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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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Performance analysis on dynamic matrix controller with single prediction strategy

Performance analysis on dynamic matrix controller with singl...

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World Congress on Intelligent control and Automation (WCICA)

作者： YuTao Chen ShaoYuan Li Ning Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai P.R. China Shanghai Jiao Tong University Shanghai CN

The property of single prediction predictive control in the form of dynamic matrix control is studied within internal model control framework. The sensitivity function and integral squared error are used as performance evaluation criteria in the frequency and time domain respectively, to quantitatively analyze single prediction strategy, especially on controller with the prediction and control horizon P = M = 1. We present the correlation between system performance and model mismatch in this case. The performance limitation for tracking unit step signal is obtained through derivation and simulation.

关键词： Sensitivity system performance Robustness Frequency-domain analysis Time-domain analysis Bandwidth control systems

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Multiple description coding with randomly and uniformly offset quantizers

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IEEE Transactions on Image processing 2014年第2期23卷 582-595页

作者： Meng, Lili Liang, Jie Samarawickrama, Upul Zhao, Yao Bai, Huihui Kaup, Andre Institute of Information Science Beijing Jiaotong University Beijing 100044 China School of Information Science and Engineering Shandong Normal University Jinan 730050 China School of Engineering Science Simon Fraser University Burnaby BC V5A 1S6 Canada Microsoft Corporation Redmond WA 98052 United States State Key Laboratory of Rail Traffic Control and Safety Beijing 100044 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing 100011 China Department of Multimedia Communications and Signal Processing University of Erlangen-Nuremberg Erlangen 91058 Germany

In this paper, two multiple description coding schemes are developed, based on prediction-induced randomly offset quantizers and unequal-deadzone-induced near-uniformly offset quantizers, respectively. In both schemes, each description encodes one source subset with a small quantization stepsize, and other subsets are predictively coded with a large quantization stepsize. In the first method, due to predictive coding, the quantization bins that a coefficient belongs to in different descriptions are randomly overlapped. The optimal reconstruction is obtained by finding the intersection of all received bins. In the second method, joint dequantization is also used, but near-uniform offsets are created among different low-rate quantizers by quantizing the predictions and by employing unequal deadzones. By generalizing the recently developed random quantization theory, the closed-form expression of the expected distortion is obtained for the first method, and a lower bound is obtained for the second method. The schemes are then applied to lapped transform-based multiple description image coding. The closed-form expressions enable the optimization of the lapped transform. An iterative algorithm is also developed to facilitate the optimization. Theoretical analyzes and image coding results show that both schemes achieve better performance than other methods in this category. © 1992-2012 IEEE.

关键词： Image coding

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A secure distributed consensus scheme for wireless sensor networks against data falsification

A secure distributed consensus scheme for wireless sensor ne...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shichao Mi Hui Han Shanying Zhu Cailian Chen Bo Yang Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China The State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System(CEMEE) Luoyang P. R. China

This paper focuses on the problem of secure distributed consensus to defend covert misbehavior in wireless sensor networks (WSNs). Distributed consensus is a promising method to improve the efficiency and precision of consensus results in WSNs, but it introduces new security issues that malicious nodes may manipulate false sensing data to degrade the sensing result of the whole network. A data falsification attack, i.e., the attacker injects random values into its neighboring nodes at each time-step of consensus process, is considered. This kind of attack cannot be defended against by most of existing detection mechanisms. We present a distributed detection mechanism with adaptive local threshold to isolate the abnormal nodes. A Weighted Averaging-based Consensus Scheme (WACS) is proposed to decrease the negative impact of the attack and make the network converge to a consensus value. It is proved that convergence property can be guaranteed by the relationship between weighted average of the noise and stochastic approximation. Simulation results are presented to show the effectiveness of the proposed secure scheme.

关键词： Sensors Wireless sensor networks Detection algorithms Distributed databases Convergence Vectors Approximation methods

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Swarm aggregations of heterogeneous multi-agent systems

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International Journal of control 2014年第12期87卷 2594页

作者： Liang, Haili Su, Housheng Wang, Xiaofan Chen, Michael Z.Q. [a] Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China[b] School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China[c] Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more resembling the practical situations, where the agents have different dynamics. We show that the heterogeneous agents will gather with a certain error under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. [PUBLICATION ABSTRACT]

关键词： swarm multi-agent systems heterogeneous systems stability

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Application Based on Fast Online MPC in Power Inverter system

Application Based on Fast Online MPC in Power Inverter Syste...

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第三十三届中国控制会议

作者： Xin Jiang Cunsheng Lu Dewei Li Yugeng Xi Bin Liu Key Laboratory of System Control and Information Processing Ministry of Education Department of AutomationShanghai Jiao Tong University Xichang Satellite Launch Center Nanchang Hangkong University

ISBN: (纸本)9781479947249

Adopting MPC to a fast changing system has always been a challenging problem due to the computational *** the equivalent aggregation strategy and the fast algorithm based on MPC proposed, the computational efficiency has been promoted greatly. This paper improves the fast algorithm combined with the equivalent aggregation strategy, and investigates the feasibility of adopting the fast algorithm based on MPC to DC-AC power inverter system which switching time is 52 μs. Simulation and the experiment have verified that the fast online MPC algorithm applied on the fast sampling system with embedded platform implementation works well.

关键词： Model Predictive control,Fast Algorithm,Computational Complexity,Power Inverter control

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Predictive Preview Trajectory Tracking control for Quadruped Robots with Zero Moment Point

Predictive Preview Trajectory Tracking Control for Quadruped...

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第三十三届中国控制会议

作者： Xiaohan He Shaoyuan Li Dan Huang Ning Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education School of Aeronautics and Astronautics Shanghai Jiao Tong University

ISBN: (纸本)9781479947249

In this paper,we propose a control algorithm for quadruped walking robots to track the Zero Moment Point(ZMP)trajectory using Preview *** critical moment of trot pace,we can assume the robot as a linear inverted pendulum so that the linear inverted pendulum model can be applied to describe the dynamic behavior of our quadruped robot.A preview controller therefore is designed for this non-minimum phase system to get the optimal input of the *** reference trajectory can be decomposed into two *** is on the direction of movement,and the other is on the vertical direction of *** the preview controller we can track the reference in both two directions and the optimal trajectory tracking can be achieved.

关键词： Preview control,Trajectory Tracking,Quadruped Robot

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Robust adaptive observer for fractional order nonlinear systems: an LMI approach

Robust adaptive observer for fractional order nonlinear syst...

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第26届中国控制与决策会议

作者： Chuang Li Jingcheng Wang School of Mechanical and Electric Engineering Hainan University Department of Automation Shanghai Jiao Tong Universityand key laboratory of System Control and Information ProcessingMinistry of Education of China

This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters and nonlinear in the states. According to the equivalent frequency distributed model of fractional integrator, the direct Lyapunov approach is adopted to derive a nonlinear adaptive non-fragile observer. The gain for the non-fragile observer is systematically obtained in terms of linear matrix inequality(LMI). A numerical example is provided to illustrate the efficiency and validity of the proposed approach.

关键词： fractional order nonlinear systems,unknown parameter,nonlinear observer,LMI

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