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检索条件"机构=Key Laboratory of Complex System Intelligent Control and Decision"

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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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Study of control parameters tuning method for hydro-viscous driver system

Study of control parameters tuning method for hydro-viscous ...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Ligang Ma Deyang Zhang Shoukun Wang Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Chinese North Vehicle Research Institute Beijing China

ISBN: (纸本)9781479987719

Hydro-viscous speed clutch (HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance of the speed control system. This paper studies the HVC of a vehicle temperature control system, and analyzes the parameters tuning method of a PID controller for the closed-loop control system. By employing a two-storey optimized control framework, the resulting model from identification can be used to complete the control parameters auto-tuning. Simulation and experimental results have showed that this auto-tuning method can obtain a group of parameters in terms of a desired performance index, which guarantees the balance of dynamic characteristics, stability and anti-jamming in closed-loop system.

关键词： Mathematical model Vehicles Tuning Friction Velocity control Cooling Valves

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Liquid-Circular Angular Accelerometer: A Review

Liquid-Circular Angular Accelerometer: A Review

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Chinese control Conference

作者： Ke Ning Meiling Wang Siyuan Cheng Li Ming Xin Zheng Beijing Institute of Technology Key Laboratory of Complex system Intelligent Control and Decision Beijing P. R. China The Third Academic of Aerospace and Technology Group of China Beijing P. R. China

This article reviews the mainstream angular acceleration measurement techniques. Varieties of direct measurements, including rotational, solid mechanical inertial, fluid mechanical inertial, and microelectromechanical system angular accelerometer, are expanding in the practical applications of measurement and control systems. Recently researchers focus on microelec-tromechanical system and fluid-based sensors in light of increasing requirements for the measurement. In this review, we first investigated developments of angular acceleration measurements. Then we introduced one of the fluid-based sensors, a liquid-circular angular accelerometer, which is a novel angular sensor consisting of a porous transducer and an electrolyte solution chiefly. Eventually, we detailed recent works on this sensor's mechanism and the other aspects, e.g. significant properties of components and major research methodologies, and discussed its trade-off on performance with wide frequency, large dynamic range and high accuracy relatively, to show this sensor could bring advantages compared with other measurement methods.

关键词： Accelerometers Acceleration Mechanical sensors Solids Bandwidth Sensor phenomena and characterization

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An Algorithm for Quadruped Robot's Inverse Kinematic Problems Based on PSO

An Algorithm for Quadruped Robot's Inverse Kinematic Problem...

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Chinese control Conference (CCC)

作者： Wei Shen Min Li Junzheng Wang Changkun Chai Wen Zheng Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Software Chinese Academy of Sciences Beijing Siemens China LTD Beijing

The inverse problem is an essential problem in robot kinematics. In order to deal with the inverse kinematic problems of hydraulic quadruped robot, the motion process of a single leg is modeled, simulated and analyzed. A new method based on particle swarm optimization (PSO) is proposed in this paper to overcome low computational efficiency, long calculation time and accumulative error. The proposed algorithm is attributed to: 1) limit the range of particles initialization; 2) select suitable compressibility factors; 3) employ linear interpolation method to improve the efficiency of the inverse algorithm. The simulation results demonstrate that the developed method can provide enhanced computational efficiency and significantly reduce the calculation time while ensuring the precision requirement, and can also eliminate the accumulative error.

关键词： Legged locomotion Robot kinematics Kinematics Trajectory Hip Hydraulic systems

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Prescribed-Time Clusters Flocking for Multi-Agent systems of UAVs and USVs 6

Prescribed-Time Clusters Flocking for Multi-Agent Systems of...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Shang, Hanjun Wang, Zhenhuan Tian, Yingxin Hou, Qimin Kuang, Jiyuan Gao, Yabin School of Astronautics Harbin Institute of Technology Harbin150001 China Elite Engineers School Harbin Institute of Technology Harbin150001 China The National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China School of Software Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350353594

This paper deals with the problem of clusters flocking for a heterogeneous multi-agent system of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs). The dynamics models of the UAVs and USVs are established separately. Due to the different state dimensions and dynamics models of the UAVs and USVs, the two types of agents are formulated with two clusters. Then, the functions of formation errors of the two clusters are constructed. For the two clusters, a new type of prescribed-time formation control laws is designed respectively. Moreover, compared with the conventional formation control that can only ensure that the multi-agent system completes ideal formations without strict time constraints theoretically, the present prescribed-time control laws can enable the multi-agent system to complete ideal formation strictly at a prescribed time independent of initial formation errors. Finally, the effectiveness of the prescribed-time formation control is verified by simulations. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Differential evolution with adaptive population size combining lifetime and extinction mechanisms

Differential evolution with adaptive population size combini...

