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作者： Sun, Wei Dou, Lihua Chen, Jie Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9787894631046

A novel algorithm to solve the target tracking and formation control problem in multi-agent systems is proposed in the present work, which combines centroidal Voronoi tessellations (CVT) with consensus strategy. The algorithm utilizes the connection information among robots to further reduce the system cost function on the basis of CVT configuration. The work load among robots can be averaged by the consensus strategy thus the tracking and formation task can be achieved. The method configures the robots on to local optimal solution which minimize the sensing error. Simulations validated the proposed approach. Comparison is drawn between the pure CVT algorithm and the method with consensus strategy.

关键词： Target tracking

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Decentralized control for Arbitrarily Interconnected Systems over Lossy Network

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自动化学报 2010年第9期36卷 1321-1327页

作者： LI Hui School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing 100081P.R.China

This paper deals with the control of arbitrarily topological interconnected systems where information communicated between subsystems may be lost due to unreliable links. First, the stochastic variable that is responsible for the communication status of lossy network is regarded as a source of model uncertainty. The system is modeled in the framework of linear fractional transformation with a deterministic nominal system and a stochastic model uncertainty. Then, the robust control theory is employed for system analysis. The largest probability of communication failure, tolerated by the interconnected systems keeping mean square stable, can be obtained by solving a μ synthesis optimization problem. Decentralized state feedback controllers are designed to ensure that the whole system is mean square stable for a given communication failure rate, based on the technique of linear matrix inequalities. An illustrative example is presented finally to verify the effectiveness of the proposed model and method

关键词：拓扑子系统通信故障率随机变量

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Object tracking based on multi-bandwidth mean shift with convergence acceleration

Object tracking based on multi-bandwidth mean shift with con...

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International Conference on Image Analysis and Signal Processing, IASP

作者： Zhou Bin Wang Jun-Zheng Shen Wei Key Laboratory of Complex System Intelligent Control and Decision School of Automatic Control Beijing Institute of Technology Beijing China

A multi-bandwidth based tracking algorithm was proposed to search for the global kernel mode when the probability density has multiple peak modes. Firstly, a monotonically decreasing sequence of bandwidths was fixed according to the target scale. At each bandwidth, using mean shift to find out the maximum probability, and starting the next iteration at the previous convergence location. Finally, the best optimal mode could be obtained at the last bandwidth. To accelerate the convergence, over-relaxed strategy was introduced to enlarge the step size. Under the convergence rule, the learning rate was adaptively adjusted by Bhattacharyya coefficients of consecutive iteration convergence. The experimental results show that the proposed multi-bandwidth mean shift tracker is robust in high-speed object tracking, and perform well in occlusions. The adaptive over-relaxed strategy is effective to lower the convergence iterations by enlarging the step size.

关键词： Convergence Acceleration Resists Wet etching Integrated circuit technology Electron beams Electron optics Semiconductor process modeling Optical beams Optical device fabrication

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A target tracking algorithm based on mean shift and normalized moment of inertia feature

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Zidonghua Xuebao/Acta Automatica Sinica 2010年第9期36卷 1332-1336页

作者： Gan, Ming-Gang Chen, Jie Wang, Ya-Nan Jin, Dai-Zhong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

The paper presents a target tracking algorithm which is based on the mean shift algorithm and the normalized moment of inertia (NMI) feature, because the result of the moving target tracking in the air is not satisfactory by the traditional mean shift tracking algorithm. The NMI feature of the target is introduced, and the studied tracking strategy based on the minimum principle of the false alarm probability and the two-stage decision threshold of the similarity is constructed in the algorithm. The Kalman filter is used for the estimation and prediction when the target is occluded. The experimental results show that with the algorithm even the moving target in the air is in large deformation and occlusion, the system can effectively guarantee that the tracking is real-time and stable. Copyright © 2010 Acta Automatica Sinica. All rights reserved.

关键词： Kalman filters

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Formation control based on Flocking Algorithm in Multi-agent System

Formation Control based on Flocking Algorithm in Multi-agent...

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The 8th World Congress on intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Hu Cao Jie Chen Yutian Mao Hao Fang Huagang Liu Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

This paper mainly addresses flocking control algorithm to implement the “boids” model of Reynolds among the formation control by nonholonomic multi-robots. Firstly, distributed flocking of multiple autonomous agents with double integrator dynamics is studied. The proposed flocking algorithm is a gradient-based protocol combined with a velocity consensus protocol. For the gradient-based term, smooth artificial potential functions which could cope with the problem of shape generation are devised for all the agents. Moreover, the proposed coordinated protocols are applied to the formation control of a team of nonholonomic mobile robots. Finally, simulations and experiments show that the proposed controllers ensure the group formation is stabilized to a desired shape, while all the robots’ velocities and directions converge to the same.

