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Chinese control Conference (CCC)

作者： Zhichuang Wang Jian Sun Guoliang Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper addresses the uniform global asymptotical stability (UGAS) problem for a class of nonlinear switched systems with sampled-data inputs. By employing the multiple Lyapunov functions (MLFs) and input delay method, some new stability conditions are explicitly established for nonlinear switched systems with sampled-data controls. Besides, the sufficient conditions are derived in terms of an upper bound on the dwell time and the maximal sampling interval. Finally, some numerical examples illustrate the advantages of the proposed results.

关键词： Switched systems Switches Stability analysis Delays Lyapunov methods Asymptotic stability

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A Novel Robust Perfect Tracking control Method for Nonlinear Servo systems

A Novel Robust Perfect Tracking Control Method for Nonlinear...

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第37届中国控制会议

作者： Jia-Rong Li Ming-Gang Gan Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

In this paper, we extend perfect tracking control to nonlinear systems, and propose a novel robust perfect tracking control（RPTC） strategy for nonlinear servo tracking systems. The overall control system consists of four parts: a model-based friction compensator, a feedforward perfect tracking controller, an improved internal model controller as the feedback controller,and a disturbance observer for position feedback. First, the friction compensator is introduced to compensate the nonlinear dynamic friction, and the feedforward perfect tracking controller is applied to widen the frequency band. Then, the internal model controller with a differentiator is adopted to yield improved tracking accuracy. Moreover, by utilizing the disturbance observer, the robustness against external disturbances and plant uncertainties is ensured. Finally, high accuracy tracking and ideal robustness are achieved by the RPTC scheme. The stability of the closed loop system is analyzed. Simulation results demonstrate that the proposed RPTC strategy significantly improves the tracking accuracy and enhances the robustness.

关键词： Perfect Tracking control Nonlinear Servo systems Friction Compensation Disturbance Observer Internal Model control

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Stabilization of systems Under Stochastic Clock Offsets

Stabilization of Systems Under Stochastic Clock Offsets

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Haoyuan Sun Jie Chen Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781538670897;9781538670880

This paper is concerned with the stabilization of networked control systems under clock offsets between sensors and controllers where the clock offsets are assumed to be stochastic variables following a certain probability distribution. A linear time-invariant controller is designed to deal with the effects of the stochastic offsets between sensors and controllers clocks, which can guarantee the stochastic stability of the linear systems. Finally, the validity of our results is illustrated using a numerical simulation.

关键词： Clocks Stability analysis Linear matrix inequalities Sensor systems Stochastic processes Linear systems

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A New Stability Criterion of Networked Switched control systems with Unknown Time-Varying Delays

A New Stability Criterion of Networked Switched Control Syst...

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Chinese control Conference (CCC)

作者： Guoliang Chen Jian Sun Zhichuang Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

In this article, the stability of networked switched control systems (NSCSs) with unknown time-varying delays is analyzed. By Taylor series expansion and h-order approximation techniques, NSCSs with unknown time-varying delays is modeled to discrete-time switched polytopic uncertain systems, a new stability criterion is proposed for NSCSs based on a necessary and sufficient nonconservative linear matrix inequalities (LMIs) condition for discrete-time switched polytopic uncertain systems. Finally, a numerical example is presented to show the effectiveness of the proposed method.

关键词： Switches Delays Stability criteria Lyapunov methods Numerical stability Thermal stability

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A survey on Lyapunov-based methods for stability of linear time-delay systems

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Frontiers of Computer Science 2017年第4期11卷 555-567页

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

Recently, stability analysis of time-delay systems has received much attention. Rich results have been obtained on this topic using various approaches and techniques. Most of those results are based on Lyapunov stability theories. The purpose of this article is to give a broad overview of stabil- ity of linear time-delay systems with emphasis on the more recent progress. Methods and techniques for the choice of an appropriate Lyapunov functional and the estimation of the derivative of the Lyapunov functional are reported in this ar- ticle, and special attention is paid to reduce the conservatism of stability conditions using as few as possible decision vari- ables. Several future research directions on this topic are also discussed.

关键词： time-delay system,ity delay-dependent stability,Lyapunov-Krasovskii functionaldelay-independent stabil-linear matrix inequality,

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Secure analysis of dynamic networks under pinning attacks against synchronization

arXiv

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arXiv 2019年

作者： Li, Yuzhe Shi, Dawei Chen, Tongwen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 State Key Laboratory 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 Alberta EdmontonABT6G 1H9 Canada

In this paper, we first consider a pinning node selection and control gain co-design problem for complex networks. A necessary and sufficient condition for the synchronization of the pinning controlled networks at a homogeneous state is provided. A quantitative model is built to describe the pinning costs and to formulate the pinning node selection and control gain design problem for different scenarios into the corresponding optimization problems. Algorithms to solve these problems efficiently are presented. Based on the developed results, we take the existence of a malicious attacker into consideration and a resource allocation model for the defender and the malicious attacker is described. We set up a leader-follower Stackelberg game framework to study the behaviour of both sides and the equilibrium of this security game is investigated. Numerical examples and simulations are presented to demonstrate the main results. Copyright © 2019, The Authors. All rights reserved.