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Asian control Conference

作者： Chunmei Zhang Jie Chen Bin Xin Tao Cai Chen Chen School of Electronic Information Engineering Taiyuan University of Science and Technology Shanxi China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781612844879

Differential Evolution (DE) is a simple and efficient numerical optimization method. Most DE variants in the literature adopt fixed population size. This paper incorporates into DE the mechanisms of lifetime and extinction which regulate DE's population size in an adaptive manner. The population size is adjusted according to the online progress of fitness improvement. Two schemes of inserting new individuals are proposed to match different mechanisms respectively. The performance of these innovations is examined through the optimization of benchmark problems. The results show that the proposed adaptive population sizing strategy is efficient for improving the convergence and efficiency of the DE.

关键词： Convergence Optimization Benchmark testing Cloning Automation Evolutionary computation Algorithm design and analysis

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A Deep Reinforcement Learning Method with Action Switching for Autonomous Navigation

A Deep Reinforcement Learning Method with Action Switching f...

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第40届中国控制会议

作者： Zuowei Wang Xiaozhong Liao Fengdi Zhang Min Xu Yanmin Liu Xiangdong Liu Xi Zhang Rui wei Dong Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Capital Aerospace Machinery Co. Ltd.

Stochastic policy-based deep reinforcement learning（DRL） has successfully gained the widespread application but demands plenty of stochastic exploration to learn the environment at the initial training *** the agent is exposed to more complex environment,not only is the methodology inefficient,but its performance may also suffer from the issue of high *** paper develops a framework to accelerate the training procedure and reduce the variance by introducing a stochastic switching network,which specifically allows the agent to choose between heuristic actions and actions output by proximal policy optimization（PPO） *** of starting from the random actions,the agent can be effectively guided by the heuristic actions so that the navigation capability of the agent can be rapidly *** vanilla policy gradient（VPG） algorithm is further utilized to train the switching network,which can be jointly trained with the baseline *** the experimental comparison with the baseline PPO in the customized maze environment with openAI Gym toolkit,our method greatly contributes to the more efficient execution of navigation task by means of the heuristic actions for guidance.

关键词： Robot navigation proximal policy optimization（PPO） deep reinforcement learning（DRL） Vanilla policy gradient（VPG） action switching

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Prediction of exosomal piRNAs based on deep learning for sequence embedding with attention mechanism

Prediction of exosomal piRNAs based on deep learning for seq...

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2022 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2022

作者： Liu, Yajun Ding, Yulian Li, Aimin Fei, Rong Guo, Xie Wu, Fangxiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China University of Saskatchewan Division of Biomedical Engineering Saskatoon Canada Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9781665468190

PIWI-interacting RNAs (piRNAs) are a type of small non-coding RNAs which bind with the PIWI proteins to exert biological effects in various regulatory mechanisms. A growing amount of evidence reveals that exosomal piRNAs are potential biomarkers for diagnosis and treatment of complex diseases. Effective methods for the prediction of exosomal piRNAs are the foundation of piRNA functional research. In this study, we propose an end-to-end deep network for identifying exosomal piRNAs based on features learned from natural language processing (NLP) models for sequence embedding with attention mechanism. First, a benchmark dataset is constructed by processing piRNA subcellular localization annotated data and sequence data. Moreover, bagging positive unlabeled learning is applied to get the reliable negative set. Finally, we treat a piRNA sequence as a sentence and its k-mer subsequence as a token. Sequence embedding models with self-attention mechanism is designed to extract features from exosome piRNA sequences, which are used for the prediction task. Compared with three competing methods, our model achieves the best performance and reveals the key factors of exosomal piRNA sequences by the attention mechanism. Our model characterizes exosomal piRNAs and could be beneficial for researchers to investigate exosomal piRNAs' functions. © 2022 IEEE.

关键词： Embeddings

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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Packet-loss dependent controller design for networked control systems via switched system approach

Packet-loss dependent controller design for networked contro...

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IEEE Conference on decision and control

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Zhuxinzhuang Beijing China The Seventh Research Division Beihang University Beijing China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9781424431236

The stabilization problem of networked control systems with bounded packet loss is addressed. We model such networked control systems as a class of switched systems, and present sufficient conditions for the stabilization by using a packet-loss dependent Lyapunov function. Moreover, different from existing results, we propose the design for packet-loss dependent stabilizing controllers for two types of packet-loss processes: one is a arbitrary packet-loss process, and the other is a Markovian packet-loss process. Several numerical examples and simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： control systems Networked control systems Switched systems Sufficient conditions Optimal control Delay effects Communication system control Communication system traffic control Feedback control Electrical equipment industry

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