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第37届中国控制会议

作者： Junfang Li Feng Li Yuehui Ji Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

A double-loop control system is proposed based on dynamic surface output regulation and integral sliding mode control method,to achieve the position and the attitude tracking control of the quadrotor with external ***,in the position control,the dynamic surface technology is combined with the internal model to design an output regulator,which can transform the position controller into a position augmented system stabilization *** integral sliding mode control method is adopted in the attitude *** internal model is an important and effective tool in the output regulation theory,which can solve the asymptotic tracking and disturbance rejection problems of uncertain systems,and the dynamic surface method allows the mathematical model of the object to be not differentiable,thus the computational expansion is *** stability of the designed control system is proved by Lyapunov stability theory,simulation results in Matlab/Simulink are presented to verify the effectiveness and robustness of the proposed control system.

关键词： quadrotor output regulation dynamic surface internal model integral sliding mode

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Quantitative Relationship in Terms of Time-Delay Tolerance of Two Kinds of Extended State Observers 6

Quantitative Relationship in Terms of Time-Delay Tolerance o...

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2017 IEEE 6th Data Driven control and Learning Systems Conference (DDCLS’17)

作者： Minnan Piao Kai Zhu Mingwei Sun Zenghui Wang Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509054626

Active Disturbance Rejection control(ADRC), an innovative control method, has been applied successfully in dealing with internal uncertainties and external disturbances. However, ADRC for time-delay plants is still a challenge due to the restriction on the bandwidth of the extended state observer(ESO). When designing the ESO for time-delay plants, both fullorder and reduced-order extended state observers can be utilized and the selection of the proper order and the bandwidth of the ESO is necessary. Therefore we seek to compare the two kinds of observers in terms of the time-delay tolerance of the closedloop stability and find an appropriate bandwidth to ensure the robustness to the time-delay uncertainty. First, the quantitative bandwidth relationship between the two kinds of observers is established with the equivalent effective bandwidth, and then the time-delay tolerance of the closed-loop stability are calculated for the first-and second-order plants to conduct the comparison,whilst the effects of the bandwidth and other parameters on the time-delay tolerance is analyzed. Furthermore, simulation results for a second-order plant are provided to verify the meaning of this investigation.

关键词： ADRC Extended State Observer Effective Bandwidth Time-Delay Tolerance

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Leader-following consensus of second-order multi-agent systems with a smart leader 36

Leader-following consensus of second-order multi-agent syste...

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第36届中国控制会议

作者： Honggang Liu Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper,the consensus problem for second-order leader-following multi-agent systems with a smart leader is *** smart leader tracks a desired system target so that the followers can follow the leader and there state can reach consensus *** the average distance among the smart leader and its neighboring followers increases,the smart leader can utilize the feedback information of its neighboring followers to adjust its own state,which can reduce the tracking errors among the smart leader and *** an extension,the influence of the smart leader on the controller costs of the multi-agent system is ***,several comparative experiments are given to illustrate the superiority of the smart leader.

关键词： smart leader multi-agent systems leader-following consensus tracking errors

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Modeling and Motion controller Design of Clamping Endoscopic Mechanical Arm 29

Modeling and Motion Controller Design of Clamping Endoscopic...

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第29届中国控制与决策会议

作者： Yedan Li Jianxun Zhang Yu Dai Gang Cao College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509046584

Minimally invasive surgery robot has been widely used in the medical field,which improves the quality of *** with the robot system for clamping endoscopic mechanical arm developed by our team,studies have been focused on the motion *** the forward and inverse kinematics of clamping endoscopic mechanical arm is established by using the method of D-H *** the mapping relation between angular velocity of a joint space and line speed of Cartesian coordinate system is *** provides the foundation for the kinematics control *** the advantage of DSP in digital signal processing and the flexibility of CPLD in constructing logic functions,a hardware system is designed and implemented according to practical requirements in the ***,the fixed learning rate of the SPIDNN control algorithm is improved to the variable learning rate that can be adjusted online,and the speed control and the position control of the clamping endoscopic mechanical arm is realized by using the improved SPIDNN control *** show that the improved control method has better control quality than the traditional PI control method,and the controller meets the real-time and stability requirements of the motion control.

