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第37届中国控制会议

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology School of Automation Huazhong University of Science and Technology

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues parameters are used for attitude representation.A two layer sliding mode surface with fast non-singular terminal sliding mode surface（FNTSMS） as the inner layer and terminal sliding mode surface（TSMS） as the outer layer is used to create a full order sliding mode *** proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader’s time varying ***-time stability of the closed loop system is guaranteed by Lyapunov-based stability *** results are presented to validate the performance of the proposed control strategy.

关键词： Attitude synchronization Attitude tracking Finite-time Full-order sliding mode（FOSM） Distributed control

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Distribution system state estimation: an overview of recent developments

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 4-17页

作者： Wang Gang Giannakis Georgios B Chen Jie Sun Jian Department of Electrical and Computer Engineering and Digital Technology Center University of Minnesota USA Minneapolis MN 55455 School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

In the envisioned smart grid, high penetration of uncertain renewables, unpredictable participation of (industrial) customers, and purposeful manipulation of smart meter readings, all highlight the need for accurate, fast, and robust power system state estimation (PSSE). Nonetheless, most real-time data available in the current and upcoming transmission/distribution systems are nonlinear in power system states (i.e., nodal voltage phasors). Scalable approaches to dealing with PSSE tasks undergo a paradigm shift toward addressing the unique modeling and computational challenges associated with those nonlinear measurements. In this study, we provide a contemporary overview of PSSE and describe the current state of the art in the nonlinear weighted least-squares and least-absolutevalue PSSE. To benchmark the performance of unbiased estimators, the Cramer-Rao lower bound is developed. Accounting for cyber attacks, new corruption models are introduced, and robust PSSE approaches are outlined as well. Finally, distribution system state estimation is discussed along with its current challenges. Simulation tests corroborate the effectiveness of the developed algorithms as well as the practical merits of the theory.

关键词： State estimation Cramer-Rao bound Feasible point pursuit Semidefinite relaxation Proximal linear algorithm Composite optimization Cyber attack Bad data detection

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Neural network structure design based on N-gauss activation function1

arXiv

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arXiv 2021年

作者： Lu, Xiangri Ma, Hongbin Zhang, Jingcheng State Key Laboratory of Intelligent Decision and Control for Complex Systems Beijing Institute ofTechnology Beijing China Institute of Pattern Recognition and Intelligent Systems School of Automation Beijing Institute ofTechnology China Institute of Navigation Guidance and Control School of Automation Beijing Institute of

Recent work has shown that the activation function of the convolutional neural network can meet the Lipschitz condition, then the corresponding convolutional neural network structure can be constructed according to the scale of the data set, and the data set can be trained more deeply, more accurately and more effectively. In this article, we have accepted the experimental results and introduced the core block N − Gauss, N − Gauss, and Swish (Conv1, Conv2, FC1) neural network structure design to train MNIST, CIFAR10, and CIFAR100 respectively. Experiments show that N − Gauss gives full play to the main role of nonlinear modeling of activation functions, so that deep convolutional neural networks have hierarchical nonlinear mapping learning capabilities. At the same time, the training ability of N − Gauss on simple one-dimensional channel small data sets is equivalent to the performance of ReLU and Swish. Copyright © 2021, The Authors. All rights reserved.

关键词： Gaussian distribution

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Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees Optimization for Weapon Network System

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Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

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Solving A Class of Nonsmooth Resource Allocation Problems with Directed Graphs though Distributed Smooth Multi-Proximal Algorithms

arXiv

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arXiv 2020年

作者： Wei, Yue Shang, Chengsi Fang, Hao Zeng, Xianlin Dou, Lihua Pardalos, Panos Peng Cheng Laboratory China The Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China Graduate School at Shenzhen Tsinghua University China Industrial and Systems Engineering University of Florida United States

In this paper, two distributed multi-proximal primal-dual algorithms are proposed to deal with a class of distributed nonsmooth resource allocation problems. In these problems, the global cost function is the summation of local convex and nonsmooth cost functions, each of which consists of one twice differentiable function and multiple nonsmooth functions. Communication graphs of underling multi-agent systems are directed and strongly connected but not necessarily weighted-balanced. The multi-proximal splitting is designed to deal with the difficulty caused by the unproximable property of the summation of those nonsmooth functions. Moreover, it can also guarantee the smoothness of proposed algorithms. Auxiliary variables in the multi-proximal splitting are introduced to estimate subgradients of nonsmooth functions. Theoretically, the convergence analysis is conducted by employing Lyapunov stability theory and integral input-to-state stability (iISS) theory with respect to set. It shows that proposed algorithms can make states converge to the optimal point that satisfies resource allocation conditions. Copyright © 2020, The Authors. All rights reserved.

