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Nonlinear H ∞ observer design for one-sided Lipschitz systems

Neurocomputing 2014年 145卷 505-511页

作者： Wei Zhang Housheng Su Shengchao Su Dazhong Wang Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai 201620 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China College of Information Science and Technology Donghua University Shanghai 201620 China

This paper is considered with the H ∞ observer design problem for a class of nonlinear systems with the one-sided Lipschitz condition. The systems under consideration include the well-studied Lipschitz system as a special case and possess inherent advantages with respect to conservativeness. For such systems in the presence of noises, we develop a Linear Matrix Inequality (LMI) based approach to design a nonlinear H ∞ observer by carefully dealing with the one-sided Lipschitz condition together with the quadratic inner-bounded condition. The resulting nonlinear H ∞ observer guarantees asymptotic stability of the estimation error dynamics with a prescribed H ∞ performance. Moreover, for the design purpose, the existence condition of the proposed nonlinear H ∞ observer is formulated in terms of LMIs by using a matrix generalized inverse technique. Finally, a simulation example is given to illustrate the effectiveness of the proposed design.

关键词： One-sided Lipschitz nonlinear systems Nonlinear H ∞ observers Observer design State estimation

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MULTI-TRACKING OF FIRST ORDER MULTI-AGENT NETWORKS VIA SELF-TRIGGERED control

MULTI-TRACKING OF FIRST ORDER MULTI-AGENT NETWORKS VIA SELF-...

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西南大学2014年全国博士生学术论坛(电子技术与信息科学领域)

作者： Guang-Song Han Zhi-Hong Guan Jie Chen Ding-Xin He Ming Chi College of Automation Huazhong University of Science and Technology Wuhan 430074 China and the Key Laboratory of Image Information Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education Wuhan 430074 China

A multi-tracking problem of multi-agent networks is investigated in this paper where multi-tracking refers to that the states of multiple agents in each subnetwork asymptotically converge to the same desired trajectory in the presence of information exchanges among *** multi-tracking of first order multi-agent networks with directed topologies was ***-triggered protocols were proposed along with triggering functions to solve the stationary multi-tracking and bounded dynamic *** self-triggered scheduling is obtained, and the system does not exhibit Zeno *** examples are provided to illustrate the effectiveness of the obtained criteria.

关键词： Multi-agent networks stationary multi-tracking bounded dynamic multi-tracking self-triggered control

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A Combined Approach for Master-slave Robotic Surgery System control Based on Jacobian and PD Algorithm

A Combined Approach for Master-slave Robotic Surgery System ...

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2014 4th IEEE International Conference on information Science and technology

作者： Zhonglin Zhang Jing Xiong Yangzhou Gan Dongwen Zhang Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electronic Engineering and Automation Guilin University of Electronic Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.

关键词： robotic puncture surgery teleoperation Jacobian matrix PD control algorithm vibration elimination

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A computer-aided visualization system for orthodontic treatment

A computer-aided visualization system for orthodontic treatm...

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International Conference on information Science and technology (ICIST)

作者： Ziwei Li Yangzhou Gan Jiali Tan Qunfei Zhao Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese University of Hong Kong Shenzhen China Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Hospital of Stomatology Guangdong Provincial Key Laboratory Stomatology Guangzhou China

This system present a feasibility of computer-aided diagnosis, planning and simulation for orthodontic treatment. In the Visualization Toolkit (VTK) and Microsoft Foundation Classes (MFC) integrated environment, a flexible, friendly and functional interface for orthodontic treatment was designed. The methods of how to integrate VTK and MFC in different system are described, and the three-dimensional model of the dentition is reconstructed by using marching-cubes (MC) algorithms. Finally, the three-dimensional model for rendering and interaction is also introduced.

关键词： Solid modeling Three-dimensional displays Data visualization Teeth Computational modeling Image reconstruction Data models

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DISTRIBUTED QUANTIZED CONSENSUS FOR AGENTS ON DIRECTED NETWORKS

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Journal of Systems Science & Complexity 2013年第4期26卷 489-511页

作者： LI Dequan LIU Qipeng WANG Xiaofan Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Science Anhui University of Science and Technology

Communication bandwidth and network topology are two important factors that affect performance of distributed consensus in multi-agent *** available works about quantized average consensus assume that the adjacency matrices associated with the digraphs are doubly stochastic,which amounts to that the digital networks are ***,this assumption may be unrealistic in *** this paper,without assuming double stochasticity,the authors revisit an existing quantized average consensus protocol with the logarithmic quantization scheme,and investigate the quantized consensus problem in general directed digital networks that are strongly connected but not necessarily *** authors first derive an achievable upper bound of the quantization precision parameter to design suitable logarithmic quantizer,and this bound explicitly depends on network ***,by means of the matrix transformation and the Lyapunov techniques,the authors provide a testable condition under which the weighted average consensus can be achieved with the proposed quantized protocol.

关键词： Consensus protocol digraph logarithmic quantization multi-agent systems.

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Receding Horizon control and Scheduling of Quantized control Systems with Communication Constraints

Receding Horizon Control and Scheduling of Quantized Control...

