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New advances in complex motion control for single robot systems and multi-agent systems

Science China(Technological Sciences) 2016年第12期59卷 1963-1964页

作者： FANG Hao LU Shao Lei CHEN Jie School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

CHEN Jie,email：chenjie@***

关键词： robot advances email cooperation simplified decomposed scenarios classic climbing obstacles

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Compressive phase retrieval via reweighted amplitude flow

arXiv

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arXiv 2017年

作者： Zhang, Liang Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

The problem of reconstructing a sparse signal vector from magnitude-only measurements (a.k.a., compressive phase retrieval), emerges naturally in diverse applications, but it is NP-hard in general. Building on recent advances in nonconvex optimization, this paper puts forth a new algorithm that is termed compressive reweighted amplitude flow and abbreviated as CRAF, for compressive phase retrieval. Specifically, CRAF operates in two stages. The first stage seeks a sparse initial guess via a new spectral procedure. In the second stage, CRAF implements a few hard thresholding based iterations using reweighted gradients. When there are sufficient measurements, CRAF provably recovers the underlying signal vector exactly with high probability under suitable conditions. Moreover, its sample complexity coincides with that of the state-of-the-art procedures. Finally, substantial simulated tests showcase remarkable performance of the new spectral initialization, as well as improved exact recovery relative to competing alternatives. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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A survey on the security of cyber-physical systems

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control Theory and Technology 2016年第1期14卷 2-10页

作者： Guangyu WU Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Cyber-physical systems （CPSs） are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and manufacturing. Security is one of the most important issues that should be investigated in CPSs and hence has received much attention in recent years. This paper surveys recent results in this area and mainly focusses on three important categories： attack detection, attack design and secure estimation and control. We also discuss several future research directions including risk assessment, modeling of attacks and attacks design, counter-attack strategy and testbed and validation.

关键词： Security cyber-physical systems attack detection secure estimation and control

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A Camera Self-Calibration Method Based on Parallel QPSO

A Camera Self-Calibration Method Based on Parallel QPSO

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第36届中国控制会议

作者： QIU Huang-bin ZHANG Xin-yu DENG Fang GAO Xin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Radio Film & TV Design and Research InstituteBeijing

In the field of machine vision,camera calibration is a key *** self-calibration,one of camera calibration methods,is only based on the images to calculate the camera’s intrinsic *** has simple calibration process and strong *** self-calibration algorithm needs to calculate the epipole and fundamental matrix by solving the Kruppa equation,but the uncertainty of the epipole always leads to large error and long operation *** improve the precision of camera calibration and reduce the time consumption,the parallel quantum particle swarm algorithm（QPSO） is introduced to solve the improved Kruppa *** can figure out the camera intrinsic parameters and transform the calculation of epipole into the adaptive value of the cost *** with the ordinary particle swarm optimization algorithm（PSO）,QPSO has less parameters,better robustness and faster convergence *** using a multi-core computer platform,its parallel processing has also combined with the characteristics of parallel computing which improves the calculation *** results show that the proposed method is more accurate than ordinary PSO,and the program time consuming is significantly reduced.

关键词： parallel computing quantum particle swarm algorithm（QPSO） camera self-calibration Kruppa equation

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Improved Nonsingular Terminal Sliding Mode Attitude Tracking control for Reentry Vehicle 35

Improved Nonsingular Terminal Sliding Mode Attitude Tracking...

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第35届中国控制会议

作者： CHENG Yifeng SHENG Yongzhi LIU Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper investigates the attitude tracking control problem of reentry vehicle with modeling inaccuracies and external disturbances. An improved nonsingular terminal sliding mode control method is presented, and a faster convergence rate is obtained in comparison with the conventional nonsingular terminal sliding mode control(NTSM). By the proposed control strategy, the possible singularity during the control phase is avoided, and robustness is also guaranteed. Simulation is made for a reentry vehicle in the condition aerodynamic parameters and atmospheric density are perturbed. The results show the effectiveness of the proposed strategies.

