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Distributed tracking for networked Euler-Lagrange systems without velocity measurements

Journal of systems Engineering and Electronics 2014年第4期25卷 671-680页

作者： Yang, Qingkai Fang, Hao Mao, Yutian Huang, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the followers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws. © 2014 Beijing Institute of Aerospace Information.

关键词： Velocity

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Flocking of Second-Order Multiagent systems with Connectivity Preservation Based on Algebraic Connectivity Estimation

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IEEE Transactions on Cybernetics 2017年第4期47卷 1067-1077页

作者： Fang, Hao Wei, Yue Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new decentralized inverse power iteration scheme is formulated. Then, based on the estimation of the algebraic connectivity, a set of distributed gradient-based flocking control protocols is built with a new class of generalized hybrid potential fields which could guarantee collision avoidance, desired distance stabilization, and the connectivity of the underlying communication network simultaneously. What is important is that the proposed control scheme allows the existing edges to be broken without violation of connectivity constraints, and thus yields more flexibility of motions and reduces the communication cost for the multiagent system. In the end, nontrivial comparative simulations and experimental results are performed to demonstrate the effectiveness of the theoretical results and highlight the advantages of the proposed estimation scheme and control algorithm. © 2017 IEEE.

关键词： Multi agent systems

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Distributed observer-based coordination for multiple Lagrangian systems using only position measurements

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IET control Theory and Applications 2014年第17期8卷 2102-2114页

作者： Yang, Qingkai Fang, Hao Chen, Jie Wang, Xueyuan School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

This study addresses the distributed coordination problem for multiple Lagrangian systems under a directed graph. Two cases are considered, namely, the distributed tracking control problem with a dynamic leader and the leaderless synchronisation problem. To overcome the difficulty that only positions are measured, a kind of new distributed observer is designed to estimate the velocity for each follower. The velocity observer is updated using only position information from the agent itself and from its neighbours. Based on the outputs of the observer, the distributed control protocols are proposed, respectively, such that the tracking errors locally exponentially converge to zero in the tracking scenario and the agents synchronise in the leaderless synchronisation scenario. Furthermore, the stability of the overall scheme is discussed under the directed interaction graphs that contain a directed spanning tree. Finally, cooperative simulations are provided to show the effectiveness of the proposed observer and control algorithms. © 2014 The Institution of Engineering and Technology.

关键词： Directed graphs

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Robust Model Predictive control for PMSM Drives Against Parameter Mismatch 41

Robust Model Predictive Control for PMSM Drives Against Para...

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第41届中国控制会议

作者： Luwei Shao Wei Shen Fan Li Chuanyu Ge State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an advanced control method of permanent magnet synchronous motor(PMSM),finite control set model predictive control(FCS-MPC) has earned widespread attention for its advantages of intuitive concept,splendid dynamic performance and capability of handling the constraints and ***,the dependence on the model parameter accuracy is the main barrier for FCS-MPC to be applied to the industry *** order to solve this issue,this paper presents a robust FCS-MPC against parameter *** proposed strategy utilizes the prediction error in the d-and q-axis currents during the past instant to calculate the compensation which should be added to the predicted currents in the next ***,the cost function in the proportional-integral form is designed as ***,the simulation results and experimental results prove the proposed method's effectiveness in suppressing the influence of model parameter mismatch on the control performance of PMSM.

关键词： permanent magnet synchronous motor finite control set model predictive control parameter mismatch

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Fault Tolerant control for a Class of Nonlinear System based on Active Disturbance Rejection control and RBF Neural Networks 36

Fault Tolerant Control for a Class of Nonlinear System based...

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第36届中国控制会议

作者： Lushan Zhou Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781538629185

In this paper,a fault tolerant control method based on active disturbance rejection control(ADRC) and radial basis function neural network(RBFNN) is proposed for a class of multi-input-multi-output nonlinear system with actuator faults,components faults and sensor *** proposed method does not rely on the plant *** regarding the faults and plant uncertainties as the disturbance,through the observation of extended state observer and the compensation of feedback control signal,this method achieves the fault tolerance control of the plant with component fault and actuator *** sensor faults,in this work,radial basis function neural network is applied to estimate the real output of the *** this output estimation is utilized by active disturbance rejection control to achieve the fault tolerance of ***,the effectiveness of the proposed method is validated by the simulation results of the three-tank system.

关键词： Fault tolerant control active disturbance rejection control radial basis function neural network

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Improved Model-Predictive Current control of Permanent Magnet Synchronous Motor Drives with Designed Cost Function 41

Improved Model-Predictive Current Control of Permanent Magne...

