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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Yang, Xiong Liu, Derong Wang, Ding State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642420535

This paper develops an observer-based direct adaptive output feedback control for a class of multi-input-multi-out nonaffine nonlinear discrete-time systems with unknown bounded disturbances. A neural network (NN) observer is designed to estimate unavailable system states. Then, under the framework of reinforcement learning, two other NNs are used to generate the optimal control signal and estimate the cost function, respectively. Based on Lyapunov's direct method, the stability of the closed-loop system is verified. Moreover, all signals involved are guaranteed to be uniformly ultimately bounded. Finally, an example is provided to demonstrate the effectiveness of the present approach. © Springer-Verlag 2013.

关键词： Reinforcement learning

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Integral policy iteration for zero-sum games with completely unknown nonlinear dynamics

Integral policy iteration for zero-sum games with completely...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Li, Hongliang Liu, Derong Wang, Ding State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642420535

In this paper, we develop a model-free integral policy iteration algorithm to learn online the Nash equilibrium solution of twoplayer zero-sum differential games with completely unknown nonlinear continuous-time dynamics. The developed algorithm updates value function, control and disturbance policies simultaneously. To implement this algorithm, three neural networks are used to approximate the game value function, the control policy and the disturbance policy. The least squares method is used to estimate the unknown parameters of the neural networks. The effectiveness of the developed scheme is demonstrated by a simulation example. © Springer-Verlag 2013.

关键词： Neural networks

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A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights

A Robust Road Segmentation Method Based on Graph Cut with Le...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Jun Yuan Shuming Tang Fei Wang Hong Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences High-Tech Innovation Engineering Center Institute of AutomationChinese Academy of Sciences Institute of Artificial Intelligence and Robotics of Xi'an Jiaotong University School of Information Engineering Minzu University of China

Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approach,a novel graph-cut based method is proposed in this *** novelty of this proposal is that weights of neighboring links(n-links) in a s-t graph are estimated by Multilayer Perceptrons(MLPs) rather than calculating by the neighboring contrast simply in previous graph-cut based *** n-link weights by MLPs reinforces the ability of graph-cut based road segmentation algorithms to tolerate the complex and changeable appearance of road ***,the Gentle Ada Boost algorithm is integrated into the graph-cut framework to estimate the terminal link(t-link) weights in the s-t *** are conducted to show the robustness and efficiency of the proposed method.

关键词： image A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights Graph

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Visual Measurement and control for Underwater Robots: A Survey

Visual Measurement and Control for Underwater Robots: A Surv...

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第25届中国控制与决策会议

作者： Feihu Sun Junzhi Yu De Xu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences The Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467355339

The recently increased interests in visual measurement and control applied to underwater robots have challenged the existing visual technologies that once were sufficient in ground-based applications. This paper surveys the major difficulties and representative applications in underwater visual measurement and control, most of which result from the particularity of the aquatic environments. Specifically, the state of the art of the underwater vision is summarized from different perspectives, primarily involving key points and existing problems. In particular, the application of the embedded vision-based system in the context of bionics is accented. Finally, the potential development trends and possible breakthroughs are discussed, shedding light on the effort both in hardware and software to advance real-world underwater vision applications.

关键词： Visual measurement and control, Underwater robots, Embedded vision, Bio-robotics.

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Containment control with multiple interacting leaders under switching topologies

Containment control with multiple interacting leaders under ...

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第三十二届中国控制会议

作者： Liu Huiyang Cheng Long Tan Min Hou Zengguang Cao Zhiqiang Wang Ming State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781479900305

In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders’ final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers’ positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.

关键词： containment control multi-agent systems directed network topology switching topology cooperative control

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Necessary and Sufficient Conditions for Solving Leader-Following Problem of Multi-Agent systems with Communication Noises

Necessary and Sufficient Conditions for Solving Leader-Follo...

