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arXiv 2018年

作者： Yao, Nan Huang, Zi-Gang Ren, Hai-Peng Grebogi, Celso Lai, Ying-Cheng Department of Applied Physics Xi’an University of Technology Xi’an710048 China School of Life Science and Technology Xi’an Jiao Tong University Xi’an710049 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Institute for Complex Systems and Mathematical Biology King’s College University of Aberdeen AberdeenAB24 3UE United Kingdom School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287 United States Department of Physics Arizona State University TempeAZ85287 United States

Chimera states in spatiotemporal dynamical systems have been investigated in physical, chemical, and biological systems, and have been shown to be robust against random perturbations. How do chimera states achieve their robustness? We uncover a self-adaptation behavior by which, upon a spatially localized perturbation, the coherent component of the chimera state spontaneously drifts to an optimal location as far away from the perturbation as possible, exposing only its incoherent component to the perturbation to minimize the disturbance. A systematic numerical analysis of the evolution of the spatiotemporal pattern of the chimera state towards the optimal stable state reveals an exponential relaxation process independent of the spatial location of the perturbation, implying that its effects can be modeled as restoring and damping forces in a mechanical system and enabling the articulation of a phenomenological model. Not only is the model able to reproduce the numerical results, it can also predict the trajectory of drifting. Our finding is striking as it reveals that, inherently, chimera states possess a kind of "intelligence" in achieving robustness through self adaptation. The behavior can be exploited for controlled generation of chimera states with their coherent component placed in any desired spatial region of the system. Copyright © 2018, The Authors. All rights reserved.

关键词： Dynamical systems

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Cooperative robust output regulation for second-order nonlinear multi-agent systems with an unknown exosystem

Cooperative robust output regulation for second-order nonlin...

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IEEE Annual Conference on decision and control

作者： Yi Dong Jie Chen Jie Huang Department of Automation Chinese University of Hong Kong Shatin N.T. Hong Kong State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

The cooperative robust output regulation problem for a class of second-order nonlinear multi-agent systems with an exactly known exosystem has been studied recently. This paper further studies the same problem for a class of second-order nonlinear multi-agent systems subject to an unknown exosystem. We first show that the problem can be converted into the adaptive stabilization problem for a modified augmented system composed of the given multi-agent system and the distributed internal model. Due to the uncertain parameter in the exosystem, the augmented system is a nonlinear multi-input system with both dynamic and static uncertainties. By combining the adaptive control technique and the robust control technique, we solve our problem by a distributed adaptive robust state feedback controller.

关键词： Multi-agent systems Mathematical model Robustness Robust control Automation Electronic mail Nickel

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On stability of sampled-data extended state observer for networked systems

On stability of sampled-data extended state observer for net...

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Asian control Conference

作者： Yuan Huang Junzheng Wang Dawei Shi Jian Xue State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Harvard John A. Paulson School of Engineering & Applied Sciences Harvard University Cambridge MA USA

ISBN: (纸本)9781509015740;9781509015733

The problem of sampled-data state observation is considered in this work. A nonlinear continuous-time system with internal uncertainty and external disturbance is introduced, for which the sampled-data observation problem based on an extended state observer is formulated. We first introduce the framework of the observed system, in which the output measurement is sampled and transmitted to extended state observer periodically. Then based on this framework, the observation performance of the sampled-data extended state observer (SD-ESO) is investigated. For the observer considered, the uniformly ultimately bounded property has been guaranteed. Furthermore, a co-design method for the sample interval and high gain parameter of SD-ESO is provided to achieve the desired observation performance. The obtained theoretic results are validated through the numerical simulations.

关键词： Observers Uncertainty Networked control systems Convergence Distributed databases Gold Australia

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Modified gain-based lower bounds computation for the real structured singular value 7

Modified gain-based lower bounds computation for the real st...

