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Observer-based leader-following tracking control under both fixed and switching topologies

Control theory and Technology 2016年第1期14卷 28-38页

作者： Jinhuan WANG Pengxiao ZHANG Zhixin LIU Xiaoming HU School of Sciences Hebei University of Technology Tianfin 300130 China .Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology Stockholm 100 44 Sweden

This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observer- based cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology.

关键词： Multi-agent systems leader-following decentralized control observer

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On Topological Conditions to Maintain Leader-Follower Connectivity in Double-Integrator Multi-Agent systems

On Topological Conditions to Maintain Leader-Follower Connec...

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Mediterranean Conference on Control and Automation

作者： Philipp N. Kohler Dimos V. Dimarogonas Institute for Systems Theory and Automatic Control (IST) University of Stuttgart ACCESS Linnaeus Center School of Electrical Engineering KTH Royal Institute of Technology

ISBN: (纸本)9781467383479

In this work, a set of sufficient conditions that guarantee consensus towards a pre-specified target state in double-integrator leader-follower proximity-based networks are derived. Since only the leader agents are aware of the global objective and proximity-based communication between agents is considered, the follower agents must not lose contact to the leaders. We establish a connectivity analysis framework which is used to show that the initial network topology is maintained if the ratio of leaders-to-followers and the magnitude of the goal attraction force experienced by the leaders are below certain bounds. Various network topologies are examined, starting from a complete graph and extending to incomplete graphs. The theoretical results are illustrated by simulations.

关键词： Network topology Agents Multi-agent systems Leaders Awareness Connectivity analysis Leadership simulating EARTHQUAKE MAGNITUDE

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The Multidimensional Circulant Rational Covariance Extension Problem: Solutions and Applications in Image Compression

The Multidimensional Circulant Rational Covariance Extension...

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IEEE Annual Conference on Decision and Control

作者： Axel Ringh Johan Karlsson Anders Lindquist Division of Optimization and Systems Theory Department of Mathematics and the ACCESS Linnaeus Center KTH Royal Institute of Technology Stockholm Sweden Center for Industrial and Applied Mathematics (CIAM) and the ACCESS Linnaeus Center KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781479978878

Rational functions play a fundamental role in systems engineering for modelling, identification, and control applications. In this paper we extend the framework by Lindquist and Picci for obtaining such models from the circulant trigonometric moment problems, from the one-dimensional to the multidimensional setting in the sense that the spectrum domain is multidimensional. We consider solutions to weighted entropy functionals, and show that all rational solutions of certain bounded degree can be characterized by these. We also consider identification of spectra based on simultaneous covariance and cepstral matching, and apply this theory for image compression. This provides an approximation procedure for moment problems where the moment integral is over a multidimensional domain, and is also a step towards a realization theory for random fields.

关键词： Image compression Data compression MULTIDIMENSIONAL approximation procedure circulation realisation theory rational functions Covariance Rational number Moment of force Spectra

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CONSENSUS CONTROL DESIGN FOR MULTI-AGENT systems USING RELATIVE OUTPUT FEEDBACK

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Journal of systems Science & Complexity 2014年第2期27卷 237-251页

作者： WANG Jinhuan LIU Zhixin HU Xiaoming School of Sciences and School of Control Science and Engineering Hebei University of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology

This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.

关键词： Consensus decentralized control multi-agent systems observer.

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COOPERATIVE SHIFT ESTIMATION OF TARGET TRAJECTORY USING CLUSTERED SENSORS

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Journal of systems Science & Complexity 2014年第3期27卷 413-429页

作者： HU Jiangping HU Xiaoming SHEN Tielong School of Automation Engineering University of Electronic Science and Technology of China Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of TechnologyStockholmSweden Department of Engineering and Applied Sciences Sophia UniversityTokyoJapan

In this paper,a mathematical model for target tracking using nonlinear scalar range sensors is formulated first.A time-shift sensor scheduling strategy is addressed on the basis of a k-barrier coverage protocol and all the sensors are divided into two classes of clusters,active cluster,and submissive cluster,for *** two types of time-shift nonlinear filters are proposed for both active and submissive clusters to estimate the trajectory of the moving target with disturbed *** stochastic stability of the two filters is ***,some numerical simulations are given to demonstrate the effectiveness of the new filters with a comparison of EKF.

关键词： Cluster sensor network target tracking time-shift estimation

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Modeling and simulating for congestion evacuation based on multi-agent approach 33

Modeling and simulating for congestion evacuation based on m...

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第三十三届中国控制会议

作者： WANG Jinhuan SHI Qiongyu HU Xiaoming YANG Peng School of Sciences Hebei University of Technology School of Control Science and Engineering Hebei University of Technology Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology

ISBN: (纸本)9781479947249

A new multi-agent based congestion evacuation model is proposed in this paper to simulate the pedestrian evacuation process in stadium with or without obstacles, in which each agent's state can be normal, being overtaked and dead. In this model,all the pedestrians are divided into four kinds and each kind has six different classes of competitive ability. The individual action direction is affected by their competitive ability, the distance to the exits and the occupant number and density within the view field of the agent. In the simulation, we present the congestion and death phenomenon as well as the effects of obstacles in evacuation process. We also add a virtual leader to regulate the evacuation effectively. Simulation results show that the proposed model can reproduce exactly the real evacuation process in stadium.

