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第40届中国控制会议

作者： Weilu Chen Jun Hu Dongyan Chen Xiaoyang Yu Zhihui Wu School of Measurement and Communication Harbin University of Science and Technology Department of Mathematics Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology

The fault detection problem is addressed in this paper for a class of state-saturated systems with time-delay and nonlinearities under communication *** particular,the phenomenon of state saturation is introduced to characterize the physical limitations of the ***,the event-triggered communication strategy is adopted to achieve the purpose of saving network resources and preventing data ***,an event-based fault detection filter is *** selecting the appropriate Lyapunov functional,several sufficient conditions are obtained such that the addressed augmented system is globally asymptotically stable with a satisfactory H performance ***,the filter parameters are gained through solving certain matrix ***,the effectiveness of the proposed fault detection approach is demonstrated by a numerical example.

关键词： State-saturated systems Fault detection Event-triggered mechanism Time-delay

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Recursive Filtering for Time-Varying Nonlinear Delayed systems with Stochastic Parameter Matrices and Censored Measurements

Recursive Filtering for Time-Varying Nonlinear Delayed Syste...

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第42届中国控制会议

作者： Shuo Yang Jun Hu Peixia Gao Ruijie Dong Zhihui Wu Department of Applied Mathematics Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology School of Automation Harbin University of Science and Technology

This paper discusses the design problem of recursive filtering method for time-varying nonlinear delayed systems(NDSs) with stochastic parameter matrices(SPMs) and censored *** particular,the Tobit Type Ⅰ model provides a description of the censored *** main objective of this paper is to construct a recursive filter for NDSs with both SPMs and censored *** upper bound of the filtering error covariance is first calculated via mathematical induction,and the upper bound is then minimized by choosing proper filter ***,a sufficient condition is provided to guarantee that the filtering error is uniformly bounded in the mean-square ***,the viability and applicability of the proposed filterin g method are demonstrated using a numerical simulation.

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Formation control for multiple agents with local measurements: continuous-time and sampled-data-based cases

Formation control for multiple agents with local measurement...

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IEEE Annual Conference on Decision and Control

作者： Chen Wang Shuai Li Weiguo Xia Jinan Sun Guangming Xie National Engineering Research Center for Software Engineering Peking University Beijing China State Key Laboratory of Turbulence and Complex Systems Peking University Beijing China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric pattern while keeping a desired distance to a static/moving target. The prescribed formation is a general one which can be any geometric pattern, and the neighboring relationship of the N-agent system only has the requirement of containing a directed spanning tree. To solve the formation control problem, a distributed controller is proposed based on the idea of decoupled design. One merit of the controller is that it only uses each agent's local measurements in its local frame, so that a practical issue that the lack of a global coordinate frame or a common reference direction for real multi-robot systems is successfully solved. Considering another practical issue of real robotic applications that sampled data is desirable instead of continuous-time signals, the sampleddata based controller is developed. Theoretical analysis of the convergence to the desired formation is provided for the multiagent system under both the continuous-time controller with a static/moving target and the sampled-data based one with a static target. Numerical simulations are given to show the effectiveness and performance of the controllers.

关键词： Robot kinematics Coordinate measuring machines Mobile agents Multi-robot systems Sun Collision avoidance

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Quantized Control for Highly Nonlinear Stochastic systems with Multiple Delays under DoS Attacks

Quantized Control for Highly Nonlinear Stochastic Systems wi...

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Chinese Control Conference (CCC)

作者： Hairui Zhao Dongyan Chen Jun Hu School of Science Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

In this paper, the quantized control problem is discussed for a class of highly nonlinear stochastic systems with multiple delays under the DoS attacks. The coefficients are allowed to be highly nonlinear, and the control input is subject to the quantization effects and the DoS attacks. The aim is to deal with the stabilization problem for unstable highly nonlinear stochastic systems with multiple delays. The $p-\text{th}$ moment exponential stability and almost surely exponential stability are discussed in light of the Lyapunov theory. Finally, an illustrative example is given to verify the validity of the theoretical results.

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Design of Variance-Constrained H∞ State Estimation Algorithm for Delayed Memristive Neural Networks with Attacks: An Adaptive Event-Triggered Approach

Design of Variance-Constrained H∞ State Estimation Algorith...

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IEEE International Conference on Cloud Computing and Intelligence systems (CCIS)

作者： Yan Gao Jun Hu Hui Yu Chaoqing Jia Department of Mathematics Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781665456579

This paper studies the algorithm design of variance-constrained $H_{\infty}$ state estimation problem for delayed memristive neural networks with adaptive event-triggered mechanism. The denial-of-service attacks are modeled by a series of random variables obeying the Bernoulli distribution with known probability. In addition, the adaptive event-triggered mechanism is introduced into the sensor-to-estimator to avoid unnecessary resource consumption. Our purpose is to construct a finite-horizon state estimation algorithm, and sufficient condition is obtained for the estimation error system satisfying the $H_{\infty}$ performance requirement and the error variance boundedness. Finally, a numerical example is used to illustrate the feasibility of the presented $H_{\infty}$ state estimation algorithm.