关键词： Directed graphs

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Distributed computation for solving the sylvester equation based on optimization

arXiv

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arXiv 2019年

作者： Deng, Wen Zeng, Xianlin Hong, Yiguang School of Mathematical Sciences University of Chinese Academy of Sciences 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

This paper solves the Sylvester equation in the form of AX + XB = C in a distributed way, and proposes three distributed continuous-time algorithms for three cases. We start with the basic algorithm for solving a least squares solution of the equation, and then give a simplified algorithm for the case when there is an exact solution to the equation, followed by an algorithm with regularization case. Based on local information and appropriate communication among neighbor agents, we solve the distributed computation problem of the Sylvester equation from the optimization viewpoint, and we prove the convergence of proposed algorithms to an optimal solution in three different cases, with help of the convex optimization and semi-stability. Copyright © 2019, The Authors. All rights reserved.

关键词： Convex optimization

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Model Free Adaptive control Algorithm based on ReOSELM for Autonomous Driving Vehicles

Model Free Adaptive Control Algorithm based on ReOSELM for A...

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第40届中国控制会议

作者： Xiaofei Zhang Hongbin Ma Zhichao Wang Mingyu Fan Bolin Zhao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology The College of Computer Science and Artificial Intelligence Wenzhou University

Different road conditions and dynamic environment bring significant challenges to the control system of autonomous driving vehicle（ADV）. As is known, historical data collected from ADV contains valuable information about control systems,therefore, it is a promising thing to study adaptive control algorithms that have certain learning ability. In order to improve the control performance of ADV and the efficiency in data usage, in this paper, a model free adaptive control algorithm based on regularized online sequential extreme learning machine（ReOSELM） is introduced, it is difficult to analyze the algorithm based on neural network, and the system stability by improved update algorithm of ReOSELM is proved. Simulation results indicate that the proposed algorithm is effective in improving control precision when ADV is turning, and experimental results on an autonomous driving vehicle show that this algorithm is effective in real environment.

关键词： data-driven control autonomous driving vehicle model free adaptive control regularized online sequential extreme learning machine

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Full Attention Tracker: A Good Combination of Pixel-Level and Region-Level Cross-Correlation

Full Attention Tracker: A Good Combination of Pixel-Level an...

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Chinese control Conference (CCC)

作者： Yuxuan Wang Liping Yan Zihang Feng Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing China

The tracker based on Siamese neural network is currently a technical method with high accuracy in the tracking field. With the introduction of transformer in the visual tracking field, the attention mechanism has gradually emerged in tracking tasks. However, due to the characteristics of attention operation, Transformer usually has slow convergence speed, and its pixel-level correlation discrimination in tracking is more likely to lead to overfitting, which is not conducive to long-term tracking. A brand new framework FAT was designed, which is the improvement of MixFormer. The operation for simultaneous feature extraction and target information integration in MixFormer is retained, and the Mixing block is introduced to suppress the background as much as possible before the information interaction. In addition, a new operation is designed: the result of region-level cross-correlation is used as a guidance to help the learning of pixel-level cross-correlation in attention, thereby accelerating the model convergence speed and enhancing the model generalization. Finally, a joint loss function is designed to further improve the accuracy of the model. Experiments show that the presented tracker achieves excellent performance on five benchmark datasets.

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Oscillation Suppression Method based on Power control Optimization of the Wind Farms 3

Oscillation Suppression Method based on Power Control Optimi...

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3rd IEEE International Power Electronics and Application Conference and Exposition, PEAC 2022

作者： Yang, Jiaqi Wang, Shaojun Li, Zhen Tian, Xu Liu, Bin Liu, Xiangdong Beijing Institute of Technology School of Automation Beijing China Co.Ltd Bayannur Power Supply Bureau Inner Mongolia China State Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Beijing University of Mining and Technology Beijing Electric Engineering and Automation Beijing China Tsinghua University Department of Electrical Engineering Beijing China

ISBN: (数字)9781665491419

ISBN: (纸本)9781665491419

Oscillation issues in the grid-connected wind farm system can severely deteriorate the power system security and lead to serious damage. Based on the impedance analysis method, many oscillation suppression methods have been proposed for reshaping the impedance characteristics of system to avoid the risk of oscillations. However, modifying converters' controllers to reshape the wind turbines (WTs) impedance and usage of additional damping devices for reshaping the grid impedance both are time-consuming and costly. Therefore, based on the sequence impedance model of the grid-connected wind farm system, this paper proposes a novel oscillation suppression method by optimizing the power control of wind farm. The system stability margin can be improved by modifying the number of online WTs and the output power of each WT to reshape the impedance of wind farm, under the precondition that the output power demand of wind farm is satisfied. Then, the intelligent particle swarm optimization (PSO) algorithm is used to solve the optimization approach to obtain the number of online WTs with optimal stability margin. Finally, the simulation confirms the effectiveness of the proposed oscillation suppression method. © 2022 IEEE.

关键词： System stability

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引用

IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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