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Formation-containment control of multi-robot systems under a stochastic sampling mechanism

Science China(Technological Sciences) 2020年第6期63卷 1025-1034页

作者： SU HouSheng ZHANG JinXin ZENG ZhiGang Key Laboratory of Image Processing and Intelligence Control of Ministry of Education School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

This paper studies the problem of formation-containment for multi-robot systems with stochastic ***,a stochastic sampling control protocol is proposed,in which information exchanging among robots only occurred at the sampling time and two different sampling periods randomly ***,both energy and controller updating frequencies can be ***,the protocol can be applied to the situation where the sampling period varies ***,sufficient conditions guaranteeing mean square formation-containment are *** stochastic sampling mechanism,the leaders reach a geometric formation shape and the followers are in the geometric formation shape formed by the ***,an example is shown to demonstrate the results.

关键词： formation-containment multi-robot systems stochastic sampling

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A battery management system with two-stage equalization 29

A battery management system with two-stage equalization

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第29届中国控制与决策会议

作者： Shengping Hong Jianhua Jiang Xi Li School of Automation Key Laboratory of Education Ministry for Image Processing and Intelligent ControlHuazhong University of Science & Technology

ISBN: (纸本)9781509046584

This paper presents a lithium-ion battery pack equalization system and method. The batteries are divided into several groups, which are connected in parallel with the bidirectional DC-DC converters respectively, and the output of DC-DC converters ends are connected in series with each other as a DC bus. The scheme divides equalization of the cells into two stages: intra-group equalization and inter-group equalization, and the two stages are respectively realized by battery time-sharing-access structure and stack energy-sharing structure. Then equalization strategy of the distributed battery energy storage system under two stages is proposed, especially the Single Cell Battery Access Timing Algorithm and MPC Algorithm. The simulation results show that the proposed battery management structure and control strategy can realize fast and accurate SOC equalization.

关键词： Battery management system(BMS) cell equalization battery time-sharing-access structure stack energy-sharing structure Single Cell Battery Access Timing Algorithm MPC Algorithm

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Adaptive Synchronization between Two Different Complex Networks with Time-Varying Delay Coupling

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中国物理快报（英文版） 2009年第6期26卷 59-62页

作者： CHEN Jian-Rui JIAO Li-Cheng WU Jian-She WANG Xiao-Hua Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligence Information ProcessingXidian UniversityXi'an 710071 College of Science Inner Mongolia University of TechnologyInner Mongolia 01 Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligence Information ProcessingXidian UniversityXi'an 710071

A new general network model for two complex networks with time-varying delay coupling is *** we investigate its synchronization *** two complex networks of the model differ in dynamic nodes,the number of nodes and the coupling *** using adaptive controllers,a synchronization criterion is *** examples are given to demonstrate the effectiveness of the obtained synchronization *** study may widen the application range of synchronization,such as in chaotic secure communication.

关键词： No English keywords

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Nonlinear Terminal Guidance for Hypervelocity Vehicles Impact in Specific Direction and Speed

Nonlinear Terminal Guidance for Hypervelocity Vehicles Impac...

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第25届中国控制与决策会议

作者： Kun Hu Lei Liu Yongji Wang Zhishen Wang Key Laboratory of Ministry of Education for Image Processing & Intelligent Control Department of Control Science & Engineering Huazhong University of Science & Technology

ISBN: (纸本)9781467355322

The terminal guidance problem of a hypervelocity gliding vehicle to intercept a stationary target in the planar scenario is considered. In addition to impact position accuracy, the guidance law must meet the impact angle and speed demand. This problem is formulated as an infinite-time horizon nonlinear regulator problem, and solved with the state-dependent Riccati equation (SDRE) control technique. We convert the system to a linear-like structure with state-dependent coefficient (SDC) matrices and derive a closed-loop state-feedback control law using the SDRE method. A new state is introduced concerning the impact speed constraint. By rotating the coordinate system, the guidance scheme is extended to satisfy arbitrary impact angle. The state weighting matrix is chosen as the function of time-to-go to include the distance information between the vehicle and target. The numerical simulations are carried out for different impact angles and speeds, the results of which verify the effectiveness of the proposed guidance approach.

