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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies a coordinated transportation problem of a group of unmanned ground vehicles(UGVs). These ground vehicles belong to two categories: master vehicles and slave vehicles. A two-step strategy is proposed to solve this problem. First, let the master vehicles move along ideal trajectories. Then, let the slave vehicles move into the area surrounded by master vehicles and move together with them. By the two-step strategy, the coordinated transportation problem is divided into a tracking problem and a containment problem. A P In-type tracking protocol and a P In-type containment protocol(P and I stand for Proportion and Integration, respectively;Inimplies that the protocol includes high-order integral terms) are proposed to solve these two problems. It is proved that the coordinated transportation problem can be solved by two proposed protocols with proper parameters if for each follower there exists at least one leader which has a directed path to this follower. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed algorithms.

关键词： Coordinated transportation,Polynomial trajectory,Containment control,Multi-agent system.

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Solving multi-objective multi-stage weapon target assignment problem via adaptive NSGA-II and adaptive MOEA/D: A comparison study

Solving multi-objective multi-stage weapon target assignment...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin LiHua Dou School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R. China

ISBN: (纸本)9781479974931

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research, and the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the consideration of resource constraints, feasibility constraints and fire transfer constraints. In order to tackle the two challenges, two types of multi-objective optimizers: NSGA-II (domination-based) and MOEA/D (decomposition-based) enhanced with an adaptive mechanism are adopted to achieve efficient problem solving. Then a comparison study between adaptive NSGA-II (ANSGA-II) and adaptive MOEA/D (AMOEA/D) on solving instances of three scales MWTA problems is done, and four performance metrics are used to evaluate each algorithm. Numerical results show that ANSGA-II outperforms AMOEA/D on solving multi-objective MWTA problems discussed in this paper, and the adaptive mechanism definitely enhances performances of both algorithms.

关键词： Weapons Fires Discrete wavelet transforms Optimization Sociology Statistics Genetics

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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Path Planning and decision making for Autonomous Vehicle in Urban Environment

Path Planning and Decision Making for Autonomous Vehicle in ...

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International Conference on intelligent Transportation

作者： Mengyin Fu Wenjie Song Yang Yi Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China State Key Lab. of Intell. Control & Decision of Complex Syst. Beijing Instn. of Technol. China

ISBN: (纸本)9781467365970

In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle - IN 2 BOT, which has taken part in "Chinese intelligent Vehicle Challenge" for many times, this method is proved more effective than our previous method after experiments under various conditions.

关键词： Path planning Roads Vehicles decision making Planning Mobile robots Image edge detection

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On Finite-Horizon Optimal control of First-Order Plus Time Delay Systems

On Finite-Horizon Optimal Control of First-Order Plus Time D...

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第27届中国控制与决策会议

作者： Dawei Shi Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Alberta

In this work,a finite-horizon optimal control problem for first-order plus time delay(FOPTD) processes is *** show that if the control horizon is greater than three and the prediction horizon is great than the control horizon plus the time delay in discrete time,the optimal controller is not affected by either of the two ***,under these conditions,the controller parameters are explicitly calculated,the closed-loop system is shown to be stable,and the controller is *** problem considered is related to the results on linear quadratic regulation of linear systems with time delays;however,the detailed parameterization of the state-space model introduced by the FOPTD process provides an additional opportunity to investigate the exact controller structure and properties(e.g.,the locations of the closed-loop poles),which are also the major difficulties encountered and overcome in this *** problem is motivated from phenomena experienced in designing industrial model predictive control(MPC) tuning algorithms,and extensive numerical examples indicate that the proposed results speed up the MPC autotuning algorithms by 70%.

关键词： Optimal control First-order plus time delay process Performance visualization MPC tuning

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Leader-Following Consensus of Discrete-Time Linear Multi-Agent Systems with Communication Noises

Leader-Following Consensus of Discrete-Time Linear Multi-Age...

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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Hongming Wang Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China North Vehicle Research Institute Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.

关键词： Multi-Agent system,Leader-following consensus,Mean square,Communication noise.

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An Overview of Distributed High-order Multi-agent Coordination

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 1-9页

作者： Jie Huang Hao Fang Lihua Dou Jie Chen the School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems the Fujian Institute of Education

Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most previous research works on multi-agent systems studied the first- and second-order dynamics. However, in engineering, many systems are modeled by higher-order dynamics. This paper reviews the major results and progress in distributed high-order multi-agent *** the review, a short discussion section is included to summarize the existing research and propose several promising research directions along with some open problems that are deemed important for further investigations.

关键词： High-order linear systems multi-agent systems distributed coordination high-order nonlinear systems

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Unknown environment 2-D map building system for coal mine detect robot

Unknown environment 2-D map building system for coal mine de...

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International Conference on Information and Automation (ICIA)

作者： Haojian Lu Junyao Gao Jianguo Zhu Zhe Xu Haoxiang Cao Jingchao Zhao Fangzhou Zhao Xin Li Yi Liu Xuanyang Shi Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Coal mine is a very dangerous field because various fatal factors menace people especially when coal mine explosion happens. For the reason that rescuers have to know the mine tunnel actual situation and at the same time, it is very dangerous for rescuers to go into mine tunnel because of the unknown environment, a kind of coal mine detect robot and an unknown environment 2-D map building system are introduced. This paper introduces a coal mine detect robot which is a kind of tracked robot that is suitable for running in explosion environment. In order to solve the problem of detecting an unknown environment, we introduce a 2-D map building system based on linear template clustering algorithm via laser radar. Finally, the experiment shows that this coal mine detect robot and the 2-D map building system are reliable and practical.

关键词： Coal mining Laser radar Robot sensing systems Robot kinematics Buildings

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Study of control parameters tuning method for hydro-viscous driver system

Study of control parameters tuning method for hydro-viscous ...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Ligang Ma Deyang Zhang Shoukun Wang Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Chinese North Vehicle Research Institute Beijing China

ISBN: (纸本)9781479987719

Hydro-viscous speed clutch (HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance of the speed control system. This paper studies the HVC of a vehicle temperature control system, and analyzes the parameters tuning method of a PID controller for the closed-loop control system. By employing a two-storey optimized control framework, the resulting model from identification can be used to complete the control parameters auto-tuning. Simulation and experimental results have showed that this auto-tuning method can obtain a group of parameters in terms of a desired performance index, which guarantees the balance of dynamic characteristics, stability and anti-jamming in closed-loop system.

关键词： Mathematical model Vehicles Tuning Friction Velocity control Cooling Valves

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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