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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

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Solving almost all systems of random quadratic equations

arXiv

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arXiv 2017年

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

This paper deals with finding an n-dimensional solution x to a system of quadratic equations of the form yi = jhai;xij2 for 1 ≤ i ≤ m, which is also known as phase retrieval and is NP-hard in general. We put forth a novel procedure for minimizing the amplitude-based least-squares empirical loss, that starts with a weighted maximal correlation initialization obtainable with a few power or Lanczos iterations, followed by successive refinements based upon a sequence of iteratively reweighted (generalized) gradient iterations. The two (both the initialization and gradient flow) stages distinguish themselves from prior contributions by the inclusion of a fresh (re)weighting regularization technique. The overall algorithm is conceptually simple, numerically scalable, and easy-to-implement. For certain random measurement models, the novel procedure is shown capable of finding the true solution x in time proportional to reading the data f(ai;yi)g1≤i≤m. This holds with high probability and without extra assumption on the signal x to be recovered, provided that the number m of equations is some constant c > 0 times the number n of unknowns in the signal vector, namely, m > cn. Empirically, the upshots of this contribution are: I) (almost) 100% perfect signal recovery in the high-dimensional (say e.g., n ≥2;000) regime given only an information-theoretic limit number of noiseless equations, namely, m = 2n - 1 in the real-valued Gaussian case;and, ii) (nearly) optimal statistical accuracy in the presence of additive noise of bounded support. Finally, substantial numerical tests using both synthetic data and real images corroborate markedly improved signal recovery performance and computational efficiency of our novel procedure relative to state-of-the-art approaches. Copyright © 2017, The Authors. All rights reserved.

关键词： Computational efficiency

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Discrete-time Networked control systems under Stochastic Scheduling Constraints

Discrete-time Networked Control Systems under Stochastic Sch...

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第35届中国控制会议

作者： Kun Liu Xia Pan Yang Liu Yuanqing Xia School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper extends the time-delay approach to discrete-time networked control systems with multiple sensor nodes that are subject to time-varying transmission intervals,time-varying transmission delays and communication *** system sensor nodes are supposed to be distributed over a *** scheduling of sensor communication is ruled by an independent and identically-distributed stochastic *** activation probability of each sensor node is a given constant,whereas it is assumed that collisions occur with a certain *** closed-loop system is modelled as a discrete-time stochastic hybrid system with time-varying delays in the dynamics and in the reset *** Lyapunov method a new condition is derived for the exponential mean-square stability of the delayed hybrid systems with respect to the full state and not only to the partial *** communication delays are allowed to be greater than the sampling *** efficiency of the proposed method is illustrated on the example of cart-pendulum.

关键词： Discrete-time networked control multiple sensors large communication delays stochastic protocol Lyapunov method

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Integrated 3-D Flight Trajectory Tracking control with Aerodynamic Constraints on Attitude and control Surfaces

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Asian Journal of control 2017年第5期20卷

作者： Xueyuan Wang Hao Fang Lihua Dou Jie Chen Bin Xin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

关键词： Trajectory tracking high-order nonlinear system backstepping B-spline neural network

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PSO-based design of PID controller with notch filter for flexible structures 7

PSO-based design of PID controller with notch filter for fle...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

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12.2: A 3D Display Parallel System: Light Field Re-rendering and Depth Sense Optimization

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SID Symposium Digest of Technical Papers 2018年第S1期49卷

作者： Renjing Pei Kui Ma Feiyue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye's visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer's demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance.

关键词： 3D Display Parallel System Depth Sense Light Field Re-rendering 3D Video Processing One-shot Segmentation

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Cloud control systems

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IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 134-142页

作者： Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future. © 2014 Chinese Association of Automation.

关键词： Big data Cloud computing Computation theory control systems control theory controllers Data handling Distributed computer systems Embedded systems Internet of things

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Semantic Motion Segmentation for Urban Dynamic Scene Understanding

Semantic Motion Segmentation for Urban Dynamic Scene Underst...

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IEEE International Conference on Automation Science and Engineering

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

ISBN: (纸本)9781509024100

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.

关键词： Motion segmentation Semantics Image segmentation Computer vision Labeling Feature extraction Dynamics

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Modified EKF-based Nonlinear Filtering over Wireless Channels with Transmission Failure and Fading

Modified EKF-based Nonlinear Filtering over Wireless Channel...

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第35届中国控制会议

作者： Luyu Li Zhen Li Xiangdong Liu Yongzhi Sheng 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 addresses the stochastic stability problem of a modified extended Kalman filter(MEKF), targeted at the state estimation of the nonlinear system through wireless channel, where both transmission failure and channel fading are practically under consideration. For a class of nonlinear systems whose observation's Jacobi Matrix is always invertible, the sufficient conditions of the error covariance matrices are accordingly established. Moreover, the conditions for the stochastic stability of the estimation error are also derived, which is tighter than the conditions of boundedness of the error ***, a numerical example is given to demonstrate the feasibility of the proposed method.

关键词： Extended Kalman filter stochastic stability transmission failure fading

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H∞ Polytopic Filter Design for Nonlinear systems

H∞ Polytopic Filter Design for Nonlinear Systems

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第35届中国控制会议

作者： Yin Yu Zhen Li Jian Li Luyu Li Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper proposes an H polytopic lter design for a nonlinear system. Based on the polytopic approximation of the nonlinear system, the polytopic lter design is converted into a group of linear matrix inequalities（LMIs） so that the polytopic lter parameters can be effectively acquired by numerical convex optimization algorithms. At this stage, the tensor product（TP） model transformation is utilized to compute the polytopic approximation of the nonlinear system. Particularly, a new recti cation procedure is further developed to obtain a specific polytopic approximation with all the vertex systems being stable, which premises the solvability of the LMIs. The method is much easier to be implemented than traditional approaches such as the Hamilton-Jacobi inequality（HJI）-based methods. Simulation demonstrates the method is much less conservative than the existing method and has good estimation performance.

关键词： H_∞ lter nonlinear systems polytopic model tensor product model transformation

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