关键词： complex networks

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3D Semantic Mapping Based on Convolutional Neural Networks

3D Semantic Mapping Based on Convolutional Neural Networks

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Chinese control Conference

作者： Jing Li Yanyu Liu Junzheng Wang Min Yan Yanzhi Yao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing P. R. China

As an important part of environmental perception, maps guarantee the accuracy of intelligent robots in navigation, localization and path planning. The traditional 3D maps mainly focus on the spatial structure of the objects, which lacks the semantic information. A method is proposed in the paper, this method combines convolutional neural networks (CNNs) and Simultaneous Localization and Mapping (SLAM) to create global dense 3D semantic maps for indoor scenes. The deep neural network that includes convolution and deconvolution is designed to predict semantic category of every pixel. RGB-D camera is used to obtain scene information, accomplish localization and build 3D maps simultaneously. The semantic information is integrated into the 3D scene, we present an octree map method to replace traditional point clouds method, which can reduce the error from pose estimation and single frame labeling. By this method, the accuracy of semantic information is greatly improved.

关键词： Three-dimensional displays Semantics Cameras Simultaneous localization and mapping Octrees Feature extraction

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Multi-robot distributed cooperative monitoring of mobile targets 3rd

Multi-robot distributed cooperative monitoring of mobile tar...

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3rd International Conference on Intelligence Science, ICIS 2018

作者： Jiang, J.Q. Xin, B. Dou, L.H. Ding, Y.L. School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9783030013127

Cooperative monitoring targets of mobile robots is of great importance in military, civil, and medical applications. In order to achieve multi-robot coordinated monitoring, this paper proposes a new distributed path planning algorithm. In this algorithm, a method of dynamic sequential decision making is used firstly to determine which robots should be moved to the neighbourhoods of the target path. A distributed cooperative path planning algorithm is then proposed in which the robots can only utilize their local information to make the joint monitoring areas of robots cover the target path. To reduce the chance of detection and ensure enough time to implement monitoring handover, our distributed algorithm can guarantee enough overlapped monitoring areas between adjacent robots. The effectiveness of the algorithm was verified by simulation experiments and a comparison experiment in typical scenarios. © IFIP International Federation for Information Processing 2018.

关键词： Monitoring

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Stochastic stability of evolutionary prisoner's dilemma

Stochastic stability of evolutionary prisoner's dilemma

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2018 Australian and New Zealand control Conference, ANZCC 2018

作者： Liang, Haili Zhou, Zhao Zhang, Fan Peng, Chen Wang, Yu-Long Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mathematics Southeast University Nanjing China

ISBN: (纸本)9781538666173

In this paper, we study two-player evolutionary prisoner's dilemma on regular graphs and identify the stochastically stable equilibria for infinite populations. We consider four different update rules: Birth-death(BD), death-birth(DB), imitation(IM) and pairwise comparison(PC). With the same values of cost and benefit of cooperation, we show that there is a unique stochastically stable equilibrium for evolutionary prisoner's dilemma on regular graphs. If the benefit-to-cost ratio is larger than k + 2 (k is the degree of a regular graph), the networked game has a higher fraction of cooperators than that for a well-mixed population. Under certain conditions, the lower graph connectivity can lead to the emergence of more cooperators. Besides theoretical analysis, we demonstrate our results through numerical computations and simulations as well. © 2018 IEEE.

关键词： Stochastic systems

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Generalization of integral inequalities and (c_1,c_1) stability of neutral differential equations with time-varying delays

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Journal of systems Engineering and Electronics 2017年第2期28卷 347-360页

作者： Shuli Guo Lina Han Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematics Institute Oxford University Department of Cardiovascular Internal Medicine Nanlou Branch of Chinese PLA General Hospital

A uniform stability analysis is developed for a type of neutral delays differential equations which depend on more general nonlinear integral inequalities. Many original investigations and results are obtained. Firstly, generations of two integral nonlinear inequalities are presented, which are very effective in dealing with the complicated integro-differential inequalities whose variable exponents are greater than zero. Compared with existed integral inequalities, those proposed here can be applied to more complicated differential equations, such as time-varying delay neutral differential equations. Secondly, the notions of (ω, Ω) uniform stable and (ω, Ω) uniform asymptotically stable, especially (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable, are presented. Sufficient conditions on about (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable of time-varying delay neutral differential equations are established by the proposed integral inequalities. Finally, a complex numerical example is presented to illustrate the main results effectively. The above work allows to provide further applications on the proposed stability analysis and control system design for different nonlinear systems. © 2017 Beijing Institute of Aerospace Information.

关键词： control system stability Differential equations Nonlinear equations Time delay Time varying control systems

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