关键词： Terminal Guidance, Nonlinear Regulator, State-dependent Riccati Equation

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Event-triggered Consensus Of Nonlinear Multi-Agent Systems With Nonlinear Interconnections

Event-triggered Consensus Of Nonlinear Multi-Agent Systems W...

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第三十二届中国控制会议

作者： YIN Xiuxia YUE Dong Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

This paper investigates the consensus problem for a set of nonlinear multi-agent systems with nonlinear interconnections. First, in order to reduce the communication burden in the multi-agent network, a distributed event-triggered consensus control is designed by taking into account the effect of the nonlinear interconnections. Then, based on the Lyapunov functional method and the Kronecker product technique, sufficient conditions are obtained to guarantee the consensus in the form of linear matrix inequality (LMI). Finally, a simulation example is proposed to illustrate the effectiveness of the developed theory.

关键词： Consensus, Multi-Agent System (MAS), Nonlinear Interconnection, Event-Triggered control, LMI.

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A uniform solution to the independent set problem through tissue P systems with cell separation

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Frontiers of Computer Science 2012年第4期6卷 477-488页

作者： Xingyi ZHANG Xiangxiang ZENG Bin LUO Zheng ZHANG Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and TechnologyAnhui UniversityHefei 230039China Department of Computer Science Xiamen UniversityXiamen 361005China Key Laboratory of Image Processing and Intelligent Control Department of Control Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Membrane computing is an emergent branch of natural computing, which is inspired by the structure and the functioning of living cells, as well as the organization of cells in tissues, organs, and other higher order structures. Tissue P systems are a class of the most investigated computing mod- els in the framework of membrane computing, especially in the aspect of efficiency. To generate an exponential resource in a polynomial time, cell separation is incorporated into such systems, thus obtaining so called tissue P systems with cell separation. In this work, we exploit the computational efficiency of this model and construct a uniform family of such tissue P systems for solving the independent set problem, a well-known NP-complete problem, by which an efficient so- lution can be obtained in polynomial time.

关键词： membrane computing tissue P system cell sep- aration independent set problem

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Deployment of Heterogeneous Multi-Agent Systems via a PDE Approach

Deployment of Heterogeneous Multi-Agent Systems via a PDE Ap...

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2023 China Automation Congress, CAC 2023

作者： Man, Jingtao Zeng, Zhigang Xiao, Qiang Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan China

ISBN: (纸本)9798350303759

Spatial deployment of large-scale heterogeneous multi-agent systems (HMASs) over desired 2D or 3D curves is investigated in this paper. With assumption that HMASs consist of numerous first-order agents (FOAs) and second-order agents (SOAs) that could obtain local information of desired curves and their positions relative to their closest neighbors, the collective dynamics of large-scale HMASs are modeled as heterogeneous partial differential equations (PDEs). In particular, this paper introduces series-dependent topological weights between neighboring agents, which are more versatile and practical than constant topological weights commonly used in previous studies. A novel single-point control scheme is proposed, where an informed agent is situated between the last FOA and first SOA. This operation could not only ensure successful implementation of spatial deployment, but also guarantee well-posedness of the constructed heterogeneous error PDEs. By utilizing inequality techniques, sufficient conditions for exponential convergence of error system are derived. A numerical example is presented to demonstrate effectiveness of the proposed approaches. © 2023 IEEE.

