This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication ...
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ISBN:
(纸本)9781479947249
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication noises).A dynamic output-feedback based protocol is proposed to solve the stochastic output consensus problem in this *** is proved that the mathematical expectations of relative outputs between agents are convergent to zero,and the second-order moments of relative outputs between agents are uniformly ***,some simulation examples are presented to demonstrate this phenomenon.
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM...
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ISBN:
(纸本)9781467374439
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM, we design a new structure of such mechanisms. The designed 4-DOF ASM can perform yaw and pitch movement actively while roll movement passively. To work efficiently, the ASM is designed to operate in three different modes: "float" mode, "lock" mode, and "active control" mode. Then we deduce the kinematics of articulated vehicle and analyze the workspace of the front vehicle with respect to the rear vehicle to demonstrate the motion performance of the designed ASM. With the elongation and shortening of hydraulic cylinders, the maximum steer angle is beyond 0.4 rad, the range of the rear pitch angle is(-0.22, 0.27) rad, and the range of the front pitch angle is(-0.45, 0.5) rad.
In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an...
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ISBN:
(纸本)9781467374439
In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an optimal control problem under some proper conditions. Then, in order to deal with the transformed optimal control problem, the discrete-time generalized HamiltonJacobi-Bellman equation is introduced and solved by employing the successive approximation method. The convergence proof of the iterative algorithm and the design procedure of the neural network implementation are developed as well. A numerical simulation is also provided to illustrate the effectiveness of the control strategy.
Convenient and efficient human-computer interaction has always been the goal pursued by researchers. In this paper, we present a vision-based handwriting interaction device for non-touch screens called Visual Pencil. ...
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Welcome to the last issue of the IEEE Transactions on Computational Social systems (TCSS) of 2017. TCSS is now in a great shape and has an increasing supply and inventory of high-quality papers in its review pipeline....
Welcome to the last issue of the IEEE Transactions on Computational Social systems (TCSS) of 2017. TCSS is now in a great shape and has an increasing supply and inventory of high-quality papers in its review pipeline. As an important part of our task of rejuvenating TCSS, we planned to publish at least ten papers in each issue, and we actually have 12 papers ready for this issue. However, due to the limit imposed by 2017 page budget, we have only 36 pages left, so only 3 out of these 12 papers can be published in this issue. I apologize to those authors whose papers will be postponed to the next issue. The situation will be significantly improved next year.
This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear *** existing optimal state feedback control,the control input of the optimal parallel control is introduced int...
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This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear *** existing optimal state feedback control,the control input of the optimal parallel control is introduced into the feedback ***,due to the introduction of control input into the feedback system,the optimal state feedback control methods can not be applied *** address this problem,an augmented system and an augmented performance index function are proposed ***,the general nonlinear system is transformed into an affine nonlinear *** difference between the optimal parallel control and the optimal state feedback control is analyzed *** is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index ***,an adaptive dynamic programming(ADP)technique is utilized to implement the optimal parallel tracking control using a critic neural network(NN)to approximate the value function *** stability analysis of the closed-loop system is performed using the Lyapunov theory,and the tracking error and NN weights errors are uniformly ultimately bounded(UUB).Also,the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference ***,the effectiveness of the developed optimal parallel control method is verified in two cases.
Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment...
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Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper ...
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Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.
We study the effect of mutation on the evolutionary prisoner＇s dilemma in highly clustered scale-free networks. It is found that cooperation is more sensitive and vulnerable to strategy mutation in more highly cluste...
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We study the effect of mutation on the evolutionary prisoner＇s dilemma in highly clustered scale-free networks. It is found that cooperation is more sensitive and vulnerable to strategy mutation in more highly clustered networks. For small mutation rates, high clustering coefficient promotes cooperation. For medium mutation rates, high clustering coefficient inhibits the emergence of cooperation. For large mutation rates, cooperation is insensitive to clustering property. We provide explanations for the effects of clustering on cooperation with varied mutation rates.
First of all, I would like to take this opportunity to express my sincere and deep thanks to our Editor-in-Chief, Professor Meng Chu Zhou, who took over my position after I was drafted for rejuvenating IEEE Transactio...
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First of all, I would like to take this opportunity to express my sincere and deep thanks to our Editor-in-Chief, Professor Meng Chu Zhou, who took over my position after I was drafted for rejuvenating IEEE Transactions on Computational Social systems in 2017. During the past five years, Meng Chu’s professional leadership and dedication has transformed IEEE/CAA Journal of Automatica Sinica(JAS) from its infancy to a young and high-impact publication in the world that is full of vitality and actively engaged by a group of talented and charged associate Ei Cs and editors, which is clearly demonstrated in Meng Chu’s farewell editorial [1]. I am very glad that Professor Qing-Long Han, an influential and leading scientist of the world-class in AI, control, automation, and intelligent science and technology from Australia, as well as a staunch supporter and great leader of this journal from its beginning, will take over the Ei C torch from Meng Chu next year, since I am extremely confident that our journal will reach a new high for its service and quality under his new leadership.
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