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第35届中国控制会议

作者： FANG Weikang LONG Huabao HE Jie CAI Yunce Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China The Eighth Design Department of Shanghai Spaceflight Bureau Shanghai Aerospace Control Technology Institute

ISBN: (纸本)9781509009107

The problem of coordinated guidance laws for multiple missiles with impact-time constraint is illustrated in this *** the missiles are infrared missiles and regarded as observation stations to acquire the kinestate of the target through the method of passive location and *** design the guidance law with the information to achieve the intercepting with impact-time *** simulation results based on the method in this paper demonstrate the validity and feasibility of the passive location and proposed law.

关键词： Infrared missiles passive location impact-time constraint cooperative guidance law

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Three-dimensional trajectory optimization for lunar ascent using gauss pseudospectral method

Three-dimensional trajectory optimization for lunar ascent u...

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AIAA Guidance, Navigation, and control Conference, 2016

作者： Ma, Lin Shao, Zhijiang Chen, Weifeng Lv, Xinguang Song, Zhengyu Zhejiang University Hangzhou310027 China Department of Automation College of Information Engineering Zhejiang University of Technology Hangzhou310023 China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing100854 China College of Control Science and Engineering China College of Control Science and Engineering State Key Laboratory of Industrial Control Technology China

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In this paper, the problem of fuel-optimal lunar ascent trajectory optimization using constant-thrust propulsion is considered. The whole lunar ascent process is divided into two phases: vertical-rise phase and orbit-insertion phase, respectively. Considering the influence of rotation of the moon, a three-dimensional kinematics and dynamics model for lunar ascent is established. The fuel-optimal lunar ascent trajectory optimization problem is posed as a two-phase constrained nonlinear trajectory optimization problem solved by using Gauss pseudospectral method. Initial guesses for this trajectory optimization problem are obtained by solving a subproblem where the angular rate of pitch angle and yaw angel is not constrained. Four scenarios of the two-phase lunar ascent trajectory optimization problem are designed. The simulation results show that all state and control variables satisfy the related constraints and practical engineering condition in each scenario. The developed direct trajectory optimization framework has the adaptability to address various scenarios of the two-phase lunar ascent mission. © 2016, (publisher). All rights reserved.

关键词： Orbits

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Learning robust and discriminative low-rank representations for face recognition with occlusion

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Pattern Recognition 2017年 66卷 129-143页

作者： Guangwei Gao Jian Yang Xiao-Yuan Jing Fumin Shen Wankou Yang Dong Yue Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing China Jiangsu Engineering Laboratory of Big Data Analysis and Control for active distribution network Nanjing University of Posts and Telecommunications Nanjing China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control (Minjiang University) Fuzhou China School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China School of Automation Nanjing University of Posts and Telecommunications Nanjing China School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China School of Automation Southeast University Nanjing China

For robust face recognition tasks, we particularly focus on the ubiquitous scenarios where both training and testing images are corrupted due to occlusions. Previous low-rank based methods stacked each error image into a vector and then used L 1 or L 2 norm to measure the error matrix. However, in the stacking step, the structure information of the error image can be lost. Depart from the previous methods, in this paper, we propose a novel method by exploiting the low-rankness of both the data representation and each occlusion-induced error image simultaneously, by which the global structure of data together with the error images can be well captured. In order to learn more discriminative low-rank representations, we formulate our objective such that the learned representations are optimal for classification with the available supervised information and close to an ideal-code regularization term. With strong structure information preserving and discrimination capabilities, the learned robust and discriminative low-rank representation (RDLRR) works very well on face recognition problems, especially with face images corrupted by continuous occlusions. Together with a simple linear classifier, the proposed approach is shown to outperform several other state-of-the-art face recognition methods on databases with a variety of face variations.

关键词： Face recognition Low-rank matrix recovery Nuclear norm

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration automation

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controllability of giant connected components in a directed network

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Physical Review E 2017年第4期95卷 042318-042318页

作者： Xueming Liu Linqiang Pan H. Eugene Stanley Jianxi Gao Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Automation Huazhong University of Science and Technology Wuhan 430074 Hubei China Center for Polymer Studies and Department of Physics Boston University Boston Massachusetts 02215 USA School of Electric and Information Engineering Zhengzhou University of Light Industry Zhengzhou 450002 Henan China Center for Complex Network Research and Department of Physics Northeastern University Boston Massachusetts 02115 USA

When controlling a complex networked system it is not feasible to control the full network because many networks, including biological, technological, and social systems, are massive in size and complexity. But neither is it necessary to control the full network. In complex networks, the giant connected components provide the essential information about the entire system. How to control these giant connected components of a network remains an open question. We derive the mathematical expression of the degree distributions for four types of giant connected components and develop an analytic tool for studying the controllability of these giant connected components. We find that for both Erdős-Rényi (ER) networks and scale-free (SF) networks with p fraction of remaining nodes, the minimum driver node density to control the giant component first increases and then decreases as p increases from zero to one, showing a peak at a critical point p=pm. We find that, for ER networks, the peak value of the driver node density remains the same regardless of its average degree 〈k〉 and that it is determined by pm〈k〉. In addition, we find that for SF networks the minimum driver node densities needed to control the giant components of networks decrease as the degree distribution exponents increase. Comparing the controllability of the giant components of ER networks and SF networks, we find that when the fraction of remaining nodes p is low, the giant in-connected, out-connected, and strong-connected components in ER networks have lower controllability than those in SF networks.