关键词： Sufficient conditions Adaptation models Wireless sensor networks Adaptive systems Neural networks Machine learning Denial-of-service attack

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Formation control for multiple agents with local measurements: Continuous-time and sampled-data-based cases

arXiv

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arXiv 2019年

作者： Wang, Chen Li, Shuai Xia, Weiguo Sun, Jinan Xie, Guangming National Engineering Research Center for Software Engineering Peking University Beijing100871 China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric pattern while keeping a desired distance to a static/moving target. The prescribed formation is a general one which can be any geometric pattern, and the neighboring relationship of the N-agent system only has the requirement of containing a directed spanning tree. To solve the formation control problem, a distributed controller is proposed based on the idea of decoupled design. One merit of the controller is that it only uses each agent's local measurements in its local frame, so that a practical issue that the lack of a global coordinate frame or a common reference direction for real multi-robot systems is successfully solved. Considering another practical issue of real robotic applications that sampled data is desirable instead of continuous-time signals, the sampled-data based controller is developed. Theoretical analysis of the convergence to the desired formation is provided for the multiagent system under both the continuous-time controller with a static/moving target and the sampled-data based one with a static target. Numerical simulations are given to show the effectiveness and performance of the controllers. Copyright © 2019, The Authors. All rights reserved.

关键词： Multi agent systems

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Outlier-Resistant Distributed Filtering for Multi-Rate Nonlinear systems Under Amplify-and-Forward Relays

Outlier-Resistant Distributed Filtering for Multi-Rate Nonli...

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Chinese Control Conference (CCC)

作者： Shuting Fan Jun Hu Chaoqing Jia Hairui Zhao Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

In this paper, the outlier-resistant distributed filtering problem based on amplify-and-forward relays is studied for discrete time-varying nonlinear multi-rate systems with multiple measurement delays over sensor networks, where the augmenting method is utilized to transform the multi-rate system into a single rate system. An amplify-and-forward (AF) relay is set between the sensor and the filter to extend the transmission distance of the signal and ensure the communication transmission quality. The outlier-resistant distributed filter is constructed by introducing a saturation function to limit the innovations, then the upper bound on the filtering error covariance is obtained and the filter gain is designed to minimize such obtained upper bound. Finally, a numerical example is used to show the effectiveness of the outlier-resistant distributed filtering algorithm based on AF relays.

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Recursive Filtering for Time-Varying Nonlinear Delayed systems with Stochastic Parameter Matrices and Censored Measurements

Recursive Filtering for Time-Varying Nonlinear Delayed Syste...

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Chinese Control Conference (CCC)

作者： Shuo Yang Jun Hu Peixia Gao Ruijie Dong Zhihui Wu Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

This paper discusses the design problem of recursive filtering method for time-varying nonlinear delayed systems (NDSs) with stochastic parameter matrices (SPMs) and censored measurements. In particular, the Tobit Type I model provides a description of the censored measurements. The main objective of this paper is to construct a recursive filter for NDSs with both SPMs and censored measurements. The upper bound of the filtering error covariance is first calculated via mathematical induction, and the upper bound is then minimized by choosing proper filter gain. Besides, a sufficient condition is provided to guarantee that the filtering error is uniformly bounded in the mean-square sense. Finally, the viability and applicability of the proposed filtering method are demonstrated using a numerical simulation.

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Distributed Resilient State Estimation for Time-Varying Fractional-Order Discrete complex Networks with Encoding-Decoding Scheme

Distributed Resilient State Estimation for Time-Varying Frac...

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Chinese Control Conference (CCC)

作者： Yu Chen Jun Hu Jiaxing Li Aozhan Zhou Hui Yu Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

In this paper, the distributed state estimation method with resilient attenuation feature is proposed for time-varying fractional-order complex networks under encoding-decoding mechanism. The encoding-decoding-induced dynamic errors for distinct nodes are characterized by the truncated Gaussian distributions. In order to compensate the effects induced by encoding-decoding scheme, the variances of encoding-decoding-induced dynamic errors are considered in process of designing the resilient distributed estimation algorithm. In particular, the upper bounds of updated estimation error covariances are derived firstly. Subsequently, the upper bounds are minimized by constructing the gain matrices at each sampling instant. Besides, a sufficient condition is provided to guarantee the boundedness of estimation error dynamics in the mean-square sense. Finally, the validity of distributed resilient state estimation scheme is demonstrated by a simulation example.

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Design of Recursive Filtering Scheme via An Improved Weighted Try-Once Discard Protocol

Design of Recursive Filtering Scheme via An Improved Weighte...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Kaiwen Zheng Jun Hu Junhua Du Hui Yu Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

This paper investigates the recursive filtering (RF) problem for stochastic multi-rate (MR) systems, where the information transmission is regulated by an improved weighted try-once-discard protocol (IWTODP). In order to reduce communication overhead and mitigate network congestion, the IWTODP is firstly proposed and designed to schedule the order of data transmission from the sensors. The main objective of this paper is to design a new RF scheme to minimize the upper bound (UB) on the filtering error (FE) covariance in each iteration step in the presence of IWTODP and MR sampling. In particular, an iterative way is given to provide the expression form of the gain of RF. Finally, the effectiveness of the proposed RF method is illustrated through simulation example.

关键词： Radio frequency Schedules Protocols Upper bound Filtering Filtering algorithms Iron Sensor systems Data communication State estimation

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