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Globally exponentially attractive sets of the family of Lorenz systems

science in China(Series F) 2008年第3期51卷 283-292页

作者： LIAO XiaoXin FU YuLi XIE ShengLi YU Pei Department of Control Science & Engineering Huazhong University of Science & Technology Wuhan 430074 China School of Automation Wuhan University of Science & Technology Wuhan 430070 China School of Electronics & information Engineering South China University of Technology Guangzhou 519640 China Department of Applied Mathematics The University of Western Ontario London Ontario N6A 5B7 Canada

In this paper, the concept of globally exponentially attractive set is proposed and used to consider the ultimate bounds of the family of Lorenz systems with varying parameters. Explicit estimations of the ultimate bounds are derived. The results presented in this paper contain all the existing results as special cases. In particular, the critical cases, b→ 1^＋ and a→0^＋, for which the previous methods failed, have been solved using a unified formula.

关键词： the family of Lorenz systems globally exponentially attractive set Lagrange stability generalized Lyapunov function

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Qualitative control for mobile robot navigation based on reinforcement learning and grey system

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Mediterranean Journal of Measurement and control 2008年第1期4卷 1-7页

作者： Chen, Chunlin Dong, Daoyi Chen, Zonghai Wang, Haibo School of Management and Engineering Nanjing University Nanjing China State Key Laboratory for Novel Software Technology Nanjing University Nanjing China Key Laboratory of Systems and Control Institute of Systems Science Beijing China Department of Automation University of Science and Technology of China China

A qualitative control method using reinforcement learning (RL) and grey system is developed for mobile robot navigation in an unknown environment. New representation and computation mechanisms are key approaches for learning and control problems with incomplete information or in large probabilistic environments. In this paper, the uncertainties in sensor information and qualitative localization are represented using grey systems. Traditional RL methods are also combined with grey theory for mobile robot navigation control and a new grey reinforcement learning (GRL) method is proposed to solve complex problems where environment information is incomplete and grey models are constructed through representing incomplete information with grey algebra. The experimental results verify the effectiveness and superiority of the qualitative control system and the presented approaches also show alternative ways for the measurement and learning control problems with incomplete information of the environment. Copyright © 2008 SoftMotor Ltd.

关键词： Mobile robots

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Automatic Sleep Stage Determination by Multi-Valued Decision Making Based on Conditional Probability with Optimal Parameters

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SICE Journal of control, Measurement, and System Integration 2008年第6期1卷 423-428页

作者： Bei Wang Takenao Sugi Xingyu Wang Masatoshi Nakamura Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga UniversityDepartment of Automation School of Information Science and Engineering East China University of Science and Technology Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Department of Automation School of Information Science and Engineering East China University of Science and Technology Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University

Data for human sleep study may be affected by internal and external influences. The recorded sleep data contains complex and stochastic factors, which increase the difficulties for the computerized sleep stage determination techniques to be applied for clinical practice. The aim of this study is to develop an automatic sleep stage determination system which is optimized for variable sleep data. The main methodology includes two modules: expert knowledge database construction and automatic sleep stage determination. Visual inspection by a qualified clinician is utilized to obtain the probability density function of parameters during the learning process of expert knowledge database construction. Parameter selection is introduced in order to make the algorithm flexible. Automatic sleep stage determination is manipulated based on conditional probability. The result showed close agreement comparing with the visual inspection by clinician. The developed system can meet the customized requirements in hospitals and institutions.

关键词： automatic sleep stage determination visual inspection multi-valued decision making parameter selection conditional probability

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Optimal Formation Reconfiguration control of Multiple UCAVs Using Improved Particle Swarm Optimization

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Journal of Bionic engineering 2008年第4期5卷 340-347页

作者： Hai-bin Duan Guan-jun Ma De-lin Luo School of Automation Science and Electrical Engineering Beihang University Beijing 100191 P. R. China Provincial Key Laboratory for Information Processing Technology Suzhou University Suzhou 215006 P. R. China Center for Systems and Control Xiamen University Xiamen 361005 P. R. China

