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Consensus control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case

IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1440-1451页

作者： Yamei Ju Derui Ding Xiao He Qing-Long Han Guoliang Wei Shanghai Key Lab of Modern Optical System the Department of Control Science and EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia Department of Automation BNRistTsinghua UniversityBeijing 100084China College of Science University of Shanghai for Science and TechnologyShanghai 200093China

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication ***,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed ***,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability ***,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,***,a simulation result is employed to verify the usefulness of the proposed design framework.

关键词： Consensus control dynamic event-triggered protocol(DETP) fault compensation(FC) fault estimation multi-agent systems(MASs)

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Research on Mixing of Virtual and Actual Reality for Motor Augmented Assembly 23

Research on Mixing of Virtual and Actual Reality for Motor A...

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6th International Conference on Image and Graphics Processing, ICIGP 2023

作者： Zhang, Haowei Shao, Xuqiang Wu, Xuan School of Control and Computer Engineering North China Electric Power University China Engineering Research Center of Intelligent Computing for Complex Energy Systems Ministry of Education China

ISBN: (纸本)9781450398572

The effect of the mixing of virtual and actual reality will directly affect the realism and immersion of the augmented assembly system. The correct occlusion relationship and collision interaction between virtual and real objects are crucial to the fusion effect. The existing virtual-real occlusion handling methods cannot be applied to the augmented assembly system with complex contours and changeable scenes. Therefore, an occlusion handling method based on "virtual avatar"of motor equipment is proposed, which has strong robustness and real-time performance. Aiming at the problem that the number of wrong matching pairs of feature points is too large in the 3D registration process, we combine the method of Cosine similarity measurement on the basis of ORB algorithm to improve the accuracy of feature point matching. The current virtual and real object collision detection methods have large computation and low detection accuracy. We propose an octree hierarchical collision detection optimization algorithm based on model surface voxelization representation and volume difference, which improves the detection accuracy on the basis of ensuring computational efficiency. The experimental results show that the proposed methods have high real-time performance and accuracy, and greatly improve the realism and immersion of the augmented assembly system. © 2023 ACM.

关键词： Augmented reality

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From social interaction to ethical AI: A developmental roadmap 8

From social interaction to ethical AI: A developmental roadm...

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Joint 8th IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2018

作者： Rolf, Matthias Crook, Nigel Steil, Jochen School of Engineering Computing and Maths Oxford Brookes University United Kingdom Institute for Robotics and Process Control Technische Universität Braunschweig Germany

ISBN: (纸本)9781538661109

AI and robot ethics have recently gained a lot of attention because adaptive machines are increasingly involved in ethically sensitive scenarios and cause incidents of public outcry. Much of the debate has been focused on achieving highest moral standards in handling ethical dilemmas on which not even humans can agree, which indicates that the wrong questions are being asked. We suggest to address this ethics debate strictly through the lens of what behavior seems socially acceptable, rather than idealistically ethical. Learning such behavior puts the debate into the very heart of developmental robotics. This paper poses a roadmap of computational and experimental questions to address the development of socially acceptable machines. We emphasize the need for social reward mechanisms and learning architectures that integrate these while reaching beyond limitations of plain reinforcement-learning agents. We suggest to use the metaphor of 'needs' to bridge rewards and higher level abstractions such as goals for both communication and action generation in a social context. We then suggest a series of experimental questions and possible platforms and paradigms to guide future research in the area. © 2018 IEEE.

关键词： Reinforcement learning

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Simplified control Strategies for Power Converters in a Grid-Connected Hybrid DC-AC Microgrid

Simplified Control Strategies for Power Converters in a Grid...

