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OPTIMAL TARGET TRAJECTORY ESTIMATION AND FILTERING USING NETWORKED SENSORS

Journal of systems Science & Complexity 2008年第3期21卷 325-336页

作者： Jiangping HU Xiaoming HU Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology Stockholm 10044 Sweden

Target tracking using distributed sensor network is in general a challenging problem because it always needs to deal with real-time processing of noisy information. In this paper the problem of using nonlinear sensors such as distance and direction sensors for estimating a moving target is studied. The problem is formulated as a prudent design of nonlinear filters for a linear system subject to noisy nonlinear measurements and partially unknown input, which is generated by an exogenous system. In the worst case where the input is completely unknown, the exogenous dynamics is reduced to the random walk model. It can be shown that the nonlinear filter will have optimal convergence if the number of the sensors are large enough and the convergence rate will be highly improved if the sensors are deployed appropriately. This actually raises an interesting issue on active sensing： how to optimally move the sensors if they are considered as mobile multi-agent systems？ Finally, a simulation example is given to illustrate and validate the construction of our filter.

关键词： Optimal filter sensor network target tracking

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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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PARALLEL SIMULTANEOUS STABILIZATION OF A SET OF PORT-CONTROLLED HAMILTONIAN systems SUBJECT TO ACTUATOR SATURATION

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Journal of systems Science & Complexity 2011年第1期24卷 120-139页

作者： Airong WEI Yuzhen WANG Xiaoming HU School of Control Science and Engineering Shandong University Jinan 250061 ChinaOptimization and Systems Theory Royal Institute of Technology SE-10044 Stockholm Sweden School of Control Science and Engineering Shandong University Jinan 250061 China Optimization and Systems Theory Royal Institute of Technology SE-100 44 Stockholm Sweden ACCESS Linnaeus Center Royal Institute of Technology SE-100 44 Stockholm Sweden

This paper investigates parallel simultaneous stabilization （PSS） of a set of multi-input nonlinear Port-Controlled Hamiltonian （PCH） systems subject to actuator saturation （AS）, and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.

关键词： Actuator saturation PCH system robust parallel simultaneous stabilization

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

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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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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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Observer-based tracking problem of leader-follower multi-agent systems

Observer-based tracking problem of leader-follower multi-age...

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作者： Wang, Jinhuan Hu, Xiaoming School of Sciences Hebei University of Technology Tianjin 300130 China Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology Stockholm 100 44 Sweden

ISBN: (纸本)9787894631046

In this paper, we consider the tracking problem for leader-follower multi-agent systems moving in the plane. In our model, the system matrix of the leader can be of any form and the control input of the leader is not known to the followers even if they are connected to the leader. To track such a leader, an observer-based decentralized feedback controller is designed for each follower. We show that if the adjacent graph of the system is connected, with the proposed control law, all the followers can track the leader eventually. At last, we generalize the result to the higher dimension case for some special system matrix of the leader.

关键词： Multi agent systems

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Dynamic equations on time-scale: application to stability analysis and stabilization of aperiodic sampled-data systems

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IFAC Proceedings Volumes 2011年第1期44卷 11374-11379页

作者： C. Briat U.T. Jönsson ACCESS Linnaeus Centre Division of Optimization and Systems Theory Royal Institute of Technology (KTH) 100 44 Stockholm Sweden

Abstract The stability analysis of systems with aperiodic sampling is analyzed in the framework of dynamic equations on time-scales. Lyapunov theory is used, with sample-period-dependent and independent Lyapunov functions, to obtain stability conditions expressed in terms of parameter dependent matrix inequalities. The examples illustrate the efficiency of the approach which is able to recover, for some systems, the theoretical results for the periodic sampling case even in the aperiodic case. It is also shown that some systems may have admissible varying sampling periods located in disjoint sets. Finally, stabilization results via switching state-feedback are provided; both robust and sampling-period-dependent controllers are considered. It is shown that the latter ones, using the information on the sampling period, can improve stability properties. Stabilization examples illustrate the effectiveness of the approach.

关键词： Sampled-data systems dynamic equations on time-scales LMIs LPV control

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Constructive camera pose control for optimizing multiview distributed video coding

Constructive camera pose control for optimizing multiview di...

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IEEE Conference on Decision and Control

作者： Jianghua Zhong Xiaoming Hu W. Bastiaan Kleijn Ermin Kozica Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology Stockholm Sweden Sound and Image Processing and ACCESS Linnaeus Center Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781424431236

In this paper camera pose control for optimizing multiview distributed video coding is considered. The scenario considered is that multiple agents with monocular cameras observe a common scene in a three dimensional world. To get a good video reconstruction under a transmission rate constraint, the camera closest to the center of the camera array is chosen as the reference camera. The poses of all other cameras are controlled and designed such that their images are maximally similar under a constraint on their separation. Based on the rigid motion allowed for the cameras, two cases are considered. For the case where the rigid motion only involves translation, translation control is designed. For the case where it involves both translation and rotation, both controls are constructed. Some simulated results are given to show the efficiency of the designed controllers.

关键词： Cameras Video coding Video compression Image reconstruction Decoding Layout Computational complexity Control systems Motion control Costs

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Stability criteria for asynchronous sampled-data systems - A fragmentation approach

Stability criteria for asynchronous sampled-data systems - A...

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作者： Briat, C. Seuret, A. ACCESS Linnaeus Centre Division of Optimization and Systems Theory KTH SE-10044 Stockholm Sweden GIPSA-lab. NeCS INRIA Project-Team Control Systems Department - INP Domaine Universitaire 38400 Saint Martin d'Heres France

ISBN: (纸本)9783902661937

The stability analysis of asynchronous sampled-data systems is studied. The approach is based on a recent result which allows to study, in an equivalent way, the quadratic stability of asynchronous sampled-data systems in a continuous-time framework via the use of peculiar functionals satisfying a necessary boundary condition. The method developed here is an extension of previous results using a fragmentation technique inspired from recent advances in time-delay systems theory. The approach leads to a tractable convex feasibility problem involving a small number of finite dimensional LMIs. The approach is then finally illustrated through several examples. © 2011 IFAC.

关键词： Stability criteria

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