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arXiv 2019年

作者： Yang, Qiuling Wang, Gang Sadeghi, Alireza Giannakis, Georgios B. Sun, Jian State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States

Modern distribution grids are currently being challenged by frequent and sizable voltage fluctuations, due mainly to the increasing deployment of electric vehicles and renewable generators. Existing approaches to maintaining bus voltage magnitudes within the desired region can cope with either traditional utility-owned devices (e.g., shunt capacitors), or contemporary smart inverters that come with distributed generation units (e.g., photovoltaic plants). The discrete on-off commitment of capacitor units is often configured on an hourly or daily basis, yet smart inverters can be controlled within milliseconds, thus challenging joint control of these two types of assets. In this context, a novel two-timescale voltage regulation scheme is developed for distribution grids by judiciously coupling data-driven with physicsbased optimization. On a faster timescale, say every second, the optimal setpoints of smart inverters are obtained by minimizing instantaneous bus voltage deviations from their nominal values, based on either the exact alternating current power flow model or a linear approximant of it;whereas, on the slower timescale (e.g., every hour), shunt capacitors are configured to minimize the longterm discounted voltage deviations using a deep reinforcement learning algorithm. Extensive numerical tests on a real-world 47-bus distribution network as well as the IEEE 123-bus test feeder using real data corroborate the effectiveness of the novel scheme. Copyright © 2019, The Authors. All rights reserved.

关键词： Deep learning

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Evolution of Cooperation in Snowdrift Game with Multi-Memory Mechanism 42

Evolution of Cooperation in Snowdrift Game with Multi-Memory...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Yaojun Liu, Xingwen Tashi, Nyima College of Electrical Engineering Southwest Minzu University Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission Sichuan Chengdu610225 China Engineering Research Center for Tibetan Information Processing School of Information Science and Technology Tibet University Lhasa850000 China

ISBN: (纸本)9789887581543

Cooperative behavior has been of great concern in evolutionary game researches because of its important role in social life and natural evolution. Since memory can greatly influence the emergence of cooperative behavior, memory-based research on evolutionary games has proliferated in recent years. In the present paper, inspired by the well-known 'Stanford marshmallow experiment' (SME), we proposed a multi-memory mechanism in Snowdrift game (SDG) on spatial lattice networks whose core lies in what follows: Players are divided into two groups according to individual self-control;different memory lengths are set by group and by time in a single realization. The simulation results show that our proposed mechanism promotes cooperation level of the considered evolutionary game. More specifically, as memory length increases to an intermediate length, the cooperation level increases as well. For mechanism with short memory length, the effect of population structure is obvious and small values of adjusting factor can intensively facilitate high-frequency cooperative behavior. These findings may be helpful to understand the connection between population heterogeneity and the emergence of high cooperation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Behavioral research

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Finite-time tracking consensus in probability for multi-agent system with noises and time delay

Finite-time tracking consensus in probability for multi-agen...

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International Conference on Information Science and Technology (ICIST)

作者： Mingyan Tuo Fenglan Sun Feng Wang Hao Li Key Lab of Intelligent Analysis and Decision on Complex Systems School of Science Chongqing University of Posts and Telecommunications Chongqing China Key Lab of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9781665412667;9781665429412

This paper studies the finite-time tracking consensus in probability of multi-agent systems with noises and time delay. By using the method of pinning control and observer, the system both with and without the leader as the root of a spanning tree is considered. According to algebraic graph theory, stochastic Lyapunov stability theory and control theory, sufficient conditions for the tracking consensus are given. Numerical simulations are given to verify the effectiveness of the main results.

关键词： Sufficient conditions Information science Protocols Delay effects Observers Numerical simulation Graph theory

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Distributed Full Order Sliding Mode control for Finite-time Attitude Synchronization and Tracking of Spacecraft

Distributed Full Order Sliding Mode Control for Finite-time ...

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第37届中国控制会议

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology School of Automation Huazhong University of Science and Technology

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues parameters are used for attitude representation.A two layer sliding mode surface with fast non-singular terminal sliding mode surface（FNTSMS） as the inner layer and terminal sliding mode surface（TSMS） as the outer layer is used to create a full order sliding mode *** proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader’s time varying ***-time stability of the closed loop system is guaranteed by Lyapunov-based stability *** results are presented to validate the performance of the proposed control strategy.

关键词： Attitude synchronization Attitude tracking Finite-time Full-order sliding mode（FOSM） Distributed control

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Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors

Deep Domain Adaptation Regression for Force Calibration of O...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Zhuo Chen Ni Ou Jiaqi Jiang Shan Luo Department of Engineering Robot Perception Lab Centre for Robotics Research King’s College London London United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors.

关键词： Accuracy Force Tactile sensors Lighting Elastomers Data collection Optical imaging Adaptive optics Calibration Optical sensors

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Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin Institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

关键词：

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On the nonexistence of event-based triggers that preserve Gaussian state in presence of package-drop

On the nonexistence of event-based triggers that preserve Ga...

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American control Conference

作者： Enoch Kung Junfeng Wu Dawei Shi Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Department of Automatic Control The Royal Institute of Technology (KTH) State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781509045839

state estimation is a core objective in cyber-physical systems. In the state estimation problem over linear systems, the Kalman filter is the standard solution. The filter is the format on which the solutions to subsequent estimation problems are based. Among these problems are the estimation problem in the presence of packet drops and estimation problem involving event-based triggers. We study in this paper both phenomena simultaneously. In an attempt to find the Kalman-like filter, which proves the Gaussianity of the state and offers a set of update equations, our paper shows that no such filter exists. More precisely, one cannot find an event-based trigger such that under possible packet drops, the state variable remains a Gaussian variable. This conclusion can be reasonably extended to a more general setting.

关键词： state estimation Packet drops Event-based triggers state estimation Event-based Filters state variable TRIGGERS Gauss

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Bayesian optimization assisted meal bolus decision based on gaussian processes learning and risk-sensitive control

arXiv

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arXiv 2021年

作者： Cai, Deheng Liu, Wei Ji, Linong Shi, Dawei State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Department of Endocrine and Metabolism Peking University People’s Hospital Beijing China

Effective postprandial glucose control is important to glucose management for subjects with diabetes mellitus. In this work, a data-driven meal bolus decision method is proposed without the need of subject-specific glucose management parameters. The postprandial glucose dynamics is learnt using Gaussian process regression. Considering the asymmetric risks of hyper- and hypoglycemia and the uncertainties in the predicted glucose trajectories, an asymmetric risk-sensitive cost function is designed. Bayesian optimization is utilized to solve the optimization problem, since the gradient of the cost function is unavailable. The proposed approach is evaluated using the 10-adult cohort of the FDA-accepted UVA/Padova T1DM simulator and compared with the standard insulin bolus calculator. For the case of announced meals, the proposed method achieves satisfactory and similar performance in terms of mean glucose and percentage time in [70, 180] mg/dL without increasing the risk of hypoglycemia. Similar results are observed for the case without the meal information (assuming that the patient follows a consistent diet) and the case of basal rate mismatches. In addition, advisory-mode analysis is performed based on clinical data, which indicates that the method can determine safe and reasonable meal boluses in real clinical settings. The results verify the effectiveness and robustness of the proposed method and indicate the feasibility of achieving improved postprandial glucose regulation through a data-driven optimal control method. © 2021, CC BY.

关键词： Gaussian distribution

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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Event-based state estimation of discrete-state hidden Markov models

Event-based state estimation of discrete-state hidden Markov...

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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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