Optimal formation reconfiguration control of multiple Uninhabited Combat Air Vehicles （UCAVs） is a complicated global optimum problem. Particle Swarm Optimization （PSO） is a population based stochastic optimization technique inspired by social behaviour of bird flocking or fish schooling. PSO can achieve better results in a faster, cheaper way compared with other bio-inspired computational methods, and there are few parameters to adjust in PSO. In this paper, we propose an improved PSO model for solving the optimal formation reconfiguration control problem for multiple UCAVs. Firstly, the control Parameterization and Time Diseretization （CPTD） method is designed in detail. Then, the mutation strategy and a special mutation-escape operator are adopted in the improved PSO model to make particles explore the search space more efficiently. The proposed strategy can produce a large speed value dynamically according to the variation of the speed, which makes the algorithm explore the local and global minima thoroughly at the same time. Series experimental results demonstrate the feasibility and effectiveness of the proposed method in solving the optimal formation reconfiguration control problem for multiple UCAVs.

关键词： uninhabited combat air vehicles particle swarm optimization control parameterization and time discretization optimal formation reeonfiguration

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State feedback stabilization for high-order stochastic nonlinear systems with zero dynamics

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控制理论与应用（英文版） 2008年第1期6卷 74-79页

作者： Jie TIAN Xuejun XIE Chenghui ZHANG Institute of Automation Qufu Normal University Qufu Shandong 273165 China School of Electrical Engineering and Automation Xuzhou Normal University Xuzhou Jiangsu 221116 China School of Control Science and Control Engineering Shandong University Jinan Shandong 250061 China

In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization is investigated for the first time. Under some weaker assumptions, a smooth state feedback controller is designed, which ensures that the closed-loop system has an almost surely unique solution on [0,∞）, the equilibrium at the origin of the closed-loop system is globally asymptotically stable in probability, and all the states can be regulated to the origin almost surely. A simulation example demonstrates the control scheme.

关键词： High-order stochastic nonlinear systems Zero dynamics State feedback Stabilization

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A unified approach to fuzzy modelling and robust synchronization of different hyperchaotic systems

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Chinese Physics B 2008年第11期17卷 4056-4066页

作者： Zhang, Hua-Guang Zhao, Yan Yu, Wen Yang, Dong-Sheng School of Information Science and Engineering Northeastern University Shenyang 110004 China Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang 110004 China Department of Automatic Control Engineering Shenyang Institute of Engineering Shenyang 110136 China Departamento de Control Automatico CINVESTAV-IPN Av. IPN 2508 México D. F. 07360 Mexico

In this paper, a Takagi-Sugeno (T-S) fuzzy model-based method is proposed to deal with the problem of synchronization of two identical or different hyperchaotic systems. The T-S fuzzy models with a small number of fuzzy IF-THEN rules are employed to represent many typical hyperchaotic systems exactly. The benefit of employing the T-S fuzzy models lies in mathematical simplicity of analysis. Based on the T-S fuzzy hyperchaotic models, two fuzzy controllers are designed via parallel distributed compensation (PDC) and exact linearization (EL) techniques to synchronize two identical hyperchaotic systems with uncertain parameters and two different hyperchaotic systems, respectively. The sufficient conditions for the robust synchronization of two identical hyperchaotic systems with uncertain parameters and the asymptotic synchronization of two different hyperchaotic systems are derived by applying the Lyapunov stability theory. This method is a universal one of synchronizing two identical or different hyperchaotic systems. Numerical examples are given to demonstrate the validity of the proposed fuzzy model and hyperchaotic synchronization scheme. © 2008 Chin. Phys. Soc. and IOP Publishing Ltd.