关键词： Kinematic Modeling Clamping Endoscopic Mechanical Arm DSP CPLD SPIDNN

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Mean Square Containment control of Second-Order Multi-Agent Systems with Jointly-Connected Topologies 36

Mean Square Containment Control of Second-Order Multi-Agent ...

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第36届中国控制会议

作者： Fuyong Wang Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

This paper considers the containment control problem for second-order multi-agent systems in the presence of communication noise and dynamically switching *** control protocol is proposed for containment control,where a positive time-varying gain is employed in the protocol to attenuate the effect of *** stability of the proposed containment control protocol is studied with the assumption that the communication topology is jointly-connected,and some constraint conditions for containment control are derived with the aid of modern control theory and stochastic *** results are provided to verify the correctness and effectiveness of the obtained theoretical results.

关键词： mean square containment control second-order multi-agent systems jointly-connected communication noise

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Analytic Compact Model of Short-channel Cylindrical ballistic GAA MOSFET Including SDT effect

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Journal of Physics: Conference Series 2020年第1期1570卷

作者： He Cheng Chao Zhang Tiefeng Liu Zhijia Yang Zhipeng Zhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

We have proposed an analytic compact model describing the drain current characteristics valid in all operating regions, for ultra-short channel cylindrical gate-all-around metal-oxide-semiconductor field-effect transistors considering source-to-drain tunnelling effect. The drain-induced barrier lowering had been incorporated from one two-dimensional analysis in our previous compact model. In this study, to represent the energy level profile along the device channel direction into the Wentzel-Kramers-Brillouin approximation by substituting a parabolic function, we can analytically derive the expressions of the transmission coefficients for source-to-drain tunneling. In the subthreshold region, the source-to-drain tunneling current then can be evaluated using the Landauer formula. Finally, a fully analytic compact model is proposed for representing the drain current in all operating regions. The results compared with non-equilibrium Green's function transport simulations can be obtained in a good agreement.

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A hierarchical hybrid of genetic algorithm and particle swarm optimization for distributed clustering in large-scale wireless sensor networks

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Journal of Ambient Intelligence and Humanized Computing 2017年 1-11页

作者： Su, Shengchao Zhao, Shuguang College of Information Science and Technology Donghua University Shanghai201620 China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai201620 China

In clustering wireless sensor networks (WSNs), the collected data from sensor nodes can be aggregated by cluster head instead of being sent directly to the base station. So distributed clustering in WSNs can eliminate the redundant data generated by nodes, and thus save the energy consumption by avoiding the unnecessary redundant data transmission. In this paper, a hierarchical hybrid of genetic algorithm (GA) and particle swarm optimization (PSO) is proposed for distributed clustering in large-scale WSNs. All sensor nodes can be organized into two levels of logic architecture. The bottom layer is made up of independent subgroups, and GA is used for global search. The optimum individuals of all sub groups constitute the elite group at the upper level, and the evolution of the PSO algorithm is mainly responsible for the local search of the elite individual. Then the design solution of distributed clustering can be obtained and the convergence speed of the algorithm will be accelerated effectively. Simulation results demonstrate that the proposed approach effectively reduces the energy consumed and it helps to increase the network lifetime. © 2017 Springer-Verlag GmbH Germany, part of Springer Nature

关键词： Genetic algorithms

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

Decentralized Energy Sharing Protocol using TÆMS Framework ...

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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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Identification of Systems with Logarithmic Quantizer

Identification of Systems with Logarithmic Quantizer

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Chinese control Conference

作者： Mingming Ji Guiyuan Fu Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China Institute of Fintech Shanghai University of Finance and Economics Shanghai China

The identification problem of systems with logarithmic quantized data is analyzed in this paper. A discrete-time system with an unknown parameter vector and Gaussian noise is considered. The output of the system is quantized by a logarithmic quantizer. The estimator of the unknown parameter vector is obtained using the quantile-based estimation. The convergence almost everywhere of the estimator and the upper bound of the estimation error arc also analyzed, respectively.

关键词： Quantization (signal) System identification Gaussian noise Distribution functions Electronic mail Estimation error

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