关键词： Multi agent systems

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Immunodominance and clonal selection inspired multiobjective clustering

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Progress in Natural Science:Materials International 2009年第6期19卷 751-758页

作者： Wenping Ma , Licheng Jiao, Maoguo Gong key laboratory of intelligent Perception and image Understanding of the ministry of education of China, Institute of intelligent Information processing, Xidian University, Xi’an 710071, China Key Laboratory of Intelligent Perception and Image Understanding of the Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi’an 710071 China

The biological immune system is a highly parallel and distributed adaptive system. The information processing abilities of the immune system provide important insights into the field of computation. Based on immunodominance in the biological immune system and the clonal selection mechanism, a novel data mining method, Immune Dominance Clonal Multiobjective Clustering algorithm (IDCMC), is presented. The algorithm divides an individual population into three sub-populations according to three different measurements, and adopts different evolution and selection strategies for each sub-population. The update of each sub-population, however, is not carried out in isolation. The periodic combination operation of the analysis of the three sub-populations represents considerable advantages in its global search ability. The clustering task is a multiobjective optimization problem, which is more robust with respect to the variety of cluster structures of different datasets than a single-objective clustering algorithm. In addition, the new algorithm can determine the number of clusters automatically, which should identify the most promising clustering solutions in the candidate set. The experimental results, using artificial datasets with different manifold structure and handwritten digit datasets, show that the IDCMC outperforms the PESA-Ⅱ-based clustering method, the genetic algorithm-based clustering technique and the original K-Means algorithm in solving most of the problems tested.

关键词： Artificial immune systems Multiobjective optimization Clustering Unsupervised learning

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A novel quantum-inspired immune clonal algorithm with the evolutionary game approach

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Progress in Natural Science:Materials International 2009年第10期19卷 1341-1347页

作者： Qiuyi Wu,Licheng Jiao,Yangyang Li,Xiaozheng Deng key laboratory of intelligent Perception and image Understanding of ministry of education of China,Institute of intelligent Information processing,Xidian University,Xi’an 710071,China Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi’an 710071 China

The quantum-inspired immune clonal algorithm(QICA) is a rising intelligence *** on evolutionary game theory and QICA,a quantum-inspired immune algorithm embedded with evolutionary game(EGQICA) is proposed to solve combination optimization *** this paper,we map the quantum antibody’s finding the optimal solution to player’s pursuing maximum utility by choosing strategies in evolutionary *** dynamics is used to model the behavior of the quantum antibody and the memory mechanism is also introduced in this *** results indicate that the proposed approach maintains a good diversity and achieves superior performance.

关键词： Game theory Evolutionary game Replicator dynamics Quantum-inspired optimization Artificial immune system

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Mem Brain: An Easy-to-Use Online Webserver for Transmembrane Protein Structure Prediction

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Nano-Micro Letters 2018年第1期10卷 12-19页

作者： Xi Yin Jing Yang Feng Xiao Yang Yang Hong-Bin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Computer Science Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering

Membrane proteins are an important kind of proteins embedded in the membranes of cells and play crucial roles in living organisms, such as ion channels,transporters, receptors. Because it is difficult to determinate the membrane protein's structure by wet-lab experiments,accurate and fast amino acid sequence-based computational methods are highly desired. In this paper, we report an online prediction tool called Mem Brain, whose input is the amino acid sequence. Mem Brain consists of specialized modules for predicting transmembrane helices, residue–residue contacts and relative accessible surface area of a-helical membrane proteins. Mem Brain achieves aprediction accuracy of 97.9% of ATMH, 87.1% of AP,3.2 ± 3.0 of N-score, 3.1 ± 2.8 of C-score. Mem BrainContact obtains 62%/64.1% prediction accuracy on training and independent dataset on top L/5 contact prediction,respectively. And Mem Brain-Rasa achieves Pearson correlation coefficient of 0.733 and its mean absolute error of13.593. These prediction results provide valuable hints for revealing the structure and function of membrane *** Brain web server is free for academic use and available at ***/bioinf/Mem Brain/.

关键词： Transmembrane a-helices Structure prediction Machine learning Contact map prediction Relative accessible surface area

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