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第37届中国控制会议

作者： Yu Fu Tong Yang Ning Sun Jianyi Zhang Yongchun Fang the Institute of Robotics and Automatic Information Systems （IRAIS） College of Computer and Control Engineering and also with the Tianjin Key Laboratory of Intelligent Robotics （tjKLIR） Nankai University

With industrial development,the cargoes that need to be lifted by rotary cranes are getting larger and heavier,which tend to exceed the rated load of a single crane,so it is common for two cranes to deliver a cargo ***,even with wide real applications,the studies of cooperative dual rotary crane systems（CDRCS） still do not attract enough *** order to solve the above problems,an accurate model for CDRCS is established by Lagrange’s modeling *** this model,we take into account not only the swing of the rope,but also the wobble of the *** be more precise,there are no simplifications in the process of modeling.

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Payoff-Based Approach to Learning Nash Equilibria in Convex Games

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IFAC-PapersOnLine 2017年第1期50卷 1508-1513页

作者： Tatarenko T. Kamgarpour M. Department of Control Theory and Robotics TU Darmstadt Germany Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents’ actions belong to a compact convex Euclidean space and the agents’ cost functions are coupled. We propose a distributed payoff-based algorithm to learn Nash equilibria in the game between agents. Each agent uses only information about its current cost value to compute its next action. We prove convergence of the proposed algorithm to a Nash equilibrium in the game leveraging established results on stochastic processes. The performance of the algorithm is analyzed with a numerical case study. © 2017

关键词： game theory Multi-agent decision making payoff-based algorithm

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Active disturbance rejection control for UAV pose regulation 14

Active disturbance rejection control for UAV pose regulation

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14th International Conference on Electrical Engineering, Computing Science and automatic control, CCE 2017

作者： Orozco-Soto, Santos M. Ibarra-Zannatha, Juan M. Malo-Tamayo, Alejandro J. Cureno-Ramirez, Andres Robotics and Artificial Vision Laboratory Automatic Control Department CINVESTAV Mexico City Mexico

ISBN: (纸本)9781538634059

This paper presents an alternative control strategy for 4 degree-of-freedom pose regulation of a quadrotor using the Active Disturbance Rejection approach. The proposed controller was designed using a kind of Lyapunov energy function to ensure asymptotic stability for regulation, in addition to the active disturbance rejection feature which is based in sliding mode extended state observer. This control scheme was real-time implemented in a Bebop 2 quadrotor using robotics Operative System, showing successful results for pose control in presence of lateral, vertical and rotational disturbances. © 2017 IEEE.

关键词： Asymptotic stability

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Sequential Linear Quadratic Optimal control for Nonlinear Switched Systems

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IFAC-PapersOnLine 2017年第1期50卷 1463-1469页

作者： Farshidian F. Kamgarpour M. Pardo D. Buchli J. Agile and Dexterous Robotics Lab ETH Zürich Switzerland Automatic Control Laboratory ETH Zürich Switzerland

In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We assume that the sequence of the switching modes are given but the switching time in between consecutive modes remains to be optimized. The proposed method uses a two-stage approach as introduced by Xu and Antsaklis (2004) where the original optimal control problem is transcribed into an equivalent problem parametrized by the switching times and the optimal control policy is obtained based on the solution of a two-point boundary value differential equation. The main contribution of this paper is to use a Sequential Linear Quadratic approach to synthesize the optimal controller instead of solving a boundary value problem. The proposed method is numerically more efficient and scales very well to the high dimensional problems. In order to evaluate its performance, we use two numerical examples as benchmarks to compare against the baseline algorithm. In the third numerical example, we apply the proposed algorithm to the Center of Mass control problem in a quadruped robot locomotion task. © 2017

关键词： control control design for hybrid systems Mobile robots Optimal control of hybrid systems Optimal control theory Real-time control Riccati equations Switching stability

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Advances in Robot Design and Intelligent control: Proceedings of the 25th Conference on robotics in Alpe-Adria-Danube Region (RAAD16) 25th

Advances in Robot Design and Intelligent Control: Proceeding...

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25th International Conference on robotics in Alpe-Adria-Danube Region, RAAD 2016

作者： Rodić, Aleksandar Borangiu, Theodor Robotics Laboratory Mihajlo Pupin Institute Belgrade Serbia Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

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Generalized ideal points

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AIP Conference Proceedings 2019年第1期2070卷

作者： Andrzej M. J. Skulimowski 1AGH University of Science and Technology Chair of Automatic Control and Robotics Decision Sciences Laboratory al. Mickiewicza 30 30-059 Kraków Poland

This paper presents an extension of the ideal point concept, which is one of the most widespread ideas in multicriteria optimization. In the simplest case, the ideal point of a multicriteria optimization problem is an element of the criteria space with coordinates equal to the optima of each criterion function considered as a scalar objective. First, we will provide an overview of the properties of ideal points and their earlier generalizations. Then, we will present an extension of ideal points in the case where the dimension of the criteria space is higher than 2. Specifically, scalar optima used in the classical definition of ideal points are replaced by Pareto optima with respect to criteria subsets. It is assumed that the generating criteria subsets belong to a minimal covering of the set of all criteria. We will distinguish several classes of generalized ideal points (GIP) so defined. For example, proper GIPs are calculated with respect to the criteria subsets that form a partition of the criteria set. Regular GIPs are those which correspond to a covering with criteria subsets of the same cardinality and such that all intersections of these sets also contain the same number of criteria or are empty. We will also present and briefly discuss the notion of local GIPs as well as applications of the GIP concept to formulating criteria independence conditions and to consensus finding in multicriteria games.

