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35th Chinese control Conference, CCC 2016

作者： Song, Weixu Sun, Jian Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789881563910

In this paper, the problem of H∞filtering for networked singular systems with an event-triggered scheme is investigated. With a modified event generator, remote sensor evaluates the periodically sampled data and only transmits those violate a certain event-triggered condition, and thus reduces the communication burden. The filtering error system is converted into a time-delay system model which can be studied using the Lyapunov stability theory. Based on this model, sufficient criteria are derived to guarantee the filtering error system regular, impulse free and stable with a prescribed H∞performance. The design method of the filter is also considered. Finally, an example is exploited to illustrate the effectiveness of the proposed method. © 2016 TCCT.

关键词： Event-triggered communication H∞ filtering Network-induced delay Singular system

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A novel image deblurring method based on high-order MRF prior

A novel image deblurring method based on high-order MRF prio...

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4th International Workshop on Advanced Computational Intelligence, IWACI 2011

作者： Zhao, Bo Zhang, Wensheng State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781612843735

A novel image deblurring method based on high-order non-local range Markov Random Field (NLR-MRF) prior is proposed in the paper. NLR-MRF is an effective statistical framework to model prior knowledge of natural images which leads to excellent performance in some low-level vision problems. In our work, the framework is extended to image deblurring. To overcome some limitations of maximum a-posteriori (MAP) estimation, we adopt Bayesian minimum mean squared error (MMSE) estimation to perform deblurring. The high-order NLR-MRF prior can be easily integrated into this framework. Then, an efficient Gibbs sampling algorithm is employed to compute MMSE estimation. The proposed method frees the user from determining regularization parameter beforehand, which relies on unknown noise level. Our deblurring method shows superior or comparable results to the state-of-art deblurring methods. © 2011 IEEE.

关键词： Mean square error

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Distributed adaptive tracking on Lagrangian systems with reduced interaction 11

Distributed adaptive tracking on Lagrangian systems with red...

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2014 11th World Congress on intelligent control and Automation, WCICA 2014

作者： Liu, Yuchen Fang, Hao Mao, Yutian School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479958252

In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fraction of agents within the leader's communication range are informed about the position of the leader. Without using the leader's velocity information, a connectivity-preserving adaptive controller is proposed to achieve tracking control on Lagrangian systems with the leader of constant velocity. Moreover, position and velocity consensus can be achieved asymptotically with the proposed control strategy. Numerical simulations are further provided to illustrate the theoretical results. © 2014 IEEE.

关键词： Adaptive control systems

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Trajectory Planning Based on Spatio-Temporal Map with Collision Avoidance Guaranteed by Safety Strip

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IEEE Transactions on intelligent Transportation systems 2022年第2期23卷 1030-1043页

作者： Zhang, Ting Fu, Mengyin Song, Wenjie Yang, Yi Wang, Meiling State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Trajectory planning for the unmanned vehicle in the complex environment has always been a challenging task. Planned trajectory with the corresponding target velocity or acceleration sequence must be collision-free guaranteed and as comfortable as possible on the premise of obeying the traffic rules and interaction with other dynamic social vehicles. To meet this requirement, this paper proposes a framework for trajectory planning based on spatio-Temporal map. Due to the time layer architecture in the map, the trajectory can be generated with velocity and acceleration simultaneously, and the whole trajectory is constrained within a 'safety strip', resulting in an efficient and safety guaranteed trajectory. The framework is composed of three sections: rough search, fine optimization and safety strip-based collision avoidance. For rough search, we propose an improved A∗ algorithm implemented in the discrete time layer to find out the suboptimal states efficiently. In fine optimization, the B-spline curve is exploited to connect the searched states into a continuous trajectory. And the optimal control points of B-spline are further grouped into several segments, forming the safety strip which is actually the distribution space of the planned trajectory. If necessary, an adjustment will be applied to keep the strip away from the collision zone, making the entire trajectory completely collision-free. Experiments on both public dataset and self-driving simulator show that the proposed framework can adapt to different kinds of complex traffic scenes well. © 2000-2011 IEEE.