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2023 International Conference on Future Energy Solutions, FES 2023

作者： Busarello, Tiago Davi Curi Simões, Marcelo Godoy Laaksonen, Hannu Kauhaniemi, Kimmo Federal University of Santa Catarina Department of Control Automation and Computing Engineering Blumenau Brazil University of Vaasa School of Technology and Innovations Vaasa Finland

ISBN: (纸本)9798350332308

Many typical converter control strategies used in microgrids are complex or require modifications in the power structure. The complexities are due coupling effects among controllers and time-delay caused in exchanging information in the system. This paper proposes simplified control strategies for power converters in a grid-connected hybrid DC-AC microgrid, aiming to ensure precise voltage and current regulation. The used controllers are proportional-resonant, integral-double-lead, proportional-integral and single integral controller. In this paper, the methodology for tuning each controller is carefully described in detail and recommendation for choosing their bandwidth is given. Then, the designed controllers are discretized through the Backward-Euler approximation. The power converters of the microgrid are an inverter, a Buck, a Boost and a bidirectional DC-DC. A case study is conducted through simulations with Matlab/Simulink. Results show that the controlled variables follow their reference signals with negligible steady-state error, proving the efficacy of the simplified control strategies and allowing an stable operation of the microgrid. © 2023 IEEE.

关键词： controllers

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Discriminative voting for activity prediction 15

Discriminative voting for activity prediction

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7th International Conference on Internet Multimedia computing and Service, ICIMCS 2015

作者： Xu, Zhen Qing, Laiyun Miao, Jun School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing100049 China Institute of Computing Technology CAS Beijing100190 China

ISBN: (纸本)9781450335287

Human activity prediction is a quite challenging problem, for activity prediction systems have to make decisions based on partially observed videos. However, activity prediction methodologies have many practical applications in real-world scenarios, such as human-robot interaction, security surveil- lance, etc. In this paper, we formulate the activity predic- tion problem into a discriminative weighted voting frame- work by unifying two di-erent discriminative weights: 1) detector weights (DW): Mid-level features detected by dis- tinct detectors are supposed to have di-erent weights. 2) temporal weights (TW): Human activities are composed of sequential frames, so features in di-erent phases should have di-erent voting weights. We evaluate our voting model on two datasets. The experimental results clearly show that our method with discriminative weights enables better pre- diction of human activities. © 2015 ACM.

关键词： Human robot interaction

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Feature Extraction of Electric Information Acquisition System Based on Haar Wavelet Transform 2

Feature Extraction of Electric Information Acquisition Syste...

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2017 IEEE 2nd International Conference on Big Data Analysis（ICBDA 2017）

作者： Ting Zhao Jiangqi Chen Di Zhang Yang Yang Advanced Computing and Big Data Technology Laboratory of SGCC Global Energy Interconnection Research Institute School of Control and Computer Engineering North China Electric Power University

ISBN: (纸本)9781509036202

This paper studies the structure features of the collected power consumers' power consumption data,in which the 96 measured data points indicating a single user's power consumption curve of a *** 96 measured data points are taken as 96 variables for *** dimensionality of original data is reduced by principal component analysis(PCA),and then the K-means algorithm is employed to cluster the original time-series load data of power *** detail,Haar wavelet transform is adopted to provide a five-level multi-resolution decomposition of the original load data,from which 93 Haar coefficients and 3 scale coefficients are *** cluster result is taken as category labels,and the standardized 93 coefficients and 3 scale coefficients as dependent variables,a classification model based on C5.0 algorithm is established to confirm the Haar scale coefficients as characteristic quantity of power consumption ***,the data acquisition is simplified and storage space *** method could also be adopted for feature extraction of tremendous detail data and indicator data in power system,with potential application value and economic benefit.

关键词： electricity information collection data wavelet transform C5.0 algorithm K-means algorithm

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One family of 13315 stable periodic orbits of non-hierarchical unequal-mass triple systems

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Science China(Physics,Mechanics & Astronomy) 2021年第1期64卷 108-113页

作者： XiaoMing Li XiaoChen Li ShiJun Liao MOE Key Laboratory of Disaster Forecast and Control in Engineering School of Mechanics and Construction EngineeringJinan UniversityGuangzhou510632China Department of Earth Atmospheric and Planetary SciencesMassachusetts Institute of TechnologyCambridge02139USA School of Civil Engineering and Transportation South China University of TechnologyGuangzhou510641China Department of Engineering Science University of OxfordOxfordOX13PJUK Center of Advanced Computing School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong UniversityShanghai200240China School of Physics and Astronomy Shanghai Jiao Tong UniversityShanghai200240China

