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Algebraic Connectivity Estimation Based on Decentralized Inverse Power Iteration

Asian Journal of control 2017年第2期19卷 805-812页

作者： Wei, Yue Fang, Hao Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this work, we propose a new scheme to estimate the algebraic connectivity of the graph describing the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The main idea is to propose a new decentralized conjugate gradient algorithm and a decentralized compound inverse power iteration scheme. The matrix inversion computation in this scheme is replaced by solving the non-homogeneous linear equations relying on the proposed decentralized conjugate gradient algorithm. With this scheme, we can achieve a fast convergence rate in estimating the algebraic connectivity by setting the parameter μ properly. Simulation results demonstrate the effectiveness of the proposed scheme. © 2016 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Network topology

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Cooperative transportation control of multiple mobile manipulators through distributed optimization

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Science China. Information Sciences 2018年第12期61卷 120201-1--120201-1--120201-17页

作者： Chen Jie Kai Shixiong School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex SystemsMOE Beijing 100081

This paper investigates the problem of distributed control of multiple redundant mobile manipulators to collectively transport an object tracking a desired trajectory with energy and manipulability optimized. To solve this optimization problem, formation control tasks are introduced as equality constraints with the variables being the velocities. In this paper, we propose a distributed proximal gradient algorithm searching for the optimal solution, with which the stability of the closed-loop system is proved. Simulations demonstrate the effectiveness of the proposed distributed optimization scheme and proximal algorithm.

关键词： multiple mobile manipulators cooperative transportation control motion planning energy and manipulability distributed optimization

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Disease Diagnostic Prediction Model Based on Improved Hybrid CAPSO-BP Algorithm 36

Disease Diagnostic Prediction Model Based on Improved Hybrid...

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第36届中国控制会议

作者： Zhenbing Yuan Shuli Guo Lina Han Key Laboratory of Intelligent Control and Decision School of AutomationBeijing Institute of Technology Mathematical Institute University of Oxford Department of Cardiology Internal Medicine Nanlou Branch of Chinese PLA General Hospital

ISBN: (纸本)9781538629185

To improve the simulation accuracy of disease prediction model,a modified hybrid algorithm combining BP neural network(BPNN) with particle swarm optimization(PSO) algorithm based on chaos theory optimization is proposed considering BPNN is easy to fall into the local *** chaos theory is used to optimize PSO algorithm to overcome the premature convergence of the traditional PSO ***,the improved CAPSO algorithm is used to train the BPNN,to make full use of the global search characteristic of PSO algorithm and the local search ability of *** fitness function of the PSO algorithm is used as the energy function,and the optimization method of the improved hybrid algorithm is selected according to the specified number of *** optimized network model was used to predict the prevalence of coronary heart *** with other algorithms such as BP neural network,the results show that the proposed algorithm has high accuracy and can significantly improve the quality of prediction.

关键词： Prediction Model BPNN PSO Chaos Theory

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Brain Storming Optimization Algorithm for Heating Dispatch Scheduling of Thermal Power Plant 29

Brain Storming Optimization Algorithm for Heating Dispatch S...

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第29届中国控制与决策会议

作者： Lu Kang Yali Wu Xinrui Wang Xiaohua Feng School of Automation and Information Engineering Xi'an University of Technology Shannxi Province Key Laboratory of Complex System Control and Intelligent Information Processing School of Marine Science and Technology Northwestern Polytechnical University

ISBN: (纸本)9781509046584

In the traditional scheduling mode of the current thermal power plants,only the power load distribution of the unit was *** there was no enough guidance to the heat source *** can not meet the current energy-saving and emission-reduction *** this paper,an optimal heat load dispatching model is set up under the premise of power load distribution of thermal power *** kinds of heat loads including to high-pressure,medium-pressure and low-pressure are taken into account in the scheduling *** to the characteristics of the problem,Brain Storming Optimization(BSO) algorithm is used to get the optimal distribution *** comparison with the original scheme shows the correctness of the model and the optimization ***,the optimization ability and effectiveness of brain storming optimization algorithm in solving complex optimization problems are verified by comparing the proposed algorithm with the other different optimization algorithms,such as Particle Swarm Optimization(PSO) and Differential Evolution(DE) algorithm.

关键词： Heating Dispatching Brain Storming Optimization Algorithm Load Distribution

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An improved tiny SLAM method for simultaneous localization and mapping 5

An improved tiny SLAM method for simultaneous localization a...