关键词： Congestion Evacuation,Multi-agent,Cellular Automaton

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Modeling and simulating for congestion evacuation based on multi-agent approach

Modeling and simulating for congestion evacuation based on m...

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Chinese Control Conference (CCC)

作者： Jinhuan Wang Qiongyu Shi Xiaoming Hu Peng Yang School of Control Science and Engineering Hebei University of Technology Tianjin P. R. China Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology Stockholm Sweden

A new multi-agent based congestion evacuation model is proposed in this paper to simulate the pedestrian evacuation process in stadium with or without obstacles, in which each agent's state can be normal, being overtaked and dead. In this model, all the pedestrians are divided into four kinds and each kind has six different classes of competitive ability. The individual action direction is affected by their competitive ability, the distance to the exits and the occupant number and density within the view field of the agent. In the simulation, we present the congestion and death phenomenon as well as the effects of obstacles in evacuation process. We also add a virtual leader to regulate the evacuation effectively. Simulation results show that the proposed model can reproduce exactly the real evacuation process in stadium.

关键词： Simulation Adaptation models Educational institutions Buildings Microscopy Decision making Shape

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Video Quality Improvement for Multi-camera systems Using Camera Control

Video Quality Improvement for Multi-camera Systems Using Cam...

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第三十三届中国控制会议

作者： Jianghua Zhong W.Bastiaan Kleijn Xiaoming Hu Institute of Complexity Science Qingdao University Institute of Information Engineering Chinese Academy of Sciences School of Engineering and Computer Science Victoria University of Wellington Optimization and Systems Theory and ACCESS Linnaeus Center KTH-Royal Institute of Technology

ISBN: (纸本)9781479947249

Multiview video captured by a multi-camera system has been widely used in many applications such as environmental surveillance, industrial inspection and 3D television. A multiview video contains a vast amount of data required to be transmitted and/or stored, and therefore compression is essential. However, distortion or artifacts are usually witnessed in the reconstructed multiview video after a raw multiview video is compressed at a limited bit-rate. Previous results on video compression mainly focus on the re nements of compression algorithms to improve the quality of reconstructed multiview videos. This paper uses a camera control for video capture to improve the quality of reconstructed multiview videos at a limited bit-rate. Individual cameras are controlled to adjust their pan angles and focal lengths at the video acquisition stage to compensate for the difference in feature-point locations. The optimal pan angle and focal length are designed for each camera. Experimental results validate that the proposed method capturing with camera control outperforms the conventional method capturing without camera control and the heuristic method of "keeping the object of interest in the image center".

关键词： Camera control,multi-camera system,object monitoring,video quality improvement,video compression.

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Gaze and Zoom Controls for Visual Tracking

Gaze and Zoom Controls for Visual Tracking

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第三十二届中国控制会议

作者： Jianghua Zhong Xiaoming Hu W.Bastiaan Kleijn Institute of Complexity Science Qingdao University Institute of Information Engineering Chinese Academy of Sciences Optimization and Systems Theory and ACCESS Linnaeus Center KTH-Royal Institute of TechnologySE-100 44 StockholmSweden School of Engineering and Computer Science Victoria University of WellingtonWellington 6140New Zealand

ISBN: (纸本)9781479900305

Visual tracking is widely used in many applications such as security surveillance,robot navigation and industrial *** this paper gaze and zoom controls for visual tracking with a monocular camera are *** gaze control keeps the camera pointing to the centroid of a moving object of interest to keep the object centered in each *** zoom control adjusts the camera focal length to preserve the object at a desired constant image *** gaze control and zoom control are explicitly designed with simple *** results validate the controls.

关键词： Active vision gaze control perspective projection visual tracking zoom control.

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Obstacle Avoidance for an Extremum Seeking System using a Navigation Function

Obstacle Avoidance for an Extremum Seeking System using a Na...

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American Control Conference

作者： Hans-Bernd Durr Milos S. Stankovic Dimos V. Dimarogonas Christian Ebenbauer Karl Henrik Johansson Institute for Systems Theory and Automatic Control University of Stuttgart Germany Innovation Center School of Electrical Engineering University of Belgrade Serbia ACCESS Linnaeus Center School of Electrical Engineering Royal Institute of Technology 100-44 Stockholm Sweden

ISBN: (纸本)9781479901777

The problem of autonomously steering a vehicle to a destination point, while avoiding obstacles, is considered. The vehicle is modeled as a single-integrator in the plane and it is assumed that the obstacles are unknown a priori. The control law is an extremum seeking algorithm, which steers the vehicle to the minimum of a navigation function. In this framework, obstacle avoidance and practical uniform convergence to a destination point for almost all initial conditions is proven. The theoretic results are illustrated using numerical examples.

关键词： Navigation Function autonomously steering destination point

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