 2023

作者： Khan, Malak Abid Ali Ma, Hongbin Jin, Ying Ma, Jingxiang Rehman, Zia Ur Rahman, Mizanur School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

Deforestation is the primary source of global warming;traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly limited its power. Various technologies provide connectivity and a fast-updating system to eliminate the paper-based approach. LoRa is one of the contenders to design the system for electronic shelf labels (ESLs). In this paper, LoRa has been used to minify data losses and guarantee the successful decoding of the carrier signals. The data parallelism at the network server (NS) is used to distribute the data packets among the gateways (GWs) for concurrent transmissions to the end devices (EDs). The EDs are placed in different ranges using machine clustering to avoid intra-SF interference and collision. The data rate (DR) and spreading factors (SFs) have been proposed to improve the performance of pure and slotted ALOHA for the properly allocated tags. The orthogonality principles follow industrial, scientific, and medical regulations (ISM) to avoid data traffic congestion. GWs under different duty cycles (DC) and bandwidth (BW) are examined to minify the network saturation and reduce the energy harvesting of the tags. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Deforestation

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Distributed formation stabilization for mobile agents using virtual tensegrity structures

Distributed formation stabilization for mobile agents using ...

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第三十四届中国控制会议

作者： YANG Qingkai CAO Ming FANG Hao CHEN Jie HUANG Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Faculty of Mathematics and Natural Sciences ITM University of Groningen

ISBN: (纸本)9789881563897

This paper investigates the distributed formation control problem for a group of mobile Euler-Lagrange agents to achieve global stabilization by using virtual tensegrity structures. Firstly, a systematic approach to design tensegrity frameworks is elaborately explained to confine the interaction relationships between agents, which allows us to obtain globally rigid frameworks. Then, based on virtual tensegrity frameworks, distributed control strategies are developed such that the mobile agents converge to the desired formation globally. The theoretical analysis is further validated through simulations.

关键词： Formation stabilization,Tensegrity structure,Global convergence,Euler-Lagrange dynamics

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Aggregation in Intersection Region for Distributed Heterogeneous Mobile Sensor Networks

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Journal of systems Science and complexity 2017年第4期30卷 932-949页

作者： Zheng Zhi Peng Zhihong Chen Jie School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model and dynamics model, set the intersection of all the local perceptions as the region of interest (ROI). The MSN consists of sensors with first-order dynamics and second-order dynamics. Then, the authors design a control strategy to ensure that individuals aggregate at a point in the ROI relying on their local perceptions and the locations of neighbors within their communication scope. The authors describe this situation of aggregation as rendezvous. In addition, the authors introduce artificial potential field to make sensors deploy dispersedly in a bounded range near the ROI, which the authors call dispersed deployment. Finally, the authors prove the stability of the proposed strategies and validate the theoretical results by simulations. This research is applied for the cooperative deployment and data collection of mobile platforms with different dynamics under the condition of inaccurate perception.

关键词： Aggregation convex intersection heterogeneous dynamics mobile sensor

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A Framework of Finite-model Kalman Filter with Case Study： MVDP-FMKF Algorithm

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自动化学报 2013年第8期39卷 1246-1256页

作者： FENG Bo MA Hong-Bin FU Meng-Yin WANG Shun-Ting School of Automation Beijing Institution of TechnologyBeijing 100081China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of TechnologyBeijing 100081China

然而，过滤技术的 Kalman 广泛地在许多应用被使用了为线性 Gaussian 系统的标准 Kalman 过滤器不能通常工作很好或甚至面对大模型无常分叉。在实际应用程序，有高费用的实验的大数字是昂贵的或对甚至不可能获得一个准确系统模型。在有... 详细信息

然而，过滤技术的 Kalman 广泛地在许多应用被使用了为线性 Gaussian 系统的标准 Kalman 过滤器不能通常工作很好或甚至面对大模型无常分叉。在实际应用程序，有高费用的实验的大数字是昂贵的或对甚至不可能获得一个准确系统模型。在有限模型的适应控制上由我们的以前的开创的工作激发了，过滤的有限模型的 Kalman 的一个框架在这份报纸被介绍。这个框架想那大模型无常可以被能与对方很不同的已知的模型的一个有限集合限制。而且，在集合的已知的模型的数字能灵活地被选择以便换句话说，不明确的模型可以被已知的模型之一总是接近大模型无常被已知的模型的凸的壳盖住。在介绍框架以内根据经由最小化的向量距离原则的适应切换的想法，一个简单有限模型的 Kalman 过滤器， MVDP-FMKF，被广泛的模拟算术地提出并且说明。MEMS 回转仪飘移的一个实验验证了建议算法的有效性，显示有限模型的 Kalman 过滤器的机制在 Kalman 过滤器的实际应用有用、有效，特别在惯性的航行系统。

关键词：卡尔曼滤波技术有限模型框架算法卡尔曼滤波器不确定性模型惯性导航系统自适应控制

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Dynamic Performance Prediction in Batch-Based Assembly System with Bernoulli Machines and Changeovers

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complex System Modeling and Simulation 2022年第3期2卷 224-237页

作者： Zunjun Wang Zhiyang Jia Xiuxuan Tian Jingchuan Chen Bei Pan State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Industrial and Manufacturing Systems Engineering University of Hong KongHong Kong 999077China School of Engineering Tokyo University of TechnologyTokyo 192-0982Japan