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第41届中国控制会议

作者： Yi Yang Wei Shen Dan Li Luwei Shao State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Model predictive current control(MPCC) is widely applied in electrical drives and power electronics because of its simplicity and ***,steady-state errors are always present because of the inaccurate prediction induced by changing actual *** paper proposes a simple strategy for improving MPCC performance,which reduces steadystate errors and eliminates the additional prediction *** cost function,which is made up of tracking mistakes,is used in MPCC to choose the best switching *** paper introduces a new cost function that also includes actual current *** is a coefficient of actual current errors that enhances the appropriateness of permanent magnet synchronous motor(PMSM) *** results show superior performance of the proposed MPCC to that of conventional MPCC.

关键词： PMSM MPCC Cost function Current errors

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A Multimodal Emotion Perception Model based on Context-Aware Decision-Level Fusion 41

A Multimodal Emotion Perception Model based on Context-Aware...

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第41届中国控制会议

作者： Yishan Chen Zhiyang Jia Kaoru Hirota Yaping Dai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A Multimodal Emotion Perception model with Audio and Visual modalities(MEP-AV) is proposed to detect the individual emotions in public *** framework of MEP-AV model consists of four parts,i.e.,data collection module,audio expression analysis module,visual expression analysis module and multimodal fusion *** order to ensure that the emotion perception results meet the requirement of short-term continuity,a Context-Aware Decision-Level Fusion(CADLF) model is proposed and applied in multimodal fusion *** CADLF model estimates the affective status by using context information of multimodal *** short-term continuity is considered to improve the accuracy of the emotion perception *** experiment results evaluated by various metrics demonstrate that the performance of the multimodal structure is improved compared with that of unimodal emotion *** MEP-AV model using multimodal fusion algorithm provides the accuracies of70.89% and 77.07% in valence and arousal *** F1-scores reaches 70.2% and 75.6% respectively,indicating the boost performance on emotion perception.

关键词： Emotion Perception Decision-level Fusion Context-aware

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An Adaptive Fault Isolation and Tolerant control Method Based on Consistency Error for Multi-agent systems 41

An Adaptive Fault Isolation and Tolerant Control Method Base...

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第41届中国控制会议

作者： Shanshan Fu Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is aimed at the second-order linear multi-agent formation *** to the failure of the actuator in a node,the wrong interactive information is transmitted between nodes,so that the entire system cannot complete the expected task.A distributed adaptive fault isolation and fault tolerance method based on consistency theory is *** the consistency error variable is designed according to the connection relationship between nodes and the faulty node,which eliminates the influence of the faulty node on the neighbor ***,an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor *** stability of the designed approach is proved by constructing a reasonable Lyapunov *** results show that the proposed adaptive control approach has good robustness.

关键词： Fault Isolation Adaptive control Fault Tolerant control Uniformity

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LAUNet:A Latent Action Units Network for Facial Expression Recognition 41

LAUNet:A Latent Action Units Network for Facial Expression R...

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第41届中国控制会议

作者： Junlin Zhang Kaoru Hirota Yaping Dai Sijie Yin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The inter-class similarity of facial expressions is one of the key challenges in Facial Expression Recognition(FER).In this manuscript,a Latent Facial Action Units Network(LAUNet) is proposed for the problem of inter-class similarity of facial expressions in *** proposed method recognizes subtle differences between facial expressions by learning Latent Facial Action Units Features(LAUFs).Specifically,LAUNet is composed of two parts:the Latent Facial Action Units Features Extraction Network(LEN) and the Latent Facial Action Units Selection Network(LSN).Firstly,LEN extracts LAUFs from the feature map of the backbone using the spatial attention ***,taking advantage of the channel attention mechanism,LSN captures the latent relationships between features from LAUFs to select effective features for *** are performed on the dataset after removing the invalid data of non-face images from the original FER2013 *** with some previous state-of-the-art methods,LAUNet achieves the highest accuracy rate of 71.31%.Depending on the backbone,LAUNet can improve the accuracy by up to 5.46% compared to the original architecture of the backbone.

关键词： Facial Expression Recognition Attention Mechanism Computer Vision

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Energy Consumption Analysis in Multi-legged Robots Based on Gait Planning 35

Energy Consumption Analysis in Multi-legged Robots Based on ...

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第35届中国控制会议

作者： DU Xiaolong WANG Shoukun ZONG Xiaoyan WANG Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis in terms of the gait ***,two kinds of gait curves respectively,cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction(SLR).The length of step(S),the height of step(H) and the duty ratio of gait cycle(P) are set as the primary research points about the gait of mobile *** this work,we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait ***,the results provide some recommendations for the gait planning of the quadruped robot,that is,the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Energy consumption Multi-legged robot Gait planning SLR Gait parameters

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