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Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Chinese Physics B 2014年第7期23卷 337-342页

作者：曹建福凌志浩袁宜峰高冲 Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and Technology

Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.

关键词： multi-agent system formation control obstacle avoidance consensus theory

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Robust optimization for a Multi-Product Integrated Problem of Planning and Scheduling under Products Uncertainty

Robust Optimization for a Multi-Product Integrated Problem o...

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2015 Workshop 1

作者： Mengwen Chen Cuiwen Cao Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology

This paper presents robust optimization models for a multi-product integrated problem of planning and scheduling(based on the work of Terrazas-Moreno & Grossmann(2011) [1]) under products prices uncertainty. With the objective of maximizing the total profit in planning time horizon, the planning section determines the amount of each product, each product distributed to each market, and the inventory level in each manufacturing site during each scheduling time period;the scheduling section determines the products sequence, start and end time of each product running in each production site during each scheduling time period. The uncertainty sets used in robust optimization model are box set, ellipsoidal set, polyhedral set, combined box and ellipsoidal set, combined box and polyhedral set, combined box, ellipsoidal and polyhedral *** genetic algorithm is utilized to solve the robust optimization models. Case studies show that the solutions obtained from robust optimization models are better than the solutions obtained from the original integrated planning and scheduling when the prices are changed.

关键词： Uncertainty Robust optimization Integrated Problem of Planning and Scheduling GA

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Sensor Scheduling for Distributed Filtering under Limited Communication Resources

Sensor Scheduling for Distributed Filtering under Limited Co...

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IEEE Annual Conference on Decision and control

作者： Wen Yang Chao Yang Hongbo Shi Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of Education

ISBN: (纸本)9781479978878

In this paper we consider the problem of sensor scheduling for distributed estimation with power constraint. To satisfy the requirement of energy consumption, we assume that each sensor sends data to its adjacent sensors with a given probability, where the state of the system is estimated by means of distributed estimators. First, we design optimal estimator gain to minimize the estimation error covariance for each sensor, and then we find an upper bound of the expected state error covariance, provide a sufficient condition to guarantee the stability of the proposed estimator. To find the optimal communication probability, we further formulate the sensor scheduling problem as an optimization problem, which is relaxed to a convex optimization in the form of LMIs.

关键词： Sensors communication resources Distribute Convex function Covariance Filtration energy consumption

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Partial stabilization for Boolean network with state feedback control 34

Partial stabilization for Boolean network with state feedbac...

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第三十四届中国控制会议

作者： LI Fangfei ZHAO Shouwei LI Chunxiang YU Zhaoxu Department of Mathematics East China University of Science and Technology School of Fundamental Studies Shanghai University of Engineering Science Department of Mathematics and Physics Second Military Medical University Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and Technology

ISBN: (纸本)9781467374439

In the literatures, to design state feedback controller to partially stabilize Boolean control network is rarely *** by this, this paper studies partial stabilization for Boolean network with state feedback control. A sufficient condition for the existence of a state feedback controller to achieve the partial stabilization is established first. Then, the feedback control law is proposed. Finally, examples are presented to show the proposed design procedure.

关键词： Boolean control network,partial stabilization,feedback control design,semi-tensor product

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Observer-based controller design for networked systems with multiple packet losses and mixed delay

Observer-based controller design for networked systems with ...

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第27届中国控制与决策会议

作者： Fengfeng Qian Huaicheng Yan Hongbo Shi Hao Zhang Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education School of Information Science and Engineering East China University of Science and Technology Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji University

The paper focuses on a stabilizing controller design problem for networked systems with quantization,mixed delays,and a series of packet losses due to the signal transmission through the unreliable communication *** of both sensor-to-controller and controller-to-actuator are taken into account for the networked systems,and the distributed time delay is also considered in the network *** conditions for designing the controller as well as the system parameters can be obtained by solving certain linear matrix ***,the effectiveness of the designed method is proved by a numerical example.

关键词： quantization,mixed delays,multiple packet losses

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A space-based infrared image detection algorithm of background rigid motion

A space-based infrared image detection algorithm of backgrou...

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Applied Optics and Photonics, China: Image processing and Analysis, AOPC 2015

作者： Li, Yan Li, Zheng Tang, Xinyi Kong, Jun Shanghai Institute of Technical Physics Chinese Academy of Sciences Shanghai200083 China Ministry of Education Key Laboratory of Advanced Process Control for Light Industry Jiangnan University Wuxi214122 China

ISBN: (纸本)9781628419009

Faced with complex background on aerial moving platform, infrared point target detection apply background suppression policy to greatly improve detection efficiency. However, due to the background relative motion, it presents challenges for target detection. From remote observation in the air, background movement could be approximately regarded as plane rigid motion, which is the sum of translation and rotation movement. Until now, existing algorithms by comparing the adjacent frames of infrared image have good performance in the detection of translation motion, but poor effect in the situation of the rotational motion. It is proposed a rigid motion estimation algorithm based on infrared background feature point set (IRMBE).Firstly, by processing statistical movement characteristics of the feature point set on infrared background image, the algorithm gauges out the translation motion vector. Secondly, it uses Monte Carlo method in background feature point set to estimate the vector of rotation axis and the angular velocity. Experiments show that the algorithms can perform good estimation of the complex background rigid movement, in the application of space-based Infrared observation. © 2015 SPIE.