Worldwide competition and diverse demand of customers pose great challenges to manufacturing enterprises. How to organize production to achieve high productivity and low cost becomes their primary task. In the mean time, the rapid pace of technology innovation has contributed to the development of new types of flexible automation. Hence, increasing manufacturing enterprises convert to multi-product and small-batch production, a manufacturing strategy that brings increased output, reduced costs, and quick response to the market. A distinctive feature of small-batch production is that the system operates mainly in the transient states. Transient states may have a significant impact on manufacturing systems. It is therefore necessary to estimate the dynamic performance of systems. As the assembly system is a typical class of production systems, in this paper, we focus on the problem of dynamic performance prediction of the assembly systems that produce small batches of different types of products. And the system is assumed to be characterized with Bernoulli reliability machines, finite buffers, and changeovers. A mathematical model based on Markovian analysis is first derived and then, the analytical formulas for performance evaluation of three-machine assembly systems are given. Moreover, a novel approach based on decomposition and aggregation is proposed to predict dynamic performance of large-scale assembly systems that consist of multiple component lines and additional processing machines located downstream of the assemble machine. The proposed approach is validated to be highly accurate and computationally efficient when compared to Monte Carlo simulation.

关键词： flexible assembly system dynamic performance Bernoulli machines finite buffers changeovers

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Differential Steering control for 6 × 6 Wheel-drive Mobile Robot 26

Differential Steering Control for 6 × 6 Wheel-drive Mobile ...

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26th International Conference on Automation and Computing, ICAC 2021

作者： Zhao, Hongqiang Luo, Chao Xu, Yongkang Li, Jiehao Central South University State Key Laboratory of High Performance Complex Manufacturing School of Mechanical and Electrical Engineering ChangSha China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China

ISBN: (纸本)9781860435577

The 6 × 6 Wheel-drive mobile robot is widely used in the field of special operations, and there is the phenomenon of slipping in the process of steering. To study the steering accuracy and stability of mobile robot, the dynamic model of 6 × 6 Wheel-drive Mobile Robot is established, and the sliding mode control strategy of differential steering based on mobile robot is proposed. Firstly, taking the torque of six wheels and the operator's direction control as input, the three-dimensional attitude and the relative position of the steering center of the mobile robot are obtained by using the position and attitude sensor, to determine the reference steering angle of the mobile robot. Secondly, considering the relationship between the position error and the velocity error, a recursive sliding surface is designed, and a neural network is introduced to approach the uncertain part of the mobile robot model. Then, a nonlinear gain function is applied to construct a dynamic surface control law. Finally, through the Trucksim/Simulink co-simulation model, the nonlinear gain recursive sliding mode dynamic surface adaptive control method for mobile robot trajectory tracking can improve the tracking speed and control precision, and the control force and torque are smooth and reasonable. The results show that the method is effective in improving the steering accuracy and stability of mobile robot. © 2021 Chinese Automation and Computing Society in the UK-CACSUK.

关键词： Mobile robots

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Reinforcement Learning Applied to Agent Path Planning 41

Reinforcement Learning Applied to Agent Path Planning

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第41届中国控制会议

作者： Fenglan Sun Xiaoshuai Wu Guoxiong Long Key Laboratory of Intelligent Analysis and Decision on Complex Systems School of ScienceChongqing University of Posts and Telecommunications Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of Complexity Science Potsdam Institute for Climate Impact Research

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper provides an enhanced Q-learning algorithm for agent path planning in traditional grid maps,which solves the problem of agent path planning in grid *** an unknown environment,the classic Q-learning algorithm addresses the agent's path planning ***,there are several limits to this strategy in terms of path planning:the agent could only move nearby grids,and the step size is only one *** Q-learning algorithm,including changes the agent's direction and step *** action direction of agents is increased from four to *** movement step of agents is raised from one to three *** new method makes the convergence faster and proxy path ***,a set of simulation tests are presented to validate the modified Q-learning algorithm.

关键词： Agent Path planning Q-learning Grid method

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A hybrid differential evolution and estimation of distribution algorithm for the multi-point dynamic aggregation problem 18

A hybrid differential evolution and estimation of distributi...

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2018 Genetic and Evolutionary Computation Conference, GECCO 2018

作者： Hao, Rong Zhang, Jia Xin, Bin Chen, Chen Dou, Lihua School of Automation Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781450357647

The multi-point dynamic aggregation (MPDA) is a typical task planning problem. In order to solve the MPDA problem efficiently, a hybrid differential evolution (DE) and estimation of distribution algorithm (EDA) called DE-EDA is proposed in this paper, which combines the merits of DE and EDA. The DE-EDA has been applied to multiple MPDA instances of different scales, and compared with EDA and two versions of DE in convergence speed and solution quality separately. The results demonstrate the DE-EDA can solve the MPDA problem effectively. © 2018 Copyright held by the owner/author(s).

关键词： Evolutionary algorithms

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Force control of Electro-Hydraulic Servo System Based on Load Velocity Compensation

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Journal of Beijing Institute of Technology 2018年第3期27卷 326-333页

作者： Shoukun Wang Hu Liu Junzheng Wang Deyang Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In an electro-hydraulic servo control system,the force servo system is an important ***,due to the nonlinear characteristic of hydraulic systems,traditional control methods cannot achieve satisfactory control *** deal with this issue,a load velocity compensation algorithm based on the structural invariant principle is proposed in this ***,the theoretical analysis of the hydraulic and cylindrical force control system is presented,and the mathematical model of the force control system is *** the open-loop frequency response characteristics of the system are analyzed,in which the Bode diagram shows that the bandwidth of the system is obviously expanded after adopting the load velocity compensation ***,apractical hydraulic and cylindrical force servo system is introduced to validate the feasibility of the proposed controller,the experimental results demonstrate that the proposed method can improve the performance of force control and eliminate the influence of load stiffness on the dynamic characteristics of the system through a set of comparative experiments with different elastic loads.

关键词： electro-hydraulic servo control system force servo control load velocity compensation elastic load

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