关键词： Collision avoidance

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The Combination of Two control Strategies for Series Hybrid Electric Vehicles

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 596-608页

作者： Can Luo Zhen Shen Simos Evangelou Gang Xiong Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Cloud Computing Center Chinese Academy of Sciences IEEE Department of Electrical and Electronic Engineering Imperial College London Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy(PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles(HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DClink voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption(EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure(WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

关键词： DC-Link voltage control power follower control strategy series hybrid electric vehicles tuning

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Decentralized flocking of multi-robot systems with connectivity maintenance

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2014年第10期31卷 1393-1403页

作者： Mao, Yu-Tian Chen, Jie Fang, Hao Dou, Li-Hua Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

Connectivity maintenance of flocking is vital for stability and fast state convergence of the entire multirobot system. To this end, the problem of flocking of multiple nonholonomic wheeled mobile robots with connectivity maintenance on directed communication graphs is investigated, provided that the initial network is strongly connected but not balanced. First, a new class of smooth and bounded artificial potential fields is developed to satisfy the requirements of connectivity maintenance, collision avoidance and distance stabilization, simultaneously. Furthermore, by combining potentialbased gradient control techniques and the consensus seeking control schemes, we propose a set of smooth and bounded control protocols for leaderless flocking or flocking with local leader-follower with connectivity maintenance. Those control protocols not only avoids the chattering and saturation caused by the discontinuous/nonsmooth and unbounded flocking algorithms, but also extend the traditional connectivity-preserving flocking algorithms for both the individual motion model and the network topology types. Finally, nontrivial simulations and experiments are performed to validate the effectiveness of the proposed smooth and bounded control strategies. ©, 2014, South China University of Technology. All right reserved.

关键词： Multipurpose robots

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Cloud control systems

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自动化学报 2015年第2期2卷 134-142页

作者： Xia Yuanqing the School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

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.

关键词： Cloud control systems (NCSs) networked control systems cloud computing cyber-physical systems (CPSs) big data

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Cyber-physical-social System in intelligent Transportation

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 320-333页

作者： Gang Xiong Fenghua Zhu Xiwei Liu Xisong Dong Wuling Huang Songhang Chen Kai Zhao the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Science the Cloud Computing Center Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center for Intelligent Systems and Technology Institute of AutomationChinese Academy of Science

A cyber-physical system (CPS) is composed of a physical system and its corresponding cyber systems that are tightly fused at all scales and levels. CPS is helpful to improve the controllability, efficiency and reliability of a physical system, such as vehicle collision avoidance and zero-net energy buildings systems. It has become a hot R&D and practical area from US to EU and other countries. In fact, most of physical systems and their cyber systems are designed, built and used by human beings in the social and natural environments. So, social systems must be of the same importance as their CPSs. The indivisible cyber, physical and social parts constitute the cyber-physical-social system (CPSS), a typical complex system and it's a challengeable problem to control and manage it under traditional theories and methods. An artificial systems, computational experiments and parallel execution (ACP) methodology is introduced based on which data-driven models are applied to social system. Artificial systems, i.e., cyber systems, are applied for the equivalent description of physical-social system (PSS). Computational experiments are applied for control plan validation. And parallel execution finally realizes the stepwise control and management of CPSS. Finally, a CPSS-based intelligent transportation system (ITS) is discussed as a case study, and its architecture, three parts, and application are described in detail. © 2014 Chinese Association of Automation.

关键词： Amphibious vehicles complex networks Embedded systems intelligent systems Transportation

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Optimization of Grouping Evacuation Strategy in High-rise Building Fires Based on Graph Theory and Computational Experiments

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1104-1112页

作者： Yuling Hu Xiwei Liu School of Electrical and Information Engineering Beijing University of Civil Engineering and Architecture Beijing 100044China Beijing Key Laboratory of Intelligent Processing for Building Big Data Beijing 100044China State Key Laboratory fo Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing 100190China Qingdao Academy of Intelligent Industries Qingdao 266109China

It is difficult to rescue people from outside, and emergency evacuation is still a main measure to decrease casualties in high-rise building fires. To improve evacuation efficiency, a valid and easily manipulated grouping evacuation strategy is proposed. Occupants escape in groups according to the shortest evacuation route is determined by graph theory. In order to evaluate and find the optimal grouping, computational experiments are performed to design and simulate the evacuation processes. A case study shown the application in detail and quantitative research conclusions is obtained. The thoughts and approaches of this study can be used to guide actual high-rise building evacuation processes in future.

关键词： Computational experiments grouping evacuation graph theory high-rise building fire management strategies

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Dynamic collision avoidance for cooperative fixed-wing UAV swarm based on normalized artificial potential field optimization

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Journal of Central South University 2021年第10期28卷 3159-3172页

作者： LIU Wei-heng ZHENG Xin DENG Zhi-hong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China China Aerospace Science and Industrial Corporation Beijing 100048China

Cooperative path planning is an important area in fixed-wing UAV ***,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic ***,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local ***,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is ***,several simulations are carried out to illustrate superiority and effectiveness.

关键词： fixed-wing UAV swarm cooperative path planning normalized artificial potential field dynamic obstacle avoidance local optimization

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