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arXiv 2017年

作者： Liu, Xiaoyu Sun, Jian Dou, Lihua Chen, Jie Key Laboratory of Intelligent Control and Design of Complex Systems Beijing Institute of Technology Beijing100081 China

In this paper, the problem of event-triggered consensus for linear continuous-time multi-agent systems is investigated. A new event-triggered consensus protocol based on a predictor is proposed to achieve consensus without continuous communication among agents. In the proposed consensus protocol, each agent only needs to monitor its states to determine its event-triggered instants. When an event is triggered, the agent will update its consensus protocol and sent its state information to its neighbors. In addition, the agent will also update its consensus protocol and the predictor when it receives the state information from its neighbors. A necessary and sufficient condition that the consensus problem can be solved is derived. Moreover, it is proved that Zeno behavior does not exist. Finally, a numerical example is given to illustrate that the protocol proposed in this paper can make the multi-agent systems achieve consensus through much fewer event-triggered times. Copyright © 2017, The Authors. All rights reserved.

关键词： Multi agent systems

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Qualitative Elemental Analysis of Minerals Based on Energy Dispersive X - ray Fluorescence Spectrometry

Qualitative Elemental Analysis of Minerals Based on Energy D...

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Chinese control Conference (CCC)

作者： JunLei Song ZhiHeng Yang Jing Cai XiaoYong Ni DianHong Wang Xing Jin WenQin Mo KaiFeng Dong Fang Jin Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Mechanical and Electronic Information china University of Geosciences Wuhan P. R. China

The research of miniaturized XRF/XRD analyzers are carried out in this paper, especially the qualitative analysis based on EDXRF, a miniaturized energy dispersive X-ray fluorescence spectrometry platform is designed and a qualitative elemental analysis software based on Android operating system is developed. The elemental qualitative analysis software can preprocess the X-ray feature spectrum by background eliminationsmoothing and energy coefficient calibration, after these pretreatments, the main elements of the sample can be analyzed. The experimental results show that the qualitative elemental analysis platform proposed in this paper can measure the elements of Al to Au in the periodic table, besides, the detection accuracy of multiple samples is higher than 97%. The mineral qualitative elemental analysis software proposed in this paper can be applied to any portable analysis platform based on Android operating system, moreover, it will spur advances in the development of the miniaturization and intelligent X-ray fluorescence spectrometer.

关键词： Minerals Software Calibration Spectroscopy Instruments Detectors Smoothing methods

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IEEE Transactions on Evolutionary Computation Special Issue on Parallel Evolution for Large Scale Optimization

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IEEE Transactions on Evolutionary Computation 2018年第4期22卷 633-633页

作者： Wang, Fei-Yue Wei, Qinglai Tang, Ke Coello Coello, Carlos A. State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences China Qingdao Academy of Intelligent Industries China Department of Computer Science and Engineering Southern University of Science and Technology China Department of Computer Science CINVESTAV-IPN Mexico

Prospective authors are requested to submit new, unpublished manuscripts for inclusion in the upcoming event described in this call for papers.

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Path Planning of Messenger UAV in Air-ground Coordination

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IFAC-PapersOnLine 2017年第1期50卷 8045-8051页

作者： Yulong D. Bin X. Jie C. Hao F. Yangguang Z. Guanqiang G. Lihua D. School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses a UAV path planning problem for a team of cooperating heterogeneous vehicles composed of one unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators while the UAV serves as a messenger to achieve information sharing among the UGVs. The UAV needs to fly over each UGV periodically to collect the information and then transmit the information to the other UGVs. The UAV path planning problem with messenger mechanism is formulated as a Dynamic Dubins Traveling Salesman Problem with Neighborhood (DDTSPN). The goal of this problem is to find the shortest route enabling the UAV to deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is introduced to sequentially determine the access sequence of UGVs for UAV and the access location of UAV in the communication neighborhood of each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on several randomly generated instances. © 2017

关键词： Air-ground coordination DDTSPN Dubins path planning messenger mechanism

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Aggregation in Intersection Region for Distributed Heterogeneous Mobile Sensor Networks

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Journal of systems Science and complexity 2017年第4期30卷 932-949页

作者： Zheng Zhi Peng Zhihong Chen Jie School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model and dynamics model, set the intersection of all the local perceptions as the region of interest (ROI). The MSN consists of sensors with first-order dynamics and second-order dynamics. Then, the authors design a control strategy to ensure that individuals aggregate at a point in the ROI relying on their local perceptions and the locations of neighbors within their communication scope. The authors describe this situation of aggregation as rendezvous. In addition, the authors introduce artificial potential field to make sensors deploy dispersedly in a bounded range near the ROI, which the authors call dispersed deployment. Finally, the authors prove the stability of the proposed strategies and validate the theoretical results by simulations. This research is applied for the cooperative deployment and data collection of mobile platforms with different dynamics under the condition of inaccurate perception.

关键词： Aggregation convex intersection heterogeneous dynamics mobile sensor

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ADP-Based Model Reference Adaptive control design for Unknown Discrete-Time Nonlinear systems

ADP-Based Model Reference Adaptive Control Design for Unknow...

