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IEEE Transactions on Industrial Cyber-Physical systems 2024年 2卷 196-205页

作者： Ren, Hongru Long, Yinren Ma, Hui Li, Hongyi Guangdong University of Technology School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Guangdong University of Technology School of Mathematics and Statistics Guangzhou510006 China Southwest University College of Electronic and Information Engineering Chongqing Key Laboratory of Generic Technology and System of Service Robots Chongqing400715 China

This paper studied the distributed group coordinated control problem of cyber-physical systems (CPSs) with multi-agent architecture. We build the distributed networked multi-group agent systems (NMGASs) with nonlinear and unknown dynamics via cloud edge computing. The common and challenging situations of random communication constraints in CPSs are considered, including network-induced delay, packet dropout, and packet disorder, which are treated as round-trip time (RTT) delay. To actively compensate for RTT delay and achieve coordination among all agents, a data-driven cloud edge predicted control strategy is designed. This strategy only needs to obtain the I/O measurement data of the systems, and can automatically carry out adaptive learning, which has more extensive application scenarios compared to model-based control methods. Theoretical analysis yields the conditions of simultaneous stability and consensus of the closed-loop systems with the proposed strategy. Finally, the practical examples are provided to illustrate the effectiveness of the proposed strategy. © 2023 IEEE.

关键词： Edge computing

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Cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems with unknown dynamics 19

Cooperative adaptive fuzzy control of high-order nonlinear m...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Huang, Jie Fang, Hao Chen, Jie Dou, Lihua Deng, Fang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Fujian Institute of Education Fuzhou350025 China

ISBN: (纸本)9783902823625

This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm. © IFAC.

关键词： Multi agent systems

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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American control Conference (ACC)

作者： Yi Yang Hao Li Hao Zhu Ningyi Lyu Wenjie Song School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing Beijing CN School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Three-dimensional displays Urban areas Laser radar Autonomous vehicles

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Event-based H∞filtering for networked singular systems 35

Event-based H∞filtering for networked singular systems

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35th Chinese control Conference, CCC 2016

作者： Song, Weixu Sun, Jian Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789881563910

In this paper, the problem of H∞filtering for networked singular systems with an event-triggered scheme is investigated. With a modified event generator, remote sensor evaluates the periodically sampled data and only transmits those violate a certain event-triggered condition, and thus reduces the communication burden. The filtering error system is converted into a time-delay system model which can be studied using the Lyapunov stability theory. Based on this model, sufficient criteria are derived to guarantee the filtering error system regular, impulse free and stable with a prescribed H∞performance. The design method of the filter is also considered. Finally, an example is exploited to illustrate the effectiveness of the proposed method. © 2016 TCCT.

关键词： Event-triggered communication H∞ filtering Network-induced delay Singular system

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Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

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2016 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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Adaptive control of air delivery system for PEM fuel cell using backstepping

Adaptive control of air delivery system for PEM fuel cell us...

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作者： Li, Peng Chen, Jie Cai, Tao Zhang, Bo School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The proton exchange membrane (PEM) fuel cells have attracted significant attention due to high efficiency and low pollution. The performance and lifetime of the fuel cell power system depend on the heat and water management, gas flow control and pressure regulation. This paper focuses on the oxygen excess ratio regulation for the fuel cell system to improve the performance and extend the lifetime. Firstly, a third-order model of the air delivery subsystem is introduced based on suitable assumption and simplification. Secondly, the third-order model is transformed to the non-affine nonlinear form, and the oxygen excess ratio regulation is reconsidered as load current tracking problem. Using the backstepping technique and neural network, an adaptive controller is proposed for the tracking problem and guarantees the system's stability in presence of modeling errors, external disturbances and uncertainties. Finally, the simulation illustrates the effectiveness of the adaptive controller. © 2011 Asian control Association.

关键词： Backstepping

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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17th IEEE International Conference on Mechatronics and automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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A multi-robot target tracking algorithm with centroidal Voronoi tessellation and consensus strategy

A multi-robot target tracking algorithm with centroidal Voro...

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作者： Sun, Wei Dou, Lihua Chen, Jie Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9787894631046

A novel algorithm to solve the target tracking and formation control problem in multi-agent systems is proposed in the present work, which combines centroidal Voronoi tessellations (CVT) with consensus strategy. The algorithm utilizes the connection information among robots to further reduce the system cost function on the basis of CVT configuration. The work load among robots can be averaged by the consensus strategy thus the tracking and formation task can be achieved. The method configures the robots on to local optimal solution which minimize the sensing error. Simulations validated the proposed approach. Comparison is drawn between the pure CVT algorithm and the method with consensus strategy.

关键词： Target tracking

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Multi-group consensus via pinning control with non-linear heterogeneous agents

Multi-group consensus via pinning control with non-linear he...

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作者： Sun, Wei Bai, Yongqiang Jia, Rui Xiong, Rui Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The agents connected by networks are capable to reach a prescribed state if only a small fraction of them are controlled with feedback information. The present work tries to stabilize groups of non-linear agents in a directed network onto a stable state with several equilibriums. The agent dynamics can be identical or heterogeneous. But the agents in the same group share a same non-linear model. The conditions to reach multiple consensus states are provided under both non-switching and switching topologies. The maximum number of heterogeneous equilibriums is discussed. It is proved theoretically and by simulations that under certain conditions, pinning control can lead a multi-group network to reach a multi-valued consensus state. © 2011 Asian control Association.

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Recursive blind LMS parameter identification for single-input multiple-output system

Recursive blind LMS parameter identification for single-inpu...

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作者： Chen, Jie Ma, Tao Chen, Wenjie Zhang, Bo School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

A blind least-mean-squares (BLMS) algorithm is proposed for the parameter identification of single-input multiple-output (SIMO) systems. Without requiring knowledge of a reference signal, it is proved that the presented parameter estimates almost sure converge to their real value under the assumption that the observed noises are mutually independent distributed additive white sequence with known variance. The noise variance of observed signal is estimated from the eigenvalues of a matrix related to observed signal sequence firstly. We back our theoretical findings with experiments showcasing the potential merits of the BLMS in practice. © 2011 Asian control Association.

关键词： Eigenvalues and eigenfunctions

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