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An Overview of Distributed High-order Multi-agent Coordination

IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 1-9页

作者： Jie Huang Hao Fang Lihua Dou Jie Chen the School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems the Fujian Institute of Education

Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most previous research works on multi-agent systems studied the first- and second-order dynamics. However, in engineering, many systems are modeled by higher-order dynamics. This paper reviews the major results and progress in distributed high-order multi-agent *** the review, a short discussion section is included to summarize the existing research and propose several promising research directions along with some open problems that are deemed important for further investigations.

关键词： High-order linear systems multi-agent systems distributed coordination high-order nonlinear systems

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Dynamic Event-Triggered control for Nonlinear systems:A Small-Gain Approach

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系统科学与复杂性学报（英文版） 2020年第4期33卷 930-943页

作者： ZHAO Qingtao SUN Jian BAI Yongqiang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is *** this way,network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling ***-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC *** from traditional ETC models,stability criteria are proposed in the form of input to state stability (ISS) gain to design the triggering *** paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered *** conditions to guarantee the stability of the system are derived with the help of cyclic-small-gain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical *** simulations are given to demonstrate the effectiveness of our approach.

关键词： Cyclic-small-gain theorem event-triggered control input-to-state stability (ISS) nonlinear systems

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Echo state network based symbol detection in chaotic baseband wireless communication

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Digital Communications and Networks 2023年第6期9卷 1319-1330页

作者： Huiping Yin Chao Bai Haipeng Ren Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an710048China Xi'an Key Laboratory of Intelligent Equipment Xi'an Technological UniversityXi'an710021China

The Chaotic Baseband Wireless Communication system(CBWCS)is expected to eliminate the Inter-Symbol Interference(ISI)caused by multipath propagation by using the optimal decoding threshold that is the sum of the ISI caused by past decoded bits and the ISI caused by future transmitting ***,the current technique is only capable of removing partial effects of the ISI,because only past decoded bits are available for the suboptimal decoding threshold *** unavailability of the future information needed for the optimal decoding threshold is an obstacle to further improve the Bit Error Rate(BER)*** contrast to the previous method using Echo State Network(ESN)to predict one future bit,the proposed method in this paper predicts the optimal decoding threshold directly using *** proposed ESN-based threshold prediction method simplifies the symbol decoding operation by avoiding the iterative prediction of the output waveform points using ESN and accumulated error caused by the iterative *** this approach,the calculation complexity is reduced compared to the previous ESN-based *** proposed method achieves better BER performance compared to the previous *** reason for this superior result is ***,the proposed ESN is capable of using more future symbols information conveyed by the ESN input to obtain more accurate threshold rather than the previous method in which only one future symbol was ***,the proposed method here does not need to estimate the channel information using Least Squared(LS)method,which avoids the extra error caused by inaccurate channel information *** results and experiment based on a wireless open-access research platform under a practical wireless channel show the effectiveness and superiority of the proposed method.

关键词： Chaotic baseband wireless communication system(CBWCS) Inter-symbol interference(ISI) Echo state network(ESN) Threshold prediction

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Development of hydraulically driven shaking table for damping experiments on shock absorbers

Development of hydraulically driven shaking table for dampin...

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作者： Wang, Shou-Kun Wang, Jun-Zheng Xie, Wen Zhao, Jiang-Bo Key Laboratory of Intelligent Control and Decision for Complex System Beijing Institute of Technology Beijing100081 China

The hydraulically driven shaking table has been developed for damping characteristic experiments on shock absorbers in this paper. The damping characteristics and corresponding experiments on the double-tube hydraulic absorber are analyzed firstly, and its damping force model is also built. Then the working principle is introduced, and the structure and components of the physical shaking table are described, especially the hydraulic actuator, composed of servo valve controlled asymmetric cylinder with damping load, is analyzed. Considering parameter uncertainty, nonlinearity, asymmetry and time-variation of such hydraulic system, as well as repeatability of desired trajectory, an open-closed-loop ILC scheme is designed to solve the challenging control issue. The simulation and experiments are developed to verify the feasibility of working principle and the superiority of proposed control method. The hydraulically driven shaking table developed by discussed electro-hydraulic control technology has been applied in actual damping characteristic experiments for a serial of shock absorbers, and achieved satisfactory testing performance. © 2014 Elsevier Ltd.

