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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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Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Design, modeling and control of a novel amphibious robot wit...

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IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2015

作者： Yi, Yang Geng, Zhou Zhang, Jianqing Cheng, Siyuan Fu, Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479999941

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm. © 2015 IEEE.

关键词： Propulsion

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Attitude control of Multiple Rigid Bodies with Uncertainties and Disturbances

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 2-10页

作者： Yuanqing Xia Ning Zhou Kunfeng Lu Yong Li the School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology the Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm. © 2014 Chinese Association of Automation.

关键词： Adaptive control systems Algorithms Attitude control Environmental regulations Graph theory Rigid structures Sliding mode control Synchronization

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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An Online Parameter Estimation Method for a class of Nonlinear systems Based on Particle Filter 34

An Online Parameter Estimation Method for a class of Nonline...

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第三十四届中国控制会议

作者： XIE Guo ZHANG Dan HEI Xinhong QIAN Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781467374439

Nonlinear system identification is one of the most important topics all over the word. Until now, there are many of off-line identification methods which exhibit well performance. The online approach with non-Gaussian noise, however, is still a challenge. For a class of nonlinear systems where all of the candidate parameters are contained in a definite parameter set, an online parameters and sates estimation method is proposed based on particle filter and Bayes theorem as the following steps. Firstly, regarding all of the candidates, the states are estimated by particle filter(PF) algorithm. Secondly the posterior probabilities of all of candidates are calculated according to the Bayes theorem;then the weights of all of the candidates are obtained through normalization. Lastly, the parameters and sates are estimated ultimately according to the weighted sum of all of the candidates and states. Numerical illustrations are presented to exhibit the application of the method proposed herein, and the performance of the method is examined.

关键词： Nonlinear system,Particle filter,Parameter set,Online parameter identification

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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World Congress on intelligent control and Automation

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi Yisheng Lv State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries

ISBN: (纸本)9781467384155

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system, especially the similar cases recommendation. It can not only save the patients' waiting time, but also make use of the historical resources, for many cases with the same purpose have been solved perfectly. However, because of the diversity and non-standard of the patients' descriptions, the inquiry platform cannot find the cases with similar semantic easily. Most traditional retrieval methods require the overlap of two sentences, and this is not suitable with the diversity and non-standard descriptions. In this paper, we try to utilize the sentences' semantic representation in a continuous space to understand the cases, and then recommend the similar cases. We also incorporate it into query likelihood language models, trying to get better results. Our experimental data are all collected from a real internet inquiry platform, and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： Semantics Internet Medical services Context MONOS devices Optimization Information retrieval

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Stability Analysis of Event-triggered Networked control systems with Time-Varying Delay 34

Stability Analysis of Event-triggered Networked Control Syst...

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第三十四届中国控制会议

作者： WANG Zhao SUN Jian CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Networked control systems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keeping a satisfactory performance of the system, by transmitting the state measurements only when an event-triggered condition is met. However,some network-induced problems would happen inevitably, such as communication delay. The delay can degrade the control performance significantly and can even lead to instability. In this paper, we study an NCS considering both ETC and time-varying delay, which is rare in the literature. We formulate the system as a discretized piecewise linear system with exponential uncertainty. Then the model is embedded in a polytopic approximation with better structure suitable for stability *** conditions are derived in terms of linear matrix inequalities(LMIs). Finally, the developed method is illustrated by a numerical example.

关键词： Networked control system,event-triggered control,time-varying delay,piecewise linear system,polytopic approximation,stability

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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Iterative search with emulating nodes' local movement on range-free sensor network localization 34

Iterative search with emulating nodes' local movement on ran...

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第三十四届中国控制会议

作者： QIAO Dapeng GUO Zongben MA Hongwei SHI Shuguang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Aerospace Control Devices

ISBN: (纸本)9781467374439

This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations.

关键词： Wireless sensor network,Localization,Local movement,Evolutionary algorithm,Non-convex,Connectivity

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control method for redundant manipulators with multi-constraints 7

Control method for redundant manipulators with multi-constra...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Lu, Beibei Guo, Shuli Han, Lina Key Lab. of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing100081 China Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Woodstock Road OxfordOX2 6GG United Kingdom Department of Cardiovascular Internal Medicine Nanlou Branch Chinese PLA General Hospital Beijing100853 China

ISBN: (纸本)9784990534349

When redundant manipulators work in a complex environment, many constraints need to be met. Gradient projection method (GPM) is a typical way to fulfil constraints that does not affect the main task. However it's difficult to fulfil all the restrictions simultaneously. In this paper, the Jacobian matrix for constraints is proposed and an extended Jacobian matrix form equivalent to the GPM is obtained. Then the multi-objective compliance control scheme is applied to the extended Jacobian matrix form to ensure that the main task and multi-constraints are fulfilled simultaneously. At last we test this scheme in a sixdegree-of-freedom (6-DOF) manipulator and the simulation results confirm our conclusions. © 2016, Fuji Technology Press. All rights reserved.

关键词： Redundant manipulators

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