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5th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Li, Dan-Yun Liu, Cong-Jun Liu, Zhen-Tao Feng, Zhi-Yong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Wuhan430070 China

TinySLAM algorithm is a simple 2D laser SLAM algorithm. However, in practical applications, it has higher error rate of mapping because of its simple filter. In this paper, an improved TinySLAM algorithm is proposed for simultaneous location and mapping. By adding a simple filter before the Monte Carlo simulation and then fusing the information from the odometer, the error in the positioning process can be reduced. Moreover, the introduced hybrid map cell model that can be compatible with ROS system, improves the response to dynamic obstacles, and reduces the mapping error rate further. Simulation using ROS system and Stage software is performed, from which the results show that the proposal has good effects comparing with TinySLAM, and the error rate is reduced so that the map built is closer to the actual environment.

关键词： Mapping

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Consensus control of Second-Order Stochastic Delayed Multi-Agent systems with Intrinsic Dynamics and Undirected Topologies

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IFAC-PapersOnLine 2017年第1期50卷 2421-2426页

作者： Zong X. Li T. Zhang J.-F. School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan 430074 China Department of Mathematics East China Normal University Shanghai 200241 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China

In this paper, we address the consensus control of stochastic multi-agent systems with intrinsic dynamics based on measurements with time-delay and multiplicative noises under undirected graphs. By developing degenerate Lyapunov functional and stochastic stability theorem, we establish mean square and almost sure consensus conditions explicitly related to the nonlinearity of agent dynamics, control gains, noise intensities and parameters of network graphs. Especially, for the case with linear dynamics, we get necessary conditions for mean square consensus. It is shown that with respect to the weighted-average type control protocols, second-order multi-agent systems are kept mean square consentable with multiplicative measurement noises alone or intrinsic dynamics alone, but may become unconsentable due to the co-existence of multiplicative noises and intrinsic dynamics. © 2017

关键词： consensus intrinsic dynamics multiplicative noise Second-order multi-agent system time-delay

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A four-stage localization method for epileptic seizure onset zones

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IFAC-PapersOnLine 2017年第1期50卷 4412-4417页

作者： Wan T. Wu M. Lai X. Wan X. She J. Du Y. School of Automation China University of Geosciences Wuhan Hubei 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei 430074 China School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Automation Guangdong University of Technology Guangzhou Guangdong 510006 China

This paper presents a four-stage localization method for epileptic seizure onset zones (SOZs). This method combines the advantages of both the Shannon-entropy-based complex Morlet wavelet transform (SE-CMWT) and adaptive-genetic-algorithm-based matching pursuit (AGA-MP) methods to achieve satisfactory localization performance. The Hilbert transform method is used to identify events of interest. The SE-CMWT-based power spectral density method is applied to acquire channels of interest (CoIs). By using the Morlet wavelets as the dictionary elements, the AGA-MP method combined with Morlet wavelets is developed to detect high-frequency oscillations (HFOs) on CoIs with faster speed and higher accuracy than the AGA-MP method. And the characteristics of HFOs are used to localize SOZs based on the half-maximum method. A comparison shows that our method has higher sensitivity and specificity than four existing methods. © 2017

关键词： Epilepsy Four-stage localization method High-frequency oscillation (HFO) Seizure onset zone (SOZ)

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A Modified System Model and its Application on SINS/GPS Integrated System

A Modified System Model and its Application on SINS/GPS Inte...

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IEEE International Conference on Cyber Technology in automation, control, and intelligent systems

作者： Xuan Xiao Xiang Guo Yuan Liang Chao Shi Songtian Shang Hong Hu School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538604915

Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial Navigation System (SINS)/Global Positioning System (GPS), the model construction is affected by a certain error sources. The most significant one is computational errors, which are caused by improper reference frame and the absence of true values. To solve the problem, this paper presents a modified system model which reduce the impact of computational errors by selecting computational frame as reference coordinate frame and removing all true values. Simulation results have demonstrated that modified system model effectively improves the performance of Kalman filter in SINS/GPS integrated system.

关键词： Kalman filters systems modelling Integrated system strapdown inertial navigation system Error Sources Modified

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Stability and Neimark-Sacker bifurcation analysis for single gene discrete system with delay

Stability and Neimark-Sacker bifurcation analysis for single...

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Chinese control Conference

作者： Feng Liu Qicheng Mei Fenglan Sun Xinmei Wang Hua O. Wang Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing China Department of Mechanical Engineering Boston University Boston MA USA

The network structure and functional properties of gene regulatory system and their relationships arc an important research field in systems biology. In this paper, a new improved model is proposed based on the study of gene expression process. The model takes into account the effect of protein concentration on the gene expression, so as to obtain a new bifurcation point and improve the performance of the system. The validity of the model is verified by theoretical analysis and data simulation.

关键词： Mathematical model Proteins Stability analysis Bifurcation Biological system modeling Delays RNA

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Multi-sensor optimal distributed weighted Kalman filter fusion over unreliable networks 35

Multi-sensor optimal distributed weighted Kalman filter fusi...

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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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