The three-body problem can be traced back to Newton in 1687,but it is still an open question *** that only a few periodic orbits of three-body systems were found in 300 years after Newton mentioned this famous *** triple systems are common in astronomy,practically all observed periodic triple systems are hierarchical(similar to the Sun,Earth and Moon).It has traditionally been believed that non-hierarchical triple systems would be unstable and thus should disintegrate into a stable binary system and a single star,and consequently stable periodic orbits of non-hierarchical triple systems have been expected to be rather ***,we report here one family of 135445 periodic orbits of non-hierarchical triple systems with unequal masses;13315 among them are *** with the narrow mass range(only 10-5)in which stable"Figure-eight"periodic orbits of three-body systems exist,our newly found stable periodic orbits have fairly large mass *** find that many of these numerically found stable non-hierarchical periodic orbits have mass ratios close to those of hierarchical triple systems that have been measured with astronomical *** implies that these stable periodic orbits of non-hierarchical triple systems with distinctly unequal masses quite possibly can be observed in *** investigation also suggests that there should exist an infinite number of stable periodic orbits of non-hierarchical triple systems with distinctly unequal *** that our approach has general meaning:in a similar way,every known family of periodic orbits of three-body systems with two or three equal masses can be used as a starting point to generate thousands of new periodic orbits of triple systems with distinctly unequal masses.

关键词： three-body problem non-hierarchical system periodic orbits

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An Efficient Network-on-Chip Router for Dataflow Architecture

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Journal of Computer Science & Technology 2017年第1期32卷 11-25页

作者： Xiao-Wei Shen Xiao-Chun Ye Xu Tan Da Wang Lunkai Zhang Wen-Ming Li Zhi-Min Zhang Dong-Rui Fan Ning-Hui Sun State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing 100049 China Department of Computer Science The University of Chicago IL 60637 U.S.A.

Dataflow architecture has shown its advantages in many high-performance computing cases. In dataflow computing, a large amount of data are frequently transferred among processing elements through the network-on-chip （NoC）. Thus the router design has a significant impact on the performance of dataflow architecture. Common routers are designed for control-flow multi-core architecture and we find they are not suitable for dataflow architecture. In this work, we analyze and extract the features of data transfers in NoCs of dataflow architecture： multiple destinations, high injection rate, and performance sensitive to delay. Based on the three features, we propose a novel and efficient NoC router for dataflow architecture. The proposed router supports multi-destination; thus it can transfer data with multiple destinations in a single transfer. Moreover, the router adopts output buffer to maximize throughput and adopts non-flit packets to minimize transfer delay. Experimental results show that the proposed router can improve the performance of dataflow architecture by 3.6x over a state-of-the-art router.

关键词： multi-destination router network-on-chip dataflow architecture high-performance computing

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PID-fuzzy switching-based strategy to heading control for remote operated vehicle

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Neural computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

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Tissue P systems with cell separation: attacking the partition problem

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Science China(Information Sciences) 2011年第2期54卷 293-304页

作者： ZHANG XingYi1, WANG Shuo2, NIU YunYun2 & PAN LinQiang2 1Key Lab of Intelligent computing and Signal Processing of Ministry of Education, school of Computer Science and Technology, Anhui University, Hefei 230039, China 2Image Processing and Intelligent control Key Laboratory of Education Ministry of China, Department of control Science and engineering, Huazhong University of Science and Technology, Wuhan 430074, China 1. Key Lab of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei 230039 China2. Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Tissue P systems are distributed parallel and non-deterministic computing models in the framework of membrane computing, which are inspired by intercellular communication and cooperation between neurons. Recently, cell separation is introduced into tissue P systems, which enables systems to generate an exponential workspace in a polynomial time. In this work, the computational power of tissue P systems with cell separation is investigated. Specifically, a uniform family of tissue P systems with cell separation is constructed for effciently solving a well-known NP-complete problem, the partition problem.

关键词： membrane computing tissue P system cell separation partition problem

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