关键词： Shock absorbers

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Task allocation of multiple UAVs and targets using improved genetic algorithm

Task allocation of multiple UAVs and targets using improved ...

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International Conference on intelligent control and Information Processing

作者： Zuo, Yong Peng, Zhihong Liu, Xin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology China

ISBN: (纸本)9781457708145

In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model, which just take the values of targets, UAVs and weapons into account, the fuel consumption is added into consideration to make the model much more practical. An improved genetic algorithm is proposed for such a multi-UAVs multi-targets task allocation. Simulation results show that the algorithm is significantly effective and the allocation result is reasonable. © 2011 IEEE.

关键词： Genetic algorithms

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Object tracking based on multi-bandwidth mean shift with convergence acceleration

Object tracking based on multi-bandwidth mean shift with con...

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2nd International Conference on Image Analysis and Signal Processing, IASP'2010

作者： Bin, Zhou Jun-Zheng, Wang Wei, Shen Key Laboratory of Complex System Intelligent Control and Decision School of Automatic Control Beijing Institute of Technology Beijing China

ISBN: (纸本)9781424455553

A multi-bandwidth based tracking algorithm was proposed to search for the global kernel mode when the probability density has multiple peak modes. Firstly, a monotonically decreasing sequence of bandwidths was fixed according to the target scale. At each bandwidth, using mean shift to And out the maximum probability, and starting the next iteration at the previous convergence location. Finally, the best optimal mode could be obtained at the last bandwidth. To accelerate the convergence, over-relaxed strategy was introduced to enlarge the step size. Under the convergence rule, the learning rate was adaptively adjusted by Bhattacharyya coefficients of consecutive iteration convergence. The experimental results show that the proposed multi-bandwidth mean shift tracker is robust in high-speed object tracking, and perform well in occlusions. The adaptive over-relaxed strategy is effective to lower the convergence iterations by enlarging the step size. © 2010 IEEE.

关键词： Bandwidth

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Observer-based finite-time sliding mode control for reentry vehicle

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International Journal of intelligent Computing and Cybernetics 2015年第4期8卷 345-362页

作者： Xiangdong Liu Xiaohuan Ren Yongzhi Sheng School of Automation Beijing Institute of TechnologyKey Laboratory of Complex System Intelligent Control and DecisionMinistry of EducationBeijingPeople’s Republic of China

Purpose–The purpose of this paper is to design a disturbance observer-based finite-time global sliding mode control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach–Feedback linearization is first introduced to transform vehicle model into three independent second order uncertain *** a finite-time controller(FTC)is proposed for the nominal system on the basis of the homogeneity *** the integral sliding mode method is introduced for the vehicle with *** finite time convergence is achieved and global robustness is also assured by the combination of finite time control method and integral sliding mode ***,to improve the attitude angle tracking accuracy a novel finite time disturbance observer(DO)is ***–Simulation is made for the reentry vehicle with disturbances *** the results show the finite-time convergence,tracking accuracy and robustness of the proposed ***/value–The proposed control strategy has three *** of all it can achieve finite time convergence and avoid ***,it can also realize global ***,a new kind of DO is introduced to improve the tracking accuracy.

关键词： Nonlinear control Robust control Variable structure control

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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

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key Engineering Materials 2015年 645卷 957-962页

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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A necessary and sufficient stability criterion for networked predictive control systems.

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Science China(Technological Sciences) 2016年第1期59卷 2-8页

作者： SUN Jian CHEN Jie GAN MingGang School of Automation Beijing Institute of TechnologyBeijing 100081China Key Laboratory ofIntelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China

Stability of a networked predictive control system subject to network-induced delay and data dropout is investigated in this study. By modeling the closed-loop system as a switched system with an upper-triangular structure, a necessary and sufficient stability criterion is developed. From the criterion, it also can be seen that separation principle holds for networked predictive control systems. A numerical example is provided to confirm the validity and effectiveness of the obtained results.

关键词： networked control system networked predictive control stability network-induced delay data dropout

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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