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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Guangyu Xiong Lulu Niu Yanfu Tian Jiehan Zhou Babak Mohajeri Timo R. Nyberg Silk Road Business School Sanya University(USY) China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing The Cloud Computing Center Chinese Academy of Sciences Dongguan China School of Articial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Oulu Oulu Finland Aalto University Espoo Finland

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

In this paper, we developed a path planning system for smart cars for teaching electronic engineering or computer science, which consists of the interactive platform for smart cars development and path planning. designed by Visual C++, the interactive platform can call Matlab engine, allows users to choose path optimization algorithms such as genetic or A-star(A*) algorithm for different tasks and control smart cars through serial ports. The simulation and practice demonstrate that our interactive platform can help learners to plan paths and control intelligent vehicles without specially designing a user interface.

关键词： Education Path planning Automobiles Task analysis Optimization Programming profession Matlab

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RBF Neural Network Based-PID control for Weight on Bit During Drilling Operation

RBF Neural Network Based-PID Control for Weight on Bit Durin...

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Chinese control Conference

作者： Sike Ma Min Wu Luefeng Chen Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China

Deep drilling is a costly project and efficiency is of paramount importance. The weight on bit is one of the main operating parameters that influences the drilling efficiency and it was controlled by manual before. But after people saw the giant potential of an auto-drilling system in increasing the drilling efficiency, more and more studies on the feed back control of weight on bit have emerged. This paper mainly studied weight on bit dynamic under the variational formation based on a lumped parameter model and a self-tuning PID controller for weight on bit control. The parameters of the PID controller are tuned by using gradient descent method and RBF neural network identification.

关键词： Neural networks DC motors Feeds Suspensions Lifting equipment Torque Angular velocity

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The Distributed System of Smart Wearable Energy Harvesting Based on Human Body

The Distributed System of Smart Wearable Energy Harvesting B...

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第37届中国控制会议

作者： Yeyun Cai Fang Deng Jiachen Zhao Huangbin Qiu Xinyu Fan Zelang Liang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Wearable devices have appeared in every aspect of our lives, from small items such as wristbands and eyeglasses to finished garments as shoes and clothing. With the promoting of scientific development, intelligent technology is also combined with wearable devices to form a unique network that depends on the human body. The increasing demand for equipment has made smart wearable devices a research hotspot. Such equipment is usually small, light-weight, good flexibility, and can be adapted to the complex use of the environment. But these advantages just become the limitations of power supply for ***, the fixed charger can not be used to charge the device during use, and the volume of such a special battery can not be increased in order to increase the storage capacity. Therefore, how to solve the problem of power suppling for the wearable device effectively is a big challenge. Based on this, the paper proposes a distributed system of smart wearable energy harvesting, which considers the human body as the core and uses a variety of ubiquitous energy sources such as solar energy, thermal energy and mechanical energy. The system makes a combination of wearable and distributed design to form a wireless body area network,and provides a stable power output for smart wearable devices.

关键词： wearable energy harvesting distributed system human body

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Off-Policy Q-Learning for Infinite Horizon LQR Problem with Unknown Dynamics

Off-Policy Q-Learning for Infinite Horizon LQR Problem with ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xinxing Li Zhihong Peng Li Liang Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, a novel online Q-Iearning approach is proposed to solve the Infinite Horizon Linear Quadratic Regulator (IHLQR) problem for continuous-time (CT) linear time-invariant (LMI) systems. The proposed Q-Iearning algorithm employing off-policy reinforcement learning (RL) technology improves the exploration ability of Q-Iearning to the state space. During the learning process, the Q-Iearning algorithm can be implemented just using the data sets which just contains the information of the behavior policy and the corresponding system state, thus is data- driven. Moreover, the data sets can be used repeatedly, which is computationally efficient. A mild condition on probing noise is established to ensure the converge of the proposed Q-Iearning algorithm. Simulation results demonstrate the effectiveness of the developed algorithm.

关键词： Silicon Optimal control Convergence Approximation algorithms Manganese Regulators Adaptation models

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HeROS: A simulation platform for heterogeneous robotic swarms

HeROS: A simulation platform for heterogeneous robotic swarm...

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第三十八届中国控制会议

作者： Shuai Li Yuanfang Wan Pengzhou He Chen Wang Jinan Sun Yanling Zhang Xuyang Li Guangming Xie The State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University School of Automation and Electrical Engineering University of Science and Technology Beijing National Engineering Research Center for Software Engineering Peking University Xi'an Bibang Intelligent Technology Co. Ltd.

This paper presents HeROS, which is a novel simulation platform for heterogeneous robotic swarms. Compared with some existing simulation platforms, our HeROS(Heterogeneous Robotic Swarms Simulation) platform is more efficient due to its special designed communication methods and framework. Besides, it's convenient for use since we provide many kinds of control functions with free API's. It also supports many external libraries, which can be used to develop different simulation tasks. Using our developed platform, a mission of target search and tracking is realized as a case study, where a UAV-UGV heterogeneous system consisting of a UAV and two UGVs is required to search for a ground target and then move close to *** implementation of the task successfully shows the effectiveness and performance of the HeROS platform.