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Chinese control Conference (CCC)

作者： Wei Wang Xin Chen Fang Wang Hao Fu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Electrical and Information Engineering Zhengzhou University of Light Industry Wuhan P. R. China

In engineering applications, it is very useful to make a nonlinear system behave like a linear stable system. However, how to design a model reference adaptive control (MRAC) as the nonlinear dynamics is unknown is the key problem. In this study, an MRAC with adaptive dynamic programming (ADP) algorithm is presented for discrete-time nonlinear unknown dynamic systems, in which a multi-layer neural network (NN) model is utilized to describe the nonlinear system's dynamics. Then based on this approximate model, a feedforward neuro-controller is developed as the desired control corresponding to the reference input. Third, the iterative ADP algorithm, in the form of actor-critic framework, employs two NNs to estimate the action value function, and generates the feedback control which, together with the feedforward neuro-controller, makes the state of the system track the reference model. Finally the feasibility of the new approach is verified by two numerical experiments.

关键词： Artificial neural networks Nonlinear systems Feedforward systems Optimal control Adaptation models Feedback control Mathematical model

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Fault Detection of a 6-DOF Hydraulic Platform Based on Equivalent-Input-Disturbance Approach 29

Fault Detection of a 6-DOF Hydraulic Platform Based on Equiv...

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第29届中国控制与决策会议

作者： Qianqiu Li Jinhua She Min Wu Pingping Lin School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781509046584

This paper presents a method of fault detection for a 6-degree-of-freedom hydraulic platform based on the equivalent-input-disturbance(EID) ***,a model of the platform is derived based on the Lagrange ***,the types of actuator faults are ***,an optimal feedback controller is designed and the EID approach is incorporated to detect and suppress actuator *** results demonstrate the effectiveness of the method.

关键词： Equivalent input disturbance 6 degrees of freedom Fault detection Optimal feedback controller

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Decoupling control for Parallel Robot Based on Equivalent-Input-Disturbance Approach 29

Decoupling Control for Parallel Robot Based on Equivalent-In...

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第29届中国控制与决策会议

作者： Pingping Lin Jinhua She Min Wu Qianqiu Li School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781509046584

This paper discusses the problem of posture control for a parallel *** parallel robot features multiple variables and large *** control accuracy is strongly affected by the parameters which are coupled with each other,and by exogenous disturbances.A decoupling control strategy is presented based on the equivalent-inputdisturbance(EID) approach to improve control ***,decoupling control is used to eliminate the main coupling effect between multiple ***,the EID method is used to further improve decoupling effect and suppress the external *** results show that the control strategy is effective for the decoupling control of parallel robot.

关键词： Parallel Robot Decoupling control Equivalent Input Disturbance(EID) PID

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CPSS-based Signal Forwarding Method at Relays for Full-duplex Cooperative Vehicular Networks

CPSS-based Signal Forwarding Method at Relays for Full-duple...

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2018 IEEE intelligent Vehicles Symposium, IV 2018

作者： Han, Shuangshuang Ma, Houxue Wang, Xiao Liu, Hong Cao, Dongpu Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Shandong266000 China Qingdao Huituo Intelligent Machine Company Qingdao China JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD Xuzhou Jiangsu221004 China Mechanical and Mechatronics Engineering University of Waterloo 200 University Avenue Wes WaterlooONN2L 3G1 Canada Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

ISBN: (纸本)9781538644522

With increasing popularity of Internet of Vehicles (IoV), concerns for reliable and low complexity communication techniques are proposed due to the requirements of signal reliability and transmission delay for vehicles. Meanwhile, the explosive and pervasive use of social network applications further adds drivers' social relationships and behavioural characteristics into it, and makes it a cyber-physical-social system (CPSS). This paper proposes and analyzes an improved forward scheme for full deplex cooperative vehicular networks in terms of its CPSS features. The proposed CPSS-based forwarding (CPSS-F) strategy forwards a soft estimate of the received signal based on social historic data at the relay node (vehicle/infrastructure) to the destination node (vehicle/infrastructure), which achieves improved reliability than the two conventional strategies in cooperative networks, i.e., amplify-and-forward (AF) and decode-and-forward (DF). Furthermore, the proposed CPSS-F relay achieves performance gains and complexity reduction compared to the conventional AF and DF. Experimental results further confirm the advantages of the proposed CPSS-F for cooperative vehicular networks. The proposed CPSS-F approach is easily extended to other cooperative vehicular social networks, for example, multi-way, half-duplex, or large-antenna networks. © 2018 IEEE.

关键词： complex networks

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Dynamic State Estimation Using Event-Trigger Master-Slave Nonlinear Filter for WAMS Applications

Dynamic State Estimation Using Event-Trigger Master-Slave No...

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Data Driven control and Learning systems (DDCLS)

作者： Qing Yuan Fengdi Zhang Hengheng Gong Luyu Li Sen Li Xiaozhong Liao Zhen Li Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing P. R. China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing P. R. China Beijing Institute of Radio Measurement Beijing P. R. China

ISBN: (纸本)9781538626191

The real-time state estimation becomes greatly important with the wide application of phasor measurement unit (PMU) in distributed generation (DG) for wide-area measurement systems (WAMS). In view of estimation, particle filter (PF) is capable of providing the best performance but at the cost of heavy computation burden. Besides, the growing grid size sustainably boosts the amount of data communication from PMU, causing the congestion. An event-trigger master-slave nonlinear filter (ET-MSNF) is proposed to guarantee the estimation accuracy and get the communication bandwidth relieved. The local slave filter at the generator node carries out the local estimation and event-trigger strategy using unscented transformation, which is identical to the center slave. The master filter at the center is designed using Monte Carlo method to improve the center's estimation accuracy by the cooperation with the center slave. Such master-slave filtering structure can fully utilize the computation capability both at the center and node. Simulation on the standard IEEE 39-bus system verify the performance of ET-MSNF.

关键词： Generators Monte Carlo methods Phasor measurement units Master-slave Wide area measurements State estimation

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