This paper deals with the discrete-time connected coverage problem with the constraint that only local information can be utilized for each robot. In such distributed framework, global connectivity characterized by th...
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This paper deals with the discrete-time connected coverage problem with the constraint that only local information can be utilized for each robot. In such distributed framework, global connectivity characterized by the second smallest eigenvalue of topology Laplacian is estimated through introducing distributed minimal-time consensus algorithm and power iteration algorithm. A self-deployment algorithm is developed to disperse the robots with the precondition that the estimated second smallest eigenvalue is positive at each time-step. Since thus connectivity constraint does not impose to preserve some certain edges, the self-deployment strategy developed in this paper reserves a sufficient degree of freedom for the motion of robots. Theoretical analysis demonstrates that each pair of neighbor robots can finally reach the largest objective distance from each other while the group keeps connected all the time, which is also shown by simulations.
This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is comput...
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Structural controllability is critical for operating and controlling large-scale complex networks. In real applications, for a given network, it is always desirable to have more selections for driver nodes which make ...
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Structural controllability is critical for operating and controlling large-scale complex networks. In real applications, for a given network, it is always desirable to have more selections for driver nodes which make the network structurally controllable. Different from the works in complex network field where structural controllability is often used to explore the emergence properties of complex networks at a macro level,in this paper, we investigate it for control design purpose at the application level and focus on describing and obtaining the solution space for all selections of driver nodes to guarantee structural controllability. In accord with practical applications,we define the complete selection rule set as the solution space which is composed of a series of selection rules expressed by intuitive algebraic forms. It explicitly indicates which nodes must be controlled and how many nodes need to be controlled in a node set and thus is particularly helpful for freely selecting driver nodes. Based on two algebraic criteria of structural controllability, we separately develop an input-connectivity algorithm and a relevancy algorithm to deduce selection rules for driver nodes. In order to reduce the computational complexity,we propose a pretreatment algorithm to reduce the scale of network's structural matrix efficiently, and a rearrangement algorithm to partition the matrix into several smaller ones. A general procedure is proposed to get the complete selection rule set for driver nodes which guarantee network's structural controllability. Simulation tests with efficiency analysis of the proposed algorithms are given and the result of applying the proposed procedure to some real networks is also shown, and these all indicate the validity of the proposed procedure.
A model predictive controller based on a novel structure selection criterion for the vapor compression cycle (VCC) of refrigeration process is proposed in this paper. Firstly, those system variables are analyzed whi...
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A model predictive controller based on a novel structure selection criterion for the vapor compression cycle (VCC) of refrigeration process is proposed in this paper. Firstly, those system variables are analyzed which exert significant influences on the system performance. Then the structure selection criterion, a trade-off between computation complexity and model performance, is applied to different model structures, and the results are utilized to determine the optimized model structure for controller design. The controller based on multivariable model predictive control (MPC) strategy is designed, and the optimization problem for the reduced order models is formulated as a constrained minimization problem. The effectiveness of the proposed MPC controller is verified on the experimental rig.
Short-term forecast of urban traffic flow is very important to intelligent transportation. Although the conventional methods have some advantages, to some extent, in improving the traffic forecast's precision, it ...
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Short-term forecast of urban traffic flow is very important to intelligent transportation. Although the conventional methods have some advantages, to some extent, in improving the traffic forecast's precision, it is still hard to achieve high accuracy. In this paper, we propose a short-term traffic flow forecasting method, which is based on the hybrid particle swarm optimization-neural network(HPSO-NN) with error compensation *** HPSO-NN, the hybrid PSO algorithm is employed to train the structures and parameters of the feed-forward advanced neural network, while the error compensation mechanism is employed to improve the accuracy. HPSONN is used to forecast the vehicle velocity in Shanghai North-South Viaduct. Experimental results show that the HPSO-NN, compared with the auto-regressive and moving average(ARMA) model, can forecast traffic flow with a higher accuracy. What's more, we have also found that HPSO-NN with error compensation mechanism has better performance than that of HPSO-NN alone.
Traditionally, the key idea of estimating independent component analysis (ICA) model is to maximize the non-Gaussianity, however, often with the assumption that density of data is near the standardized Gaussian densit...
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作者:
兰建李德伟杨楠席裕庚Department of Automation
Shanghai Jiaotong University Key Laboratory of System Control and Information ProcessingMinistry of Education
High performance computer is often required by model predictive control(MPC) systems due to the heavy online computation *** extend MPC to more application cases with low-cost computation facilities, the implementatio...
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High performance computer is often required by model predictive control(MPC) systems due to the heavy online computation *** extend MPC to more application cases with low-cost computation facilities, the implementation of MPC controller on field programmable gate array(FPGA) system is *** the dynamic matrix control(DMC) algorithm,the main design idea and the implemental strategy of DMC controller are introduced based on a FPGA’s embedded *** performance tests show that both the computation efficiency and the accuracy of the proposed controller can be satisfied due to the parallel computing capability of FPGA.
This paper investigates the distributed model predictive control(MPC)problem of linear systems where the network topology is changeable by the way of inserting new subsystems,disconnecting existing subsystems,or merel...
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This paper investigates the distributed model predictive control(MPC)problem of linear systems where the network topology is changeable by the way of inserting new subsystems,disconnecting existing subsystems,or merely modifying the couplings between different *** equip live systems with a quick response ability when modifying network topology,while keeping a satisfactory dynamic performance,a novel reconfiguration control scheme based on the alternating direction method of multipliers(ADMM)is *** this scheme,the local controllers directly influenced by the structure realignment are redesigned in the reconfiguration ***,by employing the powerful ADMM algorithm,the iterative formulas for solving the reconfigured optimization problem are obtained,which significantly accelerate the computation speed and ensure a timely output of the reconfigured optimal control ***,the presented reconfiguration scheme is applied to the level control of a benchmark four-tank plant to illustrate its effectiveness and main characteristics.
Soft sensing has been widely used in chemical industry to build an online monitor of the variables which are unmeasurable online or measurable online but with a high cost. One inherent difficulty is insufficiency of t...
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Soft sensing has been widely used in chemical industry to build an online monitor of the variables which are unmeasurable online or measurable online but with a high cost. One inherent difficulty is insufficiency of the training samples because the labeled data are limited. Besides, the traditional soft-sensing structure has no online correction mechanism. The forecasting result may be incorrect if the working condition is changed. In this work, a semi-supervised learning(SSL) method is proposed to build the soft-sensing model by use of the unlabeled data. Meanwhile, an online correction mechanism is proposed to establish a soft-sensing approach. The mechanism estimates the input variables at each step by a prediction model and calibrates the output variables by a compensation model. The experimental results show that the proposed method has better prediction accuracy and generalization ability than other approaches.
Based on traveling ballot mode,we propose a secure quantum anonymous voting via Greenberger–Horne–Zeilinger(GHZ)*** this scheme,each legal voter performs unitary operation on corresponding position of particle seque...
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Based on traveling ballot mode,we propose a secure quantum anonymous voting via Greenberger–Horne–Zeilinger(GHZ)*** this scheme,each legal voter performs unitary operation on corresponding position of particle sequence to encode his/her voting *** voters have multiple ballot items to choose rather than just binary options“yes”or“no”.After counting votes phase,any participant who is interested in voting results can obtain the voting *** improve the efficiency of the traveling quantum anonymous voting scheme,an optimization method based on grouping strategy is also *** with the most existing traveling quantum voting schemes,the proposed scheme is more practical because of its privacy,verifiability and ***,the security analysis shows that the proposed traveling quantum anonymous voting scheme can prevent various attacks and ensure high security.
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