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作者： Shi, Dawei Elliott, Robert J. Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Mathematical Sciences University of Adelaide SA5005 Australia Haskayne School of Business University of Calgary CalgaryAB Canada Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

The state estimation problem for hidden Markov models subject to event-based sensor measurement updates is considered in this work, using the change of probability approach. We assume the measurement updates are transmitted through wired or wireless communication networks. For the scenarios with reliable and unreliable communication channels, analytical expressions for the probability distributions of the states conditioned on all the past point- and set-valued measurement information are obtained. Also, we show that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results. Based on these results, closed-form expressions for the estimated communication rates under the original probability measure are presented, which are shown to be the ratio between a weighted 1-norm and the 1-norm of the unnormalized conditional probability distributions of the states under the new probability measures constructed. Implementation issues are discussed, and the effectiveness of the results is illustrated by numerical examples and comparative simulations. © 2015 Elsevier Ltd. All rights reserved.

关键词： Hidden Markov models

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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Design, modeling and control of a novel amphibious robot wit...

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IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2015

作者： Yi, Yang Geng, Zhou Zhang, Jianqing Cheng, Siyuan Fu, Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479999941

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm. © 2015 IEEE.

关键词： Propulsion

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Resident electric vehicles charging optimization strategy in the smart grid 34

Resident electric vehicles charging optimization strategy in...

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34th Chinese control Conference, CCC 2015

作者： Ruiqin, Duan Zhongjing, Ma School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing China

ISBN: (纸本)9789881563897

Considering the stochastic nature of electric vehicles (EVs) charging activities, this paper is dedicated to schedule the resident EVs charging load in the smart grid. Three important factors of the EV charging process are taken into account and studied, including the characteristics of EV battery, the start time of EV charging and the initial state-of-charging (SOC) of EV battery. We present a resident EVs charging optimization scheduling strategy to minimize the variation of total power load in the specified time period. And then we propose an approximate evaluation method for the corresponding optimization problem. The simulation results illustrate that the proposed EVs charging scheduling strategy will reduce the total power load curve difference of peak and valley, and the proposed method is very promising to improve the daily load profile of power system. © 2015 Technical Committee on control Theory, Chinese Association of automation.

关键词： Electric vehicle Optimization scheduling Probability model Smart grid

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Integration Weights Determination of Launch Equipment Hydraulic system Based on Indexes Coupling Characteristics 34

Integration Weights Determination of Launch Equipment Hydrau...

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第三十四届中国控制会议

作者： CHEN Chen WANG Yun TIAN Zhimin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Mechanical Equipment

ISBN: (纸本)9781467374439

Launch equipment hydraulic system plays a vital role in completion of mission due to its stability and accuracy. This paper built an effectiveness evaluation index system based on comprehensive analysis of launch equipment hydraulic system, compared weighting factor determination mechanisms, and integrated independence factor into weight determination by combining the strong coupling feature of launch equipment hydraulic system indexes. The final weight was integrated and determined in four aspects, including importance weight, information weight, independence weight and credibility weight. Then, the paper obtained the system effectiveness evaluation results by utilizing system operation data, and provided theoretical and data reference for equipment selection and effectiveness improvement.

关键词： launch equipment,hydraulic system,effectiveness evaluation,indexes coupling,integration weights

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An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

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Journal of control and decision 2015年第1期2卷 64-85页

作者： Jie Huang Jie Chen Hao Fang Lihua Dou School of Automation Beijing Institute of TechnologyBeijingChina State Key Laboratory of Intelligent Control and Decision of Complex Systems BeijingChina Fujian Institute of Education FuzhouChina

This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system *** controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,*** important definitions,lemmas,theorems and dynamics are *** the consensus and formation control problems for networked nonholonomic chained systems are ***,some open questions are proposed.

关键词： distributed coordination multi-agent system nonholonomic system chained system high-order

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Iterative search with emulating nodes' local movement on range-free sensor network localization 34

Iterative search with emulating nodes' local movement on ran...

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第三十四届中国控制会议

作者： QIAO Dapeng GUO Zongben MA Hongwei SHI Shuguang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Aerospace Control Devices

ISBN: (纸本)9781467374439

This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations.

关键词： Wireless sensor network,Localization,Local movement,Evolutionary algorithm,Non-convex,Connectivity

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Multi-player pursuit–evasion games with one superior evader

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Automatica 2016年 71卷 24-32页

作者： Jie Chen Wenzhong Zha Zhihong Peng Dongbing Gu School of Automation Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China School of Computer Science and Electronic Engineering University of Essex Colchester CO4 3SQ UK

Inspired by the hunting and foraging behaviors of group predators, this paper addresses a class of multi-player pursuit–evasion games with one superior evader, who moves faster than the pursuers. We are concerned with the conditions under which the pursuers can capture the evader, involving the minimum number and initial spatial distribution required as well as the cooperative strategies of the pursuers. We present some necessary or sufficient conditions to regularize the encirclement formed by the pursuers to the evader. Then we provide a cooperative scheme for the pursuers to maintain and shrink the encirclement until the evader is captured. Finally, we give some examples to illustrate the theoretical results.

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Stability Analysis of Event-triggered Networked control systems with Time-Varying Delay 34

Stability Analysis of Event-triggered Networked Control Syst...

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第三十四届中国控制会议

作者： WANG Zhao SUN Jian CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Networked control systems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keeping a satisfactory performance of the system, by transmitting the state measurements only when an event-triggered condition is met. However,some network-induced problems would happen inevitably, such as communication delay. The delay can degrade the control performance significantly and can even lead to instability. In this paper, we study an NCS considering both ETC and time-varying delay, which is rare in the literature. We formulate the system as a discretized piecewise linear system with exponential uncertainty. Then the model is embedded in a polytopic approximation with better structure suitable for stability *** conditions are derived in terms of linear matrix inequalities(LMIs). Finally, the developed method is illustrated by a numerical example.

关键词： Networked control system,event-triggered control,time-varying delay,piecewise linear system,polytopic approximation,stability

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Modelling and Optimization of Heating Dispatch in Thermal Power Plant

Modelling and Optimization of Heating Dispatch in Thermal Po...

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第28届中国控制与决策会议

作者： Lixia Xie Yali Wu Xianyong Peng Lei Li Fan Yi School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Emerson Process Management Co.Ltd.

ISBN: (纸本)9781467397155

With the addition of heating in thermal power *** to lack of guidance for heating scheduling in traditional scheduling mode,it has been unable to satisfy the current costs for energy conservation and saving of thermal power *** load distribution(especially heat load dispatch) is an important subject in the operation optimization of a thermal power *** model of heat load dispatch on the condition of economic power dispatch is established and linear programming for optimized heat load distribution among units based on LINGO is *** average distribution and linear programming distribution are contrasted in a thermal power *** is obviously shown by simulation and calculation that linear programming distribution gets more optimal results than current average *** has important significance to reduce energy consumption and save costs.

关键词： Heating Dispatch Thermal Power Plant LINGO

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