关键词： Heterogeneous robotic swarms simulation platform UAV UGV cooperation

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Dynamically Optimized Sensor Deployment Based on Game Theory

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Journal of systems Science and complexity 2018年第1期31卷 276-286页

作者： Zhang Fan Zheng Zhi Jiao Lei School of Automation Beijing Institute of Technology Beijing 100081 Decision of Complex Systems State Key Laboratory of Intelligent Control Beijing 100081

Sensor network deployment is the key for sensors to play an important performance. Based on game theory, first, the authors propose a multi-type sensor target allocation method for the autonomous deployment of sensors, considering exploration cost, target detection value, exploration ability and other factors. Then, aiming at the unfavorable environment, e.g., obstacles and enemy interference, the authors design a method to maintain the connectivity of sensor network, under the conditions of effective detection of the targets. Simulation result shows that the proposed deployment strategy can achieve the dynamic optimization deployment under complex conditions.

关键词： Connectivity dynamic deployment game theory target allocation

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Stochastic stability of evolutionary prisoner's dilemma

Stochastic stability of evolutionary prisoner's dilemma

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2018 Australian and New Zealand control Conference, ANZCC 2018

作者： Liang, Haili Zhou, Zhao Zhang, Fan Peng, Chen Wang, Yu-Long Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mathematics Southeast University Nanjing China

ISBN: (纸本)9781538666173

In this paper, we study two-player evolutionary prisoner's dilemma on regular graphs and identify the stochastically stable equilibria for infinite populations. We consider four different update rules: Birth-death(BD), death-birth(DB), imitation(IM) and pairwise comparison(PC). With the same values of cost and benefit of cooperation, we show that there is a unique stochastically stable equilibrium for evolutionary prisoner's dilemma on regular graphs. If the benefit-to-cost ratio is larger than k + 2 (k is the degree of a regular graph), the networked game has a higher fraction of cooperators than that for a well-mixed population. Under certain conditions, the lower graph connectivity can lead to the emergence of more cooperators. Besides theoretical analysis, we demonstrate our results through numerical computations and simulations as well. © 2018 IEEE.

关键词： Stochastic systems

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Bifurcation Analysis and control of Fractional-Order Quorum Sensing Network 37

Bifurcation Analysis and Control of Fractional-Order Quorum ...

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37th Chinese control Conference, CCC 2018

作者： Feng, Liu Xiangjuan, Dai Qicheng, Mei Guang, Ling Xinmei, Wang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Science Wuhan University of Technology Wuhan430070 China

ISBN: (纸本)9789881563941

In this paper, bifurcation analysis and control of fractional-order quorum sensing network regulated by sRNA is studied. The dynamics of fractional quorum sensing network with time-delay is analyzed. The stability criterion and bifurcation conditions of the fractional quorum sensing network are given. In order to control the dynamic properties of fractional order systems, a feedback controller is designed, and the complex dynamics of controlled fractional-order networks are further investigated. The simulation results show that this control method can achieve the ideal control effect. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Stability criteria

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${H}_{\infty }$ Filtering for Fuzzy Jumping Genetic Regulatory Networks With Round-Robin Protocol: A Hidden-Markov-Model-Based Approach

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IEEE Transactions on Fuzzy systems 2019年第1期28卷 112-121页

作者： Hao Shen Yunzhe Men Jinde Cao Ju H. Park School of Electrical and Information Engineering Anhui University of Technology Ma’anshan China School of Mathematics Southeast University Nanjing China Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology Beijing China Jiangsu Provincial Key Laboratory of Networked Collective Intelligence and School of Mathematics Southeast University Nanjing China Department of Electrical Engineering Yeungnam University Kyongsan South Korea

In this article, a method to design the filter for fuzzy jumping genetic regulatory networks is explored. The case when the filters cannot directly utilize the mode information of the plant is taken into account. A hidden Markov model is introduced to address such a problem. Furthermore, a mature scheduling method, namely round-robin protocol, is employed to optimize the data transmission in genetic regulatory networks. On the basis of the fuzzy model approach and the stochastic analysis technique, some novel conditions ensuring the H ∞ performance and stochastic stability of the error system are established. The parameters of the filter can be presented via addressing the convex optimization problem. The feasibility of results is finally illustrated by considering a repressilator model subject to stochastic jumping parameters.

关键词： Hidden Markov models Proteins Genetics Protocols Markov processes Data communication

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Distributed Cooperative Attitude Tracking for Multiple Flexible Spacecraft under a Directed Graph

Distributed Cooperative Attitude Tracking for Multiple Flexi...

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第三十八届中国控制会议

作者： Lei Wang Zhuoyue Song Housheng Su Yiqun Zou Xiafei Tang State Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology School of Automation Huazhong University of Science and Technology School of Automation Central South University School of Electrical and Information Engineering Changsha University of Science and Technology

This paper is concerned with the problem of cooperative attitude tracking and vibration reduction for multiple flexible spacecraft without modal variable measurement under a directed communication topology. Firstly, a distributed attitude synchronization control law for MRPs representation is proposed in the absence of external disturbances, where the modal information is obtained using a modal variable estimator. To deal with a more practical case that the spacecraft are affected by external disturbances, the control law is further modified by integrating a disturbance observer and a feedforward compensating scheme,in which the lumped disturbances including the external disturbances and errors of the estimated modal information are observed and compensated in finite time. Under this enhanced control scheme, the attitude tracking errors and vibration variables will converge to zero even in the presence of external disturbances, and the controller is continuous and chattering-free. Besides,compared with the existing results, the communication graph in this paper is assumed to be directed and contain a spanning tree with the virtual leader as the root node. A numerical example is illustrated to demonstrate the effectiveness of the proposed results.

关键词： Attitude tracking Multiple flexible spacecraft Directed graph External disturbance

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