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Proceedings of the 12th International Conference on Advances in Mobile Computing and Multimedia

作者： Ying Li Lei Lei Zhangdui Zhong Suling Ou State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Wireless Signal Processing and Network Lab Beijing University of Posts & Telecommunications

ISBN: (纸本)9781450330084

The performance analysis of high-speed railway (HSR) network has attracted broad attention in recent years. The characteristics of HSR scenario, compared with traditional public network scenario, mainly lies in the special traffic between trains and stations, i.e., train control traffic, video monitoring traffic and passenger traffic in general. Since the performance analysis of traffic in HSR, especially train control traffic and video monitoring traffic, can better guarantee the safety and improvement of railway, thus this paper researches and analyzes the performance bounds of HSR railway uplink traffic. The work is carried out based on a group of actual measurement data gathered from Chinese Train control system (CTCS) and an advanced performance analysis tool stochastic network calculus (SNC). Finally, by means of the measurement data in the uplink direction, the stochastic backlog and delay bounds of train control traffic and video monitoring traffic under different violation probabilities and bit rates are derived and compared.

关键词： stochastic network calculus train control traffic High-speed railway performance analysis train monitoring traffic

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Formulation of MPC for Multiplicative Stochastic Uncertainty by Multi-step Probabilistic Sets

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IFAC Proceedings Volumes 2014年第3期47卷 10421-10426页

作者： Jiwei Li Dewei Li Yugeng Xi Lihui Cen Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China Department of Control Engineering Central South University Changsha Hunan Province 410083 China

This paper designs multi-step probabilistic sets for linear, discrete-time, stochastic systems with unbounded multiplicative noise and probabilistic constraints. Multi-step probabilistic sets strengthen IWPp by bringing more degrees of freedom to optimize the applicable region of finite-step probabilistic constraints, and extending the prediction horizon of IWPp to infinity for infinite-horizon probabilistic constraints. Conditions for multi-step probabilistic sets are then incorporated into a stochastic model predictive control algorithm to satisfy probabilistic constraints. Closed-loop mean-square stability is guaranteed by the algorithm. A numerical example shows the performance of the proposed algorithm.

关键词： probabilistic constraints multi-step feedback multiplicative uncertainty

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On infinite time performance of nonlinear model predictive controllers 19

On infinite time performance of nonlinear model predictive c...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BelfastBT7 1NN United Kingdom

ISBN: (纸本)9783902823625

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases. © IFAC.

关键词： controllers

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Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

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Chinese Physics B 2013年第1期22卷 569-573页

作者：朱善迎陈彩莲关新平 Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education

This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.

关键词： heterogeneous multi-agent system consensus protocol Markov chain

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Probabilistic constrained stochastic model predictive control for Markovian jump linear systems with additive disturbance

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IFAC Proceedings Volumes 2014年第3期47卷 10469-10474页

作者： Jianbo Lu Yugeng Xi Dewei Li Lihui Cen Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China Department of Control Engineering Central South University Changsha Hunan Province 410083 China

This paper is concerned with stochastic model predictive control for Markovian jump linear systems with additive disturbance, where the systems are subject to soft constraints on the system state and the disturbance sequence is finitely supported with joint cumulative distribution function given. By resorting to the maximal disturbance invariant set of the system, a model predictive control law is given based on a dynamic controller which is with guaranteed recursive feasibility and ensures the probabilistic constraints on the states. By optimizing the volume of the disturbance invariant set, the dynamic controller is given. The closed loop system under this control law is proven to be stable in the mean square sense. Finally, a numerical example is given to illustrate the developed results.

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Design and application of consensus-based filtering for Local Strongly Coupled & constrained systems

Design and application of consensus-based filtering for Loca...

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World Congress on Intelligent control and Automation (WCICA)

作者： Hengyu Duan Hua O. Wang Yunze Cai Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Department of Mechanical Engineering Boston University Boston MA USA

In the brand new era of “big data”, finding creative strategies for information fusion in a complicated system is important. Previous researchers have introduced a model called “Local Strongly Coupled system”, in which every agent stochastically communicates only with its neighbours (i.e. “coupled” nodes). However, the meaning of a system's intrinsic a priori constraints is always neglected. And we assume that in practical instances, the whole system is supposed to take on a consistent result, or “consensus” decision. This paper, taking constraints into account, presents a new strategy to help minimize the filtering error. Furthermore, based on consensus policy, the approach is applied to local strongly coupled systems, especially systems with packet loss. Effectiveness and practicability of all the proposed algorithms are shown through simulations.

关键词： Filtering Mathematical model Equations State estimation Estimation error Target tracking

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Swarming with mixed position and heading based neighboring interactions

Swarming with mixed position and heading based neighboring i...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shu Fang Xiaofan Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai P. R. China

Previously, we proposed a topological-based swarming model in which agents probabilistically decide which other agents to interact with based on the proximity of positions of agents. Agents then average their direction with the directions of the agents they have interacted with. In this paper, we improve the model mentioned-above by taking the influence of similarity of directions into consideration, and the former model can be considered as a special case of this model here. We propose a probabilistic method which depends on both proximity of agents' positions and similarity of agents' moving directions. And agents are more likely to form links with those agents who carry a similar direction to theirs and those agents who are proximal to them. We show that there exits a non-zero positive lower bound of the selection probability, and the system can be connected in probability, which ensures the system's achievement of swarming. And by simulations, it is shown that the rate of getting alignment exhibit a strong correlation with the parameters of the system which are weighting factor, neighborhood size, proximity factor and similarity factor.

关键词： Convergence Probabilistic logic Biological system modeling Multi-agent systems Dynamics Mathematical model Automation

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Consensus of Edge Dynamics on Complex Networks

Consensus of Edge Dynamics on Complex Networks

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IEEE International Symposium on Circuits and systems

作者： Xiaofan Wang Xiaoling Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

ISBN: (纸本)9781479934331

Existed works on consensus in networks have been focused on reaching an agreement among states of nodes in a network. In this work, we propose a discrete-time edge consensus protocol for complex networks. By mapping the edge topology into a corresponding line graph, we prove that consensus can be achieved among the states of all edges in a connected network. Theoretical analysis and simulation results are provided to show the effectiveness of the model and the influence of network topology.

关键词： Consensus Synchronization Complex networks Edge protocol

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Crawling gait planning for a quadruped robot with high payload walking on irregular terrain 19

Crawling gait planning for a quadruped robot with high paylo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Hu, Nan Li, Shaoyuan Huang, Dan Gao, Feng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783902823625

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain. © IFAC.

关键词： Robot programming

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Reprojection Error Based Annealed Particle Filter for Human Upper Body Pose Reconstruction

Reprojection Error Based Annealed Particle Filter for Human ...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Xinzhuo Shi Yuncai Liu Shanghai Jiao Tong University Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

3D human pose reconstruction is a key concern in computer vision area in recent *** to the deficiency of depth information,reconstructing human pose from a single image or image sequences is still a difficult and challenging *** this paper,we present an annealed particle filter algorithm based on reprojection error to recover the 3D configuration of human upper body,with the annotated joints’position in the *** addition,we make simplifications to the weak perspective projection,and the 7 camera parameters to be estimated are reduced to only *** show that our method is simple but exactly suitable for recovering articulated human upper body pose.

关键词： reprojection error annealed filter human pose reconstruction monocular image

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