关键词： Network structure

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Performance limits analysis of linear predictive control systems with input saturation 35

Performance limits analysis of linear predictive control sys...

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35th Chinese control Conference, CCC 2016

作者： Cai, Xin Ding, Yongsheng Hao, Kuangrong Li, Shaoyuan Engineering Research Center of Digitized Textile and Apparel Technology Ministry of Education College of Information Science and Technology Donghua University Shanghai201620 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

ISBN: (纸本)9789881563910

This paper proposes a novel method to analyze performance features of linear model predictive control (MPC) systems with input saturation. The performance of MPC is compared with that of saturated control to find out how well MPC can perform under input saturation case. By exploring the properties of Riccati difference equation (RDE) and geometric structure of linear MPC, upper and lower bounds of the ratio between performance of MPC and saturated control are obtained. The establishment of such relationship provides a feasible approach to quantify the performance enhancement by introducing receding horizon optimization method into input saturated systems. © 2016 TCCT.

关键词： Model Predictive control Finite Horizon Optimal control Riccati Difference Equation Saturated control

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Two-dimensional picture arrays and Parikh q—matrices

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Journal of Physics: Conference Series 2018年第1期1132卷

作者： Somnath Bera Kalpana Mahalingam Linqiang Pan K. G. Subramanian Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Automation Huazhong University of Science and Technology Wuhan 430074 Hubei China Department of Mathematics Indian Institute of Technology Madras Chennai 600036 India School of Electric and Information Engineering Zhengzhou University of Light Industry Zhengzhou 450002 Henan China Department of Mathematics Madras Christian college Tambaram Chennai 600017 India

Based on the idea of 'q—count' of certain subwords of a word and generalizing the notion of Parikh matrix of a word, the notion of Parikh q—matrix of a word over an ordered alphabet was introduced. On the other hand, with a two-dimensional picture array of symbols arranged in rows and columns, two kinds of upper triangular matrices, known as row and column Parikh matrices have also been introduced and investigated. Here combining these two kinds of matrices of a picture array, we introduce row/column Parikh q—matrix of an array, leading to the concept of q—ambiguity of a picture array. Results relating to q—ambiguity of picture arrays are derived in the context of these Parikh q—matrices of arrays.

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Optimizing application layer multicast routing via artificial fish swarm algorithm

Optimizing application layer multicast routing via artificia...

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International Conference on Fuzzy Systems and Knowledge Discovery (FSKD)

作者： Xuan Ma Rongjun Tang Jingyan Kang Qing Liu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Faculty of Automation and Information Engineering

ISBN: (纸本)9781509040940

In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimization objectives, we design the behaviors of artificial fish individual (AF), i.e. moving randomly, preying, following, and use Pareto ranking to evaluate the fitness of AF. The simulation results show that the proposed algorithm is an appropriate method to explore the search space of the complex problem and leads to good solutions in a reasonable amount of time.

关键词： Delays Routing Optimization Fish Network topology Algorithm design and analysis Visualization

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Consensus control for Second-Order Multi-Agent with Time-Delay on Antagonistic Networks

Consensus Control for Second-Order Multi-Agent with Time-Del...

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第35届中国控制会议

作者： Penglin LI Yue LIU Yadong ZHAO Jie YANG Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University State Key Laboratory of Industrial Control Technology Institute of Industrial Process ControlCollege of Control Science and EngineeringZhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781509009107

In this paper,we discuss consensus problems for antagonistic networks with double integrator *** cases are analyzed:(1) undirected graphs with fixed topology on antagonistic networks;(2) undirected graphs with fixed topology and time-delay on antagonistic *** both cases,distributed consensus protocols are proposed,with sufficient and necessary conditions *** is proved that the largest tolerable time-delay is only related to the largest eigenvalue of the graph ***,simulations are provided to demonstrate the obtained theoretical results.

关键词： Consensus Fixed Topology Multi-agent Antagonistic Networks Time-delay

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Limit Set Problem of Multi-Agent Systems with Finite States: An Eigenvalue-Based Approach

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Journal of Systems Science & Complexity 2015年第3期28卷 570-579页

作者： WANG Lin WANG Xiaofan WANG Jinhuan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education School of Sciences Hebei University of Technology

This paper studies the limit set of multi-agent system with finite states, in which the system is converted into a linear system through an expansion of space. Then, the structure properties of the system matrix are investigated, and the relationships between the eigenvalues and the limit set are developed. As an application, the nilpotent problem of elementary cellular automata(ECA) known as algorithmically undecidable is considered, and all the nilpotent ECA are found out which consists of rules 0, 8, 64, 239, 253, 255.

关键词： Cellular automata eigenvalue finite states limit set multi-agent system nilpotent.

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