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Towards incorporating appraisal into emotion recognition: A dynamic architecture for intensity estimation from physiological signals

Towards incorporating appraisal into emotion recognition: A ...

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2016 EUCognition Meeting (European Society for Cognitive Systems) "Cognitive Robot Architectures", EUCognition 2016

作者： Jenke, Robert Peer, Angelika Department of Automatic Control Engineering Technische Universität München Munich Germany Bristol Robotics Laboratory University of the West of England Bristol United Kingdom

Current approaches to emotion recognition do not address the fact that emotions are dynamic processes. This work concerns itself with the development of a gray-box framework for dynamic emotion intensity estimation that can incorporate findings from appraisal models, specifically Scherer's Component Process Model. It is based on Dynamic Field Theory which allows the combination of theoretical knowledge with data-driven experimental approaches. Further, we conducted an exemplary user study applying the proposed model to estimate intensity of negative emotions from physiological signals. Results show significant improvements of the proposed model to common methodology and baselines. The flexible cognitive architecture opens a wide field of experiments and directions to deepen the understanding of emotion processes as a whole.

关键词： Emotion Recognition

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Integration technology for replacing damaged brain areas with artificial neuronal networks

Integration technology for replacing damaged brain areas wit...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Albina Lebedeva Mikhail Mishchenko Polina Bardina Anastasiya Fedulina Andrey Mironov Zoia Zhuravleva Svetlana Gerasimova Alexey Mikhaylo Alexander Pisarchik Victor Kazantsev Neurotechnologies Department Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

We present a novel integration technology for replacing damaged microcircuits in the rat brain with electronic neuronal networks. This technology will allow simulating important brain functions, such as memory, through the adaptive stimulating effects of neural interfaces at cellular and neuronal network levels. The proposed system includes electronic devices to register and process neuronal signals and to adaptively stimulate damaged brain areas according to the online algorithm decoding the registered neuronal activity. The stimulation algorithm is implemented in hardware neural network with memristive connections that allows both network learning and adaptive *** basic idea is to develop components of hardware neural network with memristive connections for adaptive generation of electrical signals to stimulate particular brain areas. Moreover, the uniqueness of the system is adaptive closed-loop connection between two hippocampal neuronal networks. Such a system is very promising for restoring functionality of damaged areas in the human brain to replace lost functions in patients with brain pathologies or trauma.

关键词： Hippocampus Biological neural networks Neurons Neuromorphics Memristors Optical fiber amplifiers Electrodes

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Quantitative dispensing model and experimental study of high viscosity multi-component adhesive

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AIP Conference Proceedings 2019年第1期2154卷

作者： Yifei Bu Yugang Liu Zhanjing Li Weibin Rong Lining Sun 1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China 2Xi’an Flight Automatic Control Research Institute Aviation Industry Corporation of China Xi’an 710071 China

Aiming at the phenomenon that high-viscosity multi-component adhesives are difficult to control due to viscosity changes, a mechanism using piston to dispense is designed. By analyzing the flow properties of multi-component adhesives, a consistency coefficient related to the mixing time of each component of the glue is introduced to the shear stress of the colloidal by its physical meaning, so the viscosity changes could be characterized during the dispensing process. The model of the dispensing system was established by the viscous fluid mechanics and the estimation function of the flow rate out of needle was given. According to the experimental verification of the specific adhesive, the dispensing system designed in this paper can directly control the amount of dispensing by adjusting the motor pulse frequency and the dispensing time. In the case, the simulation results are basically consistent with the experimental results, and the flow error can be kept within 10−9m3/s to realize the quantitative dispensing of the high-viscosity multi-component adhesive.

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Learning generalized nash equilibria in a class of convex games

arXiv

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arXiv 2017年

作者： Tatarenko, Tatiana Kamgarpour, Maryam Department of Control Theory and Robotics TU Darmstadt Germany Automatic Control Laboratory ETH Zürich Switzerland

We consider multi-agent decision making where each agent optimizes its convex cost function subject to individual and coupling constraints. The constraint sets are compact convex subsets of a Euclidean space. To learn Nash equilibria, we propose a novel distributed payoff-based algorithm, where each agent uses information only about its cost value and the constraint value with its associated dual multiplier. We prove convergence of this algorithm to a Nash equilibrium, under the assumption that the game admits a strictly convex potential function. In the absence of coupling constraints, we prove convergence to Nash equilibria under significantly weaker assumptions, not requiring a potential function. Namely, strict monotonicity of the game mapping is sufficient for convergence. We also derive the convergence rate of the algorithm for strongly monotone game maps. Copyright © 2017, The Authors. All rights reserved.

关键词： Game theory

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