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Non-fragile finite-time dissipative piecewise control for time-varying system with time-varying delay

IET control Theory & Applications 2019年第3期13卷 321-332页

作者： Menghua Chen Jian Sun 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 100081 People's Republic of China

This study is concerned with the problem of non-fragile finite-time dissipative (FTD) control for time-varying system with delay. The delay is time varying and belongs to a given interval. Finite-time bounded (FTB) and FTD concepts are introduced to time-varying system with delay. First, new FTB conditions are derived for time-varying system with delay by using a piecewise Lyapunov functional combined with reciprocally convex approach. Second, FTD conditions are obtained to guarantee that the time-varying system with delay is not only FTB but also satisfies a dissipative performance index. Moreover, based on the FTD conditions, the non-fragile piecewise feedback controllers are designed in terms of linear matrix inequalities (LMIs). In addition, an LMI-based iterative algorithm is given to obtain the piecewise feedback non-fragile controller gains. Finally, numerical examples demonstrate the effectiveness of the proposed method.

关键词： linear matrix inequalities delays feedback iterative methods control system synthesis Lyapunov methods time-varying systems performance index finite-time dissipative control time-varying system nonfragile piecewise feedback controllers piecewise feedback nonfragile controller gains time-varying delay nonfragile finite-time dissipative piecewise control finite-time bounded piecewise Lyapunov functional reciprocally convex approach dissipative performance index linear matrix inequalities LMI-based iterative algorithm

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Preface——Special Issue on New Directions in Nonlinear and Distributed control

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Journal of systems Science & complexity 2018年第1期31卷 1-3页

作者： LIU Tengfei XIN Bin JIANG Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China 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 Beijing 100081 China Tandon School of Engineering New York University Brooklyn NY 11201 USA

Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can ha... 详细信息

关键词：控制问题非线性分布式工程应用程序电子物理自然系统生产线相互作用

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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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An Improved Version of DMOEA-εC for Many-objective Optimization Problems: IDMOEA-εC

An Improved Version of DMOEA-εC for Many-objective Optimiza...

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第三十八届中国控制会议

作者： Juan Li Bin Xin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

The decomposition strategy and the ε-constraint method are two important strategies in the field of multi-objective optimization. DMOEA-εC first attempts to incorporate the ε-constraint method into the decomposition strategy and solve a multi-objective optimization problem(MOP) via optimizing a series of scalar constrained subproblems collaboratively with the help of information from neighboring subproblems. However, given the inefficiency of applying DMOEA-εC to deal with many-objective optimization problems(MaOPs), a two-stage upper bound vectors generation procedure is proposed to generate widely spread upper bound vectors in a high-dimensional space. Besides, a boundary points maintenance mechanism is put forward to remedy the diversity loss of a population in DMOEA-εC. Based on the above, DMOEA-εC with the two-stage upper bound vectors generation procedure and the boundary points maintenance mechanism, named as IDMOEA-εC, is presented for MaOPs. IDMOEA-εC is compared with four state-of-the-art many-objective evolutionary algorithms, including HypE, NSGA-Ⅲ, MOEADD, and Two Arch2. Experimental studies demonstrate that IDMOEA-εC outperforms or performs competitively against these algorithms on the majority of sixteen DTLZ test instances with up to 10 objectives.

关键词： Many-objective optimization decomposition ε-constraint method two-stage upper bound vectors generation procedure boundary points maintenance mechanism

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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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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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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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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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Hierarchical Task Impedance control of a Serial Manipulator for Minimally Invasive Surgery

Hierarchical Task Impedance Control of a Serial Manipulator ...

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IEEE International Conference on Human-Machine systems

作者： Hang Su Chenguang Yang Jiehao Li Yiming Jiang Giancarlo Ferrigno Elena De Momi Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milan Italy Bristol Robotics Laboratory University of the West of England Bristol United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milano Italy

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Flexibility and robustness have become key points in the development of surgical robot controller for physical interactions. However, the conventional impedance control schemes unaware of the actual surgical scenario, including complex physical interaction on the robot arm, lead to the loss of accuracy. In this paper, a hierarchical task impedance control scheme is proposed for Minimally Invasive Surgery (MIS) based on an operational space formulation of a 7 DoFs redundant robot. Its redundancy is exploited to guarantee a remote center of motion (RCM) constraint and to provide a flexible workspace for the medical staff to assist physicians. In addition to the achievement of the classical whole-body impedance control, the issue of uncertain disturbances will be addressed by a decoupled adaptive approximation based on a radial basis function neural network (RBFNN) within the control framework. Task performances under the hierarchical task impedance controller were validated and compared with previous work in the literature. Experimental results showed its improved performance in terms of positional error and RCM constraint, regardless of the existing uncertain physical interaction.

关键词： Task analysis Impedance Manipulators Tools Surgery Jacobian matrices

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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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