关键词： reentry vehicle improved nonsingular terminal sliding mode fast convergence rate Lyapunov stability singularity elimination

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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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Adaptive droop control with self-adjusted virtual impedance for three-phase inverter under unbalanced conditions 50

Adaptive droop control with self-adjusted virtual impedance ...

引用

50th IEEE International Symposium on Circuits and systems, ISCAS 2017

作者： Lu, Zelun Li, Wenxuan Li, Zhen Chen, Xi Lu, Herbert H. C. Dong, Ning Liu, Xiangdong School of Automation Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology BeijingI0008I China Global Energy Interconnection Research Institute North America Santa Clara 5451 Great America Parkway CA95054 United States School of Electrical Electrical and Computer Engineering University of Western Australia CrawleyWA6009 Australia

ISBN: (纸本)9781467368520

Three-phase inverter is a very important interface in microgrid. Droop control and virtual impedance are widely used to improve the power sharing capability and stability of such system, which however becomes ineffective under unbalanced conditions and may even cause potential stability problems. This paper proposes a fully self-adjusted virtual impedance design to guarantee the decoupling of active and reactive power. The arbitrary unbalanced information is acquired through the pseudo-inverse impedance matrix modeled by full-dq technique. Based on the unbalanced impedance identified, the adaptive droop control is achieved for not only accurate power sharing but also reliable voltage support with autonomous unbalanced voltage compensation. Simulations results verify the accurate identification of unbalanced impedance and effectiveness of the proposed method on the unbalanced compensation. © 2017 IEEE.

关键词： Electric inverters

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Semantic motion segmentation for urban dynamic scene understanding

Semantic motion segmentation for urban dynamic scene underst...

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2016 IEEE International Conference on automation Science and Engineering, CASE 2016

作者： Fan, Qiu Yi, Yang Hao, Li Mengyin, Fu Shunting, Wang School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509024094

A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status for each pixel of images. First, we extract and match sparse image features to estimate ego-motion between two consecutive stereo images, the result of feature points grouping is used to segment moving object in U-disparity map. Second, a Fully Convolutional Neural Network is employed for semantic segmentation. Moreover, semantic cues are utilized to remove pixels have no potential to be moved in motion mask. Finally, we use a fully connected CRF to integrate motion into semantic segmentation. To validate the effectiveness of the proposed algorithm, we present experimental results with KITTI stereo images that contain moving objects. © 2016 IEEE.

关键词： Semantics

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Distributed trajectory tracking control for multiple nonholonomic mobile robots

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IFAC-PapersOnLine 2016年第4期49卷 31-36页

作者： Yang, Qingkai Fang, Hao Cao, Ming Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Faculty of Mathematics and Natural Sciences University of Groningen Groningen AG9747 Netherlands

In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots' trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system's complexity and broadening the proposed controller's practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems controllers Distributed parameter control systems Mobile robots Navigation Chained form system Distributed control Distributed controller Distributed tracking Non holonomic mobile robots Tracking controls Trajectory tracking control Variable transformation

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Distributed computation of linear matrix equations: An optimization perspective

arXiv

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arXiv 2017年

作者： Zeng, Xianlin Liang, Shu Hong, Yiguang Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Ministry of Education Beijing100081 China

This paper investigates the distributed computation of the well-known linear matrix equation in the form of AXB = F, with the matrices A, B, X, and F of appropriate dimensions, over multiagent networks from an optimization perspective. In this paper, we consider the standard distributed matrix-information structures, where each agent of the considered multi-agent network has access to one of the sub-block matrices of A, B, and F. To be specific, we first propose different decomposition methods to reformulate the matrix equations in standard structures as distributed constrained optimization problems by introducing substitutional variables;we show that the solutions of the reformulated distributed optimization problems are equivalent to least squares solutions to original matrix equations;and we design distributed continuous-time algorithms for the constrained optimization problems, even by using augmented matrices and a derivative feedback technique. Moreover, we prove the exponential convergence of the algorithms to a least squares solution to the matrix equation for any initial condition. Copyright © 2017, The Authors. All rights reserved.

关键词： Continuous time systems

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