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第25届中国控制与决策会议

作者： Yunpeng Wang Long Cheng Zeng-Guang Hou Min Tan Huiyang Liu Min Wang State Key Laboratory of Management and Control for Complex Systems (SKLMCCS) Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781467355339

The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise's effect, a positive time-varying gain a(t) is employed in the protocol. It is proved that the proposed protocol can solve the mean square leader-following problem if the following conditions hold: 1) the communication topology graph has a spanning tree;2) ∫∞0 a(t)dt = ∞;3) lim t→∞ a(t) = 0. The requirements on a(t) are different from most existing papers, where a(t) is required to satisfy that ∫∞0 a(t) = ∞ and ∫∞0 a2(t) < ∞. It turns out that ∫∞0 a2(t) < ∞ implies lim t→∞ a(t) = 0, if a(t) is uniformly continuous. Therefore this paper relaxes the requirements on a(t) to some extent. In addition, under the mild condition (a(t) is uniformly continuous) these three conditions are necessary as well. Furthermore, if ∫∞0 a2(t)<∞, the employed protocol is proved to be able to solve the almost sure leader-following problem of first-order integral multi-agent system. Finally, a simulation example is provided to verify the effectiveness of the employed protocols.

关键词： Leader-following, Consensus, Multi-agent system, Communication noise

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Relative entropy minimizing-based theory of intelligent systems

Relative entropy minimizing-based theory of intelligent syst...

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2013 International Conference on Artificial Intelligence, ICAI 2013

作者： Xi, Guangcheng State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)1601322488

Based on the point of view of neuroethology and cognition-psychology, general frame of theory for intelligent systems is presented by means of principle of relative entropy minimizing in this paper. Cream of the general frame of theory is to present and to prove basic principle of intelligent systems: entropy increases or decreases together with intelligence in the intelligent systems. The basic principle is of momentous theoretical significance and practical significance. From the basic principle can not only derive two kind of learning algorithms (statistical simulating annealing algorithms and annealing algorithms of mean-field theory approximation) for training large kinds of stochastic neural networks, but also can thoroughly dispel misgivings created by second law of thermodynamics on peoples psychology, hence make one be fully confident of facing life. Because of Human society, natural world, and even universe all are intelligent systems.

关键词： Intelligent systems

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一种仿生水下机器人的设计与动力学分析(英文)

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自动化学报 2013年第8期39卷 1330-1338页

作者： WEI Qing-Ping WANG Shuo DONG Xiang SHANG Liu-Ji TAN Min The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Intelligent Machines Chinese Academy of Sciences

A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

关键词：水下机器人车辆设计动力学分析起伏仿生鳍计算流体动力学运动学分析

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Modeling plant plasticity from a biophysical model: Biomechanics

Modeling plant plasticity from a biophysical model: Biomecha...

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12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry, VRCAI 2013

作者： Wang, H.Y. Kang, M.Z. Hua, J. Wang, X.J. State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China National Laboratory for Pattern Recognition Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781450325905

A mechanical effect is one of the important reasons for plant diversity, whose phenotype is crooked branch. Parametric curve equation, or skeleton extraction from image or video, or interactive design is often used to simulate branch bending. These methods generally could not dynamically demonstrate the process of deformation caused by stress. Moreover, they seldom consider biophysical behaviors. In this paper, we integrated Bio-mechanical Model with Functional Structural Plant Model (FSPM), specifically GreenLab model, both of which are biologically-based methods. The combined model is able to simulate the morphological changes of dynamically developing plants constrained by external loads, such as gravity and wind. It could also mimic tropism, which is associated with maturation strains of reaction wood. Feedback between FSPM and Bio-mechanical Model is constructed by linking the bud break strategy to the architecture. Using the models based on the botanical and biological knowledge, we could generate plausible plants in accordance with reality. Meanwhile this study lays a good foundation for studying the optimization of plant's growth behaviors when considering biomechanics. © 2013 ACM.

关键词： Biomechanics

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