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Decentralized Adaptive Filtering for Multi-agent systems with Uncertain Couplings

IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 101-112页

作者： Hongbin Ma Yini Lv Chenguang Yang Mengyin Fu the School of Automation Beijing Institute of Technology the Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the School of Computing and Mathematics Plymouth University

In this paper, the problem of decentralized adaptive filtering for multi-agent systems with uncertain couplings is formulated and investigated. This problem is challenging due to the mutual dependency of state estimation and coupling estimation. First, the problem is divided into four typical types based on the origin of coupling relations and linearity of the agent dynamics. Then models of the four types are given and the corresponding decentralized adaptive filtering algorithms are designed for the purpose of estimation of the unknown states and couplings which denotes the relations between agents and their neighbor agents in terms of states or outputs simultaneously,with preliminary stability analysis and discussions. For testing the effects of algorithm, with the so-called certainty-equivalence principle, control signals are designed based on the results of state estimation and coupling estimation got by the proposed decentralized adaptive filtering algorithms. Extensive simulations are conducted to verify the effectiveness of considered algorithms..

关键词： Couplings Covariance matrices Multi-agent systems Adaptation models Kalman filters Mathematical model

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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Multi-Channel Ad Inventory Allocation in Real-Time Bidding Advertising Market

Multi-Channel Ad Inventory Allocation in Real-Time Bidding A...

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第七届社会计算会议

作者： Li Juanjuan Yuan Yong Qin Rui The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190China Qingdao Academy of Intelligent Industries Qingdao Shandong266109China

Real-time bidding(RTB)advertising is a promising business model emerging with the integration of big data and online *** on analysis of Web users' Cookie data,RTB has the potential of identifying target audiences and delivering best matched ads in real time,and also enabling advertisers bid for each matched ad impression via auction-based programmatic buying *** RTB markets,publishers are suppliers of ad impressions(or ad inventory),and typically they have multiple channels to sell these ad *** this paper,we analyze three commonly-used strategies for publishers to allocate the ad inventory,i.e.,the offline guaranteed contract,the online RTB channel,and the hybrid *** explicitly take the quality of ad impressions into consideration,since it is a key parameter for publishers' decision when choosing a proper channel to sell these ad *** establish models to optimize the reserve price for maximizing the revenue of those publishers choosing the online RTB channel and the hybrid *** also compared these three strategies in pursuit of finding the proper strategy for publishers when selling ad impressions with different qualities.

关键词： Real-time bidding ad inventory allocation reserve price ad impression quality

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state Estimation of Finite-state Hidden Markov Models Subject to Stochastically Event-triggered Measurements

State Estimation of Finite-State Hidden Markov Models Subjec...

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IEEE Annual Conference on decision and control

作者： Wentao Chen Junzheng Wang Ling Shi Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781479978878

We consider the event-triggered state estimation of a finite-state hidden Markov model with a general stochastic event-triggering condition. Utilizing the change of probability measure approach and the event-triggered measurement information available to the estimator, analytical expressions for the conditional probability distributions of the states are obtained, based on which the minimum mean square error event-based state estimates are further calculated. We show that the results also cover the case of packet dropout, under a special parameterization of the event-triggering conditions. With the results on state estimation, a closed-form expression of the average sensor-to-estimator communication rate is also presented. The effectiveness of the proposed results is illustrated by a numerical example and comparative simulations.

关键词： state estimation Hidden Markov models Event trigger Probability distribution Mean square error numerical example

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Guidance law of multiple missiles engaged in cooperative salvo attack 10

Guidance law of multiple missiles engaged in cooperative sal...

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Joint International Conference of the 10th China-Japan International Workshop on Information Technology and control Applications and the 6th International Symposium on Computational Intelligence and Industrial Applications, ITCA and ISCIIA 2014

作者： Zeng, Jie Dou, Lihua Xin, Bin School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

In this article, a guidance problem for cooperative salvo attack of multiple missiles against a single stationary target is investigated. The proposed guidance law combines the well-known PNG law and cooperative acceleration command, which is based on the feedback of state error between the current missile and the mean value of participant missiles. The state variable in this paper is used as the approximate calculation of time-to-go. The cooperative acceleration command is designed to adjust the flight path and impact time, which leads the multi-missiles to hit the common target simultaneously. During the engagement, the velocities of missiles are not changed and presetting impact time is not needed. Simulation results show the effectiveness of the proposed guidance law.

关键词： Electronic guidance systems

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Multirate Multisensor Data Fusion Algorithm for state Estimation with Cross-Correlated Noises

Multirate Multisensor Data Fusion Algorithm for State Estima...

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7th International Conference on intelligent systems and Knowledge Engineering, ISKE 2012

作者： Liu, Yulei Yan, Liping Xiao, Bo Xia, Yuanqing Fu, Mengyin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 Beijing China

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are different. The noises of different sensors are cross-correlated and coupled with the system noise of the previous step. By use of the projection theory and induction hypothesis repeatedly, a sequential fusion estimation algorithm is derived. The algorithm is proven to be optimal in the sense of Linear Minimum Mean Square Error(LMMSE). Finally, a numerical example is presented to illustrate the effectiveness of the proposed algorithm. © Springer-Verlag Berlin Heidelberg 2014.

关键词： state estimation

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Distributed tracking for multiple lagrangian systems using only position measurements 19

Distributed tracking for multiple lagrangian systems using o...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Yang, Qingkai Zhou, Fengyi Chen, Jie Li, Xin Fang, Hao School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9783902823625

This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms. © IFAC.

关键词： Multi agent systems

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Design and implement of intelligent human-computer interface on vehicles based on event-driven 10

Design and implement of intelligent human-computer interface...

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作者： Zhang, Jia Xu, Sheng-Li Deng, Fang School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

An event-driven on-vehicle intelligent human-computer interface has been proposed to solve the issue about complex on-vehicle human-computer interaction. After the demand analysis of human-computer interaction under the vehicle platform, the framework of intelligent human-computer interface is established, the role of the various modules and workflow in the system are designed, and the reasoning feature which based on fuzzy cognitive map is implemented. The on-vehicle intelligent human-computer interface can help the user to complete the interactive operate which is unrelated to the driving operations. Furthermore, it can analyze the whole information and predictive the information required by the user. At last, it can display the information on the interface. So, the on-vehicle intelligent human-computer interface can both to meet the user's demand for secondary interactive tasks, and can ensure the driving performance and safety.

关键词： Human computer interaction

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Robust attitude control with improved transient performance 19

Robust attitude control with improved transient performance

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cong, B.L. Chen, Z. Liu, X.D. Beijing Institute of Technology Beijing100081 China Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9783902823625

This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve highperformance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the convergence of attitude error to accelerate the system response. The overshooting phenomenon is also avoided by imposing a restriction on the parameter selection. Then, the integral sliding mode control technique is employed to improve the robustness, where the Lyapunov-based control law is used as the equivalent control part. Theoretical analysis and simulation results verify the effectiveness of the proposed strategy. © IFAC.

关键词： control theory

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Cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems with unknown dynamics 19

Cooperative adaptive fuzzy control of high-order nonlinear m...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Huang, Jie Fang, Hao Chen, Jie Dou, Lihua Deng, Fang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Fujian Institute of Education Fuzhou350025 China

ISBN: (纸本)9783902823625

This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm. © IFAC.

关键词： Multi agent systems

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