关键词： Monte Carlo methods

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Hellinger distance based probability distribution approach to performance monitoring of nonlinear control systems

Hellinger distance based probability distribution approach t...

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作者： Li, Chen Huang, Biao Qian, Feng Key Laboratory of Advanced Control and Optimization Ministry of Education East China University of Science and Technology Shanghai200237 China Department of Chemical and Materials Engineering University of Alberta EdmontonABT6G 2G6 Canada

control performance monitoring has attracted great attention in both academia and industry over the past two decades. However, most research efforts have been devoted to the performance monitoring of linear control systems, without considering the pervasive nonlinearities (e.g. valve stiction) present in most industrial control systems. In this work, a novel probability distribution distance based index is proposed to monitor the performance of non-linear control systems. The proposed method uses Hellinger distance to evaluate change of control system performance. Several simulation examples are given to illustrate the effectiveness of the proposed method. © 2015 The chemical Industry and Engineering Society of China, and chemical Industry Press. All rights reserved.

关键词： Probability distributions

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Robust fault detection and diagnosis for multiple-model systems with uncertainties 9

Robust fault detection and diagnosis for multiple-model syst...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical processes, SAFEprocess 2015

作者： Zhao, Shunyi Huang, Biao Luan, Xiaoli Yin, Yanyan Liu, Fei Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University Wuxi China Department of Chemical and Materials Engineering University of Alberta EdmontonABT6G 2G6 Canada

In this paper, a robust fault detection and diagnosis (FDD) method is proposed for multiple-model systems with modeling uncertainties. A compensation step is introduced to modify the mixed states and their variances obtained through the interacting multiple model (IMM) approximation and to solve the uncertainty problem. The degree of compensation is governed by a modification parameter determined by the orthogonality principle, which means that the estimation error calculated in the sub-filter using the true system models should be orthogonal to the residual error vector. To avoid over compensation in the unmatched models, a minimization procedure is used to derive the overall modification parameter. When the modification parameter is equal to one, the proposed method reduces to the IMM algorithm. An experiment is conducted through the ball and tube system to demonstrate the effectiveness of the proposed method. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault detection

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Task coordination control modeling for coal machinery based on generalized partial global planning

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Journal of Computational Information Systems 2015年第2期11卷 501-513页

作者： Fan, Qigao Wu, Yaheng Yu, Zhenzhong Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University Wuxi China

Three-machine works collaboratively in the fully-mechanized face underground mine. Firstly, interlock constraint of the three-machine is defined, and constraint model on relation between the hydraulic support advancing velocity and the shearer traction speed is built through movement analysis of the hydraulic support, as well as constraint model of the scraper conveyor load and the shearer traction speed based on the scraper conveyor movement collaboratively with the shearer. By characterizing the three-machine a three-intelligent agent, a coordination system for optimizing the three-machine cooperation is constructed. And collaboration movement control verification is implemented in proper working condition. In this model, coupling principles of influencing parameters is described. Meanwhile, constraint models provide the three-machine with dynamic task distribution, task coordination and conflict resolution. As a result, the coal machine can operate safely, automatically and efficiently. 1553-9105/Copyright © 2015 Binary Information Press

关键词： Conveyors

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A soft sensor modelling of biomass concentration during fermentation using accurate incremental online ν-support vector regression learning algorithm

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American Journal of Biochemistry and Biotechnology 2015年第3期11卷 149-159页

作者： Gu, Binjie Pan, Feng Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University Wuxi China

In order to model real fermentation process, a soft sensor modelling of biomass concentration during fermentation using accurate incremental online ν-Support Vector Regression (ν-SVR) learning algorithm was proposed. Firstly, an accurate incremental online v-SVR learning algorithm was proposed. This algorithm solved the two complications introduced in the dual problem based on the equivalent formulation of ν-SVR. Moreover, it addressed the infeasible updating path problem during the adiabatic incremental process by relaxed adiabatic incremental adjustments and accurate incremental adjustments. Then, the proposed algorithm is used to predict the biomass concentration of glutamic acid fed-batch fermentation process online. The results of simulation experiment showed that the soft sensor modelling of biomass concentration during fermentation using the proposed algorithm was of better generalization ability and cost less training time than that of ν-SVR. © 2015 Binjie Gu and Feng Pan.

关键词： Fermentation

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