关键词： Synchronization

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Grey systems for intelligent sensors and information processing

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Journal of Systems engineering and Electronics 2008年第4期19卷 659-665页

作者： Chen Chunlin Dong Daoyi Chen Zonghai Wang Haibo Dept. of Control and System Engineering School of Management and Engineering Nanjing Univ. Nanjing 210093 P. R. China State Key Laboratory for Novel Software Technology Nanjing Univ. Nanjing 210093 P. R. China Dept. of Automation Univ. of Science and Technology of China Hefei 230027 P. R. China

In a measurement system, new representation methods are necessary to maintain the uncertainty and to supply more powerful ability for reasoning and transformation between numerical system and symbolic system. A grey measurement system is discussed from the point of view of intelligent sensors and incomplete information processing compared with a numerical and symbolized measurement system. The methods of grey representation and information processing are proposed for data collection and reasoning. As a case study, multi-ultrasonic sensor systems are demonstrated to verify the effectiveness of the proposed methods.

关键词： grey system grey sensors information processing

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New adaptive quasi-sliding mode control for nonlinear discrete-time systems

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Journal of Systems engineering and Electronics 2008年第1期19卷 154-160页

作者： Wang Weihong1,2 & Hou Zhongsheng3 1. school of Tra?c and Transportation, Beijing Jiaotong Univ., Beijing 100044, P. R. China 2. Dept. of automation, Taiyuan Univ. of science & Technology, Taiyuan 030024, P. R. China 3. Advanced control Systems Lab, school of Electronics and Information engineering, Beijing Jiaotong Univ., Beijing 100044, P. R. China [a]School of Traffic and Transportation Beijing Jiaotong Univ. Beijing 100044 P. R. China [b]Dept. of Automation Taiyuan Univ. of Science & Technology Taiyuan 030024 P. R. China [c]Advanced Control Systems Lab School of Electronics and Information Engineering Beijing Jiaotong Univ. Beijing 100044 P. R. China

A new adaptive quasi-sliding mode control algorithm is developed for a class of nonlinear discrete-time systems, which is especially useful for nonlinear systems with vaguely known dynamics. This design is model-free, and is based directly on pseudo-partial-derivatives derived on-line from the input and output information of the system using an improved recursive projection type of identification algorithm. The theoretical analysis and simulation results show that the adaptive quasi-sliding mode control system is stable and convergent.

关键词： quasi-sliding mode control adaptive control model-free control pseudo-partial-derivative

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Research of detecting the size distribution for indoor inhaled particulate matters

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Wuhan Ligong Daxue Xuebao (Jiaotong Kexue Yu Gongcheng Ban)/Journal of Wuhan University of Technology (Transportation science and engineering) 2008年第5期32卷 884-887页

作者： Liu, Hongli Li, Changxi Li, Li Zhang, Wei Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Automation Wuhan University of Technology Wuhan 430063 China

Adopting micro observation and image processing, this paper presents a new method to detect the size distribution of indoor inspiratory particulate matters based on mathematical morphology. It realizes binary image morphological filtering and image edge detection and detects the morphological parameters, such as size, fractal dimension and shape factors, which have been analyzed by information fusion, then the size distribution of indoor inhaled particulate matters is obtained. The experimental results show that this detection method can effectively filter the noise, remain the fundamental information of original particle images, and the edge image has smooth edge, continual skeleton and less breakpoint. So this method has advantages with intuitive, high precision, fast processing speed, easily data statistics, clearly data analysis and stable measuring results.

关键词： Information fusion Inspiratory particulate matter Mathematical morphology Size distribution

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A Total Generalized Optimal Velocity Model and Its Numerical Tests

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Journal of Shanghai Jiaotong university(science) 2008年第2期13卷 166-170页

作者：朱文兴刘允才 Department of Automation Shanghai Jiaotong University School of Control Science and Engineering Shandong UniversityJinan 250061China

A car-following model named total generalized optimal velocity model （TGOVM） was developed with a consideration of an arbitrary number of preceding vehicles before current one based on analyzing the previous models such as optimal velocity model （OVM）, generalized OVM （GOVM） and improved GOVM （IGOVM）. This model describes the physical phenomena of traffic flow more exactly and realistically than previous models. Also the performance of this model was checked out by simulating the acceleration and deceleration process for a small delay time. On a single circular lane, the evolution of the traffic congestion was studied for a different number of headways and relative velocities of the preceding vehicles being taken into account. The simulation results show that TGOVM is reasonable and correct.

关键词： car-following model multi-interaction relative velocities headways

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