关键词： Protocols Computational modeling Robot kinematics Vehicle dynamics Mobile robots Stability analysis

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control of Spatially Interconnected Systems with Random Communication Losses

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自动化学报 2010年第2期36卷 258-266页

作者： LI Hui WU Qing-He HUANG Huang School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 P.R. China

This paper deals with analysis and synthesis problems of spatially interconnected systems where communicated information may get lost between subsystems. Spatial shift operator and temporal forward shift operator are introduced to model the interconnected systems as discrete time-space multidimensional linear systems with Markovian jumping parameters which reflect the state of communication channels. To ensure the whole system＇s well-posedness and mean square stability for a given packet loss rate, a condition is derived through analysis. Then a procedure of designing distributed dynamic output feedback controllers is proposed. The controllers have the same structure as the plants and are solved within the linear matrix inequality （LMI） framework. Finally, we apply these results to study the effect of communication losses on the multiple vehicle platoon control system, which further illustrates the effectiveness of the proposed model and method.

关键词： Spatially interconnected system communication loss Markovian jump linear system linear matrix inequality （LMI）

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Identification of Interval Models for a Class of Uncertain Systems via Linear Programming

Identification of Interval Models for a Class of Uncertain S...

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American control Conference

作者： Guozhu Zhang Jie Chen Zhiping Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781424474264

The interval models of uncertain plants are frequently used in the field of robust control. In this paper, a novel interval model identification method based on linear programming is proposed. By certain prepossessing on the measured data of the plant, the interval model identification problem is transformed into several linear programming problems, which can be easily solved through various algorithms. We have proved that the resultant interval model has a known error bound, provided that certain conditions on the measured data are satisfied. To demonstrate its effectiveness, the proposed method is applied to identify the interval model of a servo system with variant load and inertia.

关键词： Identification Linear programming Uncertainty Interval model

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A Fast Averaging Synchronization Algorithm for Clock Oscillators in Nonlinear Dynamical Network with Arbitrary Time-delays

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自动化学报 2010年第6期36卷 873-880页

作者： CHEN Jie School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Complex System Intelligent Control and Decision of the Ministry of Education Beijing Institute of Technology Beijing 100081 P. R. China

This paper investigates the synchronization problem of clock oscillators in nonlinear dynamical network with arbitrary time-delays. First,a dynamic synchronization algorithm based on consensus control strategy, named fast averaging synchronization algorithm(FASA),is presented to find a solution to the synchronization problem. This algorithm can compensate the clock skew and offset differences between clock nodes, achieving the synchronization of clock nodes in a shorter time as compared to previous synchronization methods. Second, because of the dynamical performance of FASA,it is characterized from the perspective of compartmental dynamical system with arbitrary time-delays. In this case, the algorithm guarantees the states of all clock nodes in dynamical network converge to Lyapunov stable equilibria. Finally, numerical simulations and experimental results demonstrate the correctness and effciency of the FASA, which means that the clock nodes can reach global consensus, and the synchronization error can reach nanosecond order of magnitude

关键词：运算法则 FASA 振荡器自动化

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Variable structure neural network adaptive robust control

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Zidonghua Xuebao/ Acta Automatica Sinica 2010年第1期36卷 174-178页

作者： Chen, Jie Li, Zhi-Ping Zhang, Guo-Zhu School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

A variable structure neural network adaptive robust control (VSNNARC) is proposed for a class of uncertain nonlinear SISO systems. A neural network which is adjusted by using nodes activation and passivation techniques to minish the size of the neural network and computation load is used as an opproximator for the system unknown nonlinear functions. And the adaptive robust control is used for the weight learning and compensation to the modeling error and extern disturbances. The adaptation law of neural networks weights and the design method of robust controller are given out based on the Lyapunov stability analysis. Furthermore, the proposed controller can guarantee not only global stability but also transient performance. Finally, the controller is applied to a position tracking system of a turntable. The experimental results show that the system can perform good tracking and has strong robustness. © 2010 Acta Automatica Sinica. All rights reserved.

关键词： controllers

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Adaptive robust dynamic surface control of DC torque motors with true parameter estimates

Adaptive robust dynamic surface control of DC torque motors ...

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American control Conference

作者： Zhiping Li Jie Chen Minggang Gan Hao Fang Guozhu Zhang School of Automation Beijing Institute of Technology and Education Ministry Key Laboratory of Complex Systems Intelligent Control and Decision Beijing China

ISBN: (纸本)9781424474264

This paper presents an adaptive robust dynamic surface control (ARDSC) algorithm for the position control of DC torque motors which are modeled as third-order nonlinear systems with parametric and nonlinear uncertainties. Based on the dynamic surface control (DSC) approach, the "explosion of terms" problem in the normal adaptive robust control (ARC) is avoided, which enhances the practicability of the controller. Furthermore, besides theoretically proving that the tracking error is uniformly ultimate bounded or asymptotically converge to zero in presence of parametric uncertainties only, the true estimates of the unknown parameters are achieved by designing a novel adaptation law, which improves the system performance and can be used in system monitor and diagnosis on-line as byproducts. Finally, the comparative simulation results illustrate that the proposed algorithm is very effective.

关键词： torque motors Position control System performance Parametric Unknown parameter asymptotic Self tuning

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