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IEEE Annual Conference on Decision and control

作者： Yuanyuan Zou Yugang Niu Shaoyuan Li Dewei Li Key Laboratory of Advanced Control and Optimization for Chemical Process Ministry of Education East China University of Science and Technology Shanghai 200237 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

ISBN: (纸本)9781467360890

This paper investigates the problem of joint design of a receding horizon control and the medium access scheduling for quantized control systems over limited bandwidth networks, in which only a limited number of actuators are allowed to communicate with the controller at each time instant. By introducing a communication scheduling matrix to describe the medium access status and considering the influence of quantizers, we can model the control system as a switched model with structured norm-bounded uncertainties. The stabilizing channels with guaranteed stability are chosen first. Based on the stabilizing channels, a receding horizon control strategy with optimal dynamic resource allocation is proposed by minimizing the upper bound on a finite-horizon quadratic performance index. Simulation results show the effectiveness of the developed method finally.

关键词： control systems Media Access Horizon quantizer control strategy Stabilising Communication Research Resource utilization actuators quadratic performance index

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Saturated Scheduling Anti-windup Design: Static Case

Saturated Scheduling Anti-windup Design: Static Case

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第26届中国控制与决策会议

作者： Xiongjun Wu Kun Cai Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China The 802 Institute of Shanghai Academy of Space Flight Technology The Eighth Academy of China Aerospace Science and Technology Corporation

A saturation allowed scheduled anti-windup design method is proposed in this paper for the linear systems subject to input saturation. We introduced the scheduled controller design method into the anti-windup scheme, in which a family of controllers are designed. These controllers are activated depending on the response of the system, rather than only considering the worst noise case off-line. Also, the delayed activation scheme is introduced into the scheduled antiwindup mechanism, i.e., the physical actuator is activated when it really need to, and then the most aggressive controller is activated. In this proposed scheme, since the saturation is allowed and no hard constraint is needed to imposed on the controller input, we can makes fuller utilization of the available actuator capacity. The proposed anti-windup scheme provides the system stability and guaranteed peak-to-peak gain. The control strategy is carried out under the scheme of state feedback and the main results are presented in linear matrix inequality forms. The advantage of the proposed saturated allowed scheduling anti-windup scheme against the traditional saturation avoid method is illustrated through a numerical example.

关键词： Actuator saturation,saturated anti-windup,peak-to-peak gain,scheduling control.

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Extreme learning machine for the displacement prediction of landslide under rainfall and reservoir level

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Stochastic Environmental Research and Risk Assessment 2014年第8期28卷 1957-1972页

作者： Cheng Lian Zhigang Zeng Wei Yao Huiming Tang School of Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education Wuhan China School of Computer Science South-Central University for Nationalities Wuhan China Faculty of Engineering China University of Geosciences Wuhan China

Landslide prediction is always the emphasis of landslide research. Using global positioning system GPS technologies to monitor the superficial displacements of landslide is a very useful and direct method in landslide evolution analysis. In this paper, an EEMD–ELM model [ensemble empirical mode decomposition (EEMD) based extreme learning machine (ELM) ensemble learning paradigm] is proposed to analysis the monitoring data for landslide displacement prediction. The rainfall data and reservoir level fluctuation data are also integrated into the study. The rainfall series, reservoir level fluctuation series and landslide accumulative displacement series are all decomposed into the residual series and a limited number of intrinsic mode functions with different frequencies from high to low using EEMD technique. A novel neural network technique, ELM, is employed to study the interactions of these sub-series at different frequency affecting landslide occurrence. Each sub-series extracted from accumulative displacement of landslide is forecasted respectively by establishing appropriate ELM model. The final prediction result is obtained by summing up the calculated predictive displacement value of each sub. The EEMD–ELM model shows the best accuracy comparing with basic artificial neural network models through forecasting the displacement of Baishuihe landslide in the Three Gorges reservoir area of China.

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Step-wise sequential phase partition algorithm and on-line monitoring strategy for multiphase batch processes

Step-wise sequential phase partition algorithm and on-line m...

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第25届中国控制与决策会议

作者： Chunhui Zhao Youxian Sun State Key Laboratory of Industrial Control Technology Department of Control Science and Engineering Zhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781467355322

As batches operate at different statuses across different phases, it can be advantageous to partition the whole batch process into different phases and characterize them separately by multiple local phase models. The conventional clustering-based phase division algorithm overlooks the time sequence of batch operation which thus may mix different time segments located within a batch into one phase. Moreover, it is hard to capture the transitions between neighboring phases. In the present work, an automatic step-wise sequential phase division algorithm is developed to capture the changes of process characteristics along time direction within each batch. Its theoretical support is framed and the related statistical characteristics are analyzed. Using this algorithm, major phases are captured and the transition regions are separated from them as separate time regions. Thus, different statistical models are developed to reflect their time-varying characteristics. The online monitoring system is set up, which can realtime judge the affiliation of each new sample and check its status by adopting the proper statistical model. Comprehensive comparison is conducted between the proposed algorithm and clustering-based phase division algorithm. Its feasibility and performance are illustrated by an injection molding process which presents typical multiphase nature as well as transition characteristics.

关键词： multiphase batch processes sequential phase partition transition patterns online process monitoring multivariate statistical analysis.

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