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

作者： Gao, Linjie Song, Zhuoyue Zhang, Xuenan Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education of China China Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, a modified gain-based algorithm (GBA) is presented to calculate the lower bound for the real structured singular Value (μ) problem. The basic idea of GBA is reformulating the real μ problem into a related worst-case disturbance-error performance problem, then the standard lower bound algorithm for worst-case performance assessment is used for calculation of maximizer uncertainty which maximizes the disturbance-error gain, and next this maximizer uncertainty can be used to obtain the lower bound for real μ. In the initial gain-based algorithm previously suggested by Pete Seiler etal, the way disturbance inserted and the error pulled off is from one channel to one channel. In this proposed modified algorithm, the error signal is still pulled off from one channel, however, the disturbance is inserted into from a linear combination (summation) of all channels, hence the effect of signals from all channels are reflected into the error signal. Several test problems indicate that the modified gain-based algorithm has a better performance for pure real μ problems. © 2016, Fuji Technology Press. All rights reserved.

关键词： Errors

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Process Noise Estimator Based on Observation Sequence and its Application on Inertial Navigation system

Process Noise Estimator Based on Observation Sequence and it...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Xiao Xuan Huang Kun Yang Liming Liang Yuan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Kalman filter has been extensively applied in vast areas. However, it is widely acknowledged that the performance of Kalman filter depends on the accuracy of priori information such as model structure, statistics information of process and observation noise. Obtaining the covariance matrix of process noise is difficult in some application *** such background, this paper presents a process noise estimation algorithm based on the noise observation sequence. By constructing a transform matrix and removing the state variables from the observation, the noise observation sequence can be established, through which the covariance matrix of process noise can be estimated. Comparing to conventional adaptive filter, this algorithm needs less calculation. Moreover,the noise estimation process is separated from Kalman filter thus ensures Kalman Filters independence and optimality. The simulation results show that the new algorithm can effectively estimate the process noise covariance, and remain uninfluenced by the initial condition.

关键词： Adapt Kalman filter noise estimate

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A Self-correcting Localization Approach for Automobile Robots Based on the Two Dimensional LADAR

A Self-correcting Localization Approach for Automobile Robot...

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第35届中国控制会议

作者： Jing Li Wenxue Liu Junzheng Wang Jianan Qiao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper,a novel localization approach for autonomous mobile robots is *** can accomplish the all-terrain localization function with the laser radar(LADAR) and the inertial measurement unit(IMU).First of all,for the multiple-input nonlinear localization system,a fuzzy filter is built up to estimate the position of the mobile ***,an efficient evaluation index is raised to determine whether the landmarks extracted from the adjacent data frame are the same,which can help the mobile robot to realize the self-correction *** the final,the experiments in the real world are implemented to show the effectiveness of the proposed approach.

关键词： Localization SLAM Fuzzy filter Self-correcting Obstacle match

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Event-triggered High-gain Observer Design for Nonlinear systems

Event-triggered High-gain Observer Design for Nonlinear Syst...

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第35届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this work,an event-triggered high gain observer（ET-HGO） design is considered for a continuous-time nonlinear system combined with disturbance and *** the event-trigger scheme,the performance of the ET-HGO depends on the triggering condition ***,in this work,for the high-gain observer considered,an event-triggered transmission strategy,which does not relies on the other system state but the output of the control system,is proposed such that the observation error is asymptotically ***,with mild restriction,the observation error is guaranteed to be bounded all the *** obtained theoretical results are evaluated through the numerical simulations.

关键词： High-gain observer event-triggered transmission state estimation

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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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Optimal data integrity attack on actuators in Cyber-Physical systems

Optimal data integrity attack on actuators in Cyber-Physical...

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American control Conference

作者： Guangyu Wu Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology China

ISBN: (纸本)9781467386838

The security issues are of prime importance for Cyber-Physical systems (CPSs). Most existing works mainly investigate the secure control schemes against malicious attackers. This article analyzes how to design an data integrity attack scheme from the viewpoint of an attacker. The formulation of our approach is basically similar to the one of conventional optimal control method, with different prerequisites and solutions. An output feedback control system under data integrity attacks on actuators is considered in this article. Our work is aimed at constructing an optimal feedback attack law to maximize the error between the attacked system's output and the healthy system's output. Numerical examples are presented to demonstrate the effectiveness of the proposed method.

关键词： Actuators Cyber-physical systems Optimal control Computer crime Jamming actuators Computer crime Cyber-physical systems jamming Data Quality Optimal control Feedback control systems

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