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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jie Chen Long Wang Feng Xiao School of Automation Beijing Institute of Technology Intelligent Control Laboratory Center for Systems and ControlCollege of Engineeringand Key Laboratory of Machine Perception (Ministry of Education)Peking University

This paper studies the velocity-consensus problem of multi-agent systems with second-order agent dynamics and proposes an asynchronous distributed consensus protocol allowing for switching interaction topology, time-varying delays and intermittent information transmission. Unlike the existing works, the agreement of position-like states is not required in this paper. Velocity consensus is a prerequisite of the popular Vicsek model and can find its broad applications in congestion control for internet, distributed task management, distributed estimation for sensor networks, etc. We first give an approach to approximating velocities based on delayed position-like information and then provide the design and analysis results for the velocity-consensus control. We show that if the union of the interaction topology across the time interval with some given length always contains a spanning tree, then the proposed asynchronous protocol will solve the velocity-consensus problem asymptotically.

关键词： agent Velocity-Consensus control for Networks of Multiple Double-Integrators

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Fault Detection of Networked control systems Subject to Access Constraints and Random Packet Dropout

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自动化学报 2009年第9期35卷 1230-1234页

作者： WANG Yong-Qiang YE Hao DING Steven WANG Gui-Zeng Department of Automation Tsinghua National Laboratory for Information Science and Technology (TNList) Tsinghua University Beijing 100084 P. R. China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg 47057 Germany

In this paper, the problem of fault detection is addressed for networked control systems (NCSs) subject to both access constraints and random packet dropout, which to the best of our knowledge has not been considered before. Both residual generation and residual evaluation as well as false alarm computation of the designated threshold are given. First, based on a deterministic formulation, residual generation is carried out in the periodic system framework. Then, residual evaluation is achieved by making full use of the stochastic properties of the random packet dropout. Finally, performance evaluation of the designated threshold, i.e., the computation of false alarm rate, is fulfilled with the assistance of Chebyshev s inequality. Simulation results are given to illustrate effectiveness of the proposed method.

关键词：故障检测网路控制接入约束残差

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Discrete time minimax tracking control with state and disturbance estimation II: Time-varying reference and disturbance signals

Discrete time minimax tracking control with state and distur...

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Mediterranean Conference on control and automation (MED)

作者： P. Bauer B. Kulcsar J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty 3ME Delft University of Technnology Delft Netherlands

The paper characterizes the properties of discrete time minimax tracking control problem in the case of time varying references and disturbances. Hereunder, a multi step tracking control synthesis is suggested for linear time invariant (LTI) plants when the reference signal could be time dependent. Moreover, instead of directly rejecting the effect of the (time varying) disturbance signal, an intermediate estimation and centering step is proposed. This step eliminates the main part of the disturbance by its unbiased estimate. The solution combines the state and disturbance estimation with linear quadratic and optimal minimax tracking design. The resulted unified control solution is LQ optimal on infinite horizon with constant references and disturbances and sub-optimal on large horizons with time-varying references and disturbances. The paper clarify the effect of the time varying signals on the stability and performance criteria. The multi step procedure is illustrated via an ascending spiral trajectory tracking simulation of a quadrotor helicopter.

关键词： Minimax techniques State estimation Automatic control control systems Optimal control Trajectory Helicopters Stochastic systems Fuzzy logic Noise measurement

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Improving the performance of ANN training with an unsupervised filtering method

Improving the performance of ANN training with an unsupervis...

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International Joint Conference on Neural Networks (IJCNN)

作者： Sekou Remy Chung Hyuk Park Ayanna M. Howard Human-Automation Systems (HumAnS) Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Learning control strategies from examples has been identified as an important capability for many robotic systems. In this work we show how the learning process can be aided by autonomously filtering the training set provided to improve key properties of the learning process. Demonstrated with data gathered for manipulation tasks, the results herein show the improved performance when autonomous filtering is applied. The filtration method, with no prior knowledge of the task, was able to partition the training sets into sets almost equal to expertly labeled sets. In the case where the filter did not produce the same groupings as the expert user, the method still permitted a controller to be trained which demonstrated a success rate of 92%.

关键词： Filtering Humans control systems Educational robots Grasping Neural networks Artificial neural networks Filtration Filters Flexible structures

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On Separation Principle for a Class of Networked control systems

On Separation Principle for a Class of Networked Control Sys...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Dongxiao Wu Jun Wu Sheng Chen State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Electronics and Computer Science University of Southampton

In this contribution, we investigate a class of observer-based discrete-time networked control systems(NCSs)with random packet dropouts occurring independently in both the sensor-to-controller(S/C) and controller-to-actuator(C/A)*** first propose and prove a separation principle for the general class of NCSs where packet dropouts in the C/A and S/C channels are governed by two independent Markov chains, *** then derive necessary and sufficient conditions, in terms of linear matrix inequalities, for synthesis of stabilisation control of a class of NCSs where the C/A channel is driven by a Markov chain while the S/C channel is driven by a Bernoulli process.A numerical example is provided to illustrate the effectiveness of our proposed method.

关键词： NCS dropout On Separation Principle for a Class of Networked control systems

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Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator

Throwing motion generation using nonlinear optimization on a...

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International Conference on Mechatronics (ICM)

作者： Ferenc Lombai Gabor Szederkenyi Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A 6-degree-of-freedom rigid robot arm and its throwing motion generation is described in this paper. The trajectories for the joint variables are generated off-line as a cubic spline obtained using general constrained nonlinear optimization, taking into consideration limitations (position, speed, acceleration and jerk) of the joint actuators, and the current limit of the whole structure. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The trajectory tracking of the individual joint is done using a discrete-time constrained optimal control technique.

关键词： Robots Manipulators Constraint optimization Trajectory Motion planning Robotics and automation Humans Motion measurement Mechatronics Automatic control

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A multi camera system for soccer player performance evaluation

A multi camera system for soccer player performance evaluati...

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ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC

作者： Marco Leo Tiziana D'Orazio Mohan Trivedi Institute of Intelligent Systems of Automation Bari Italy Electrical and Computer Vision Engineering Laboratory University of California San Diego CA USA

This paper presents a multi-view approach to performance evaluation of soccer players by the analysis of the posture evolution. Some body-appearance features have been extracted and the most significant ones have been used to model the activity of the players involved in play. Continuous hidden Markov models have been used to model the temporal evolution of the body features in a multiple view decision making approach. Tests were carried out on different sequences of player activities extracted from matches played during the Italian ldquoSerie Ardquo Championship.

关键词： Performance analysis Hidden Markov models Data mining Testing Game theory Information analysis Multimedia communication Broadcasting Smart cameras Intelligent systems

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Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees Optimization for Weapon Network System

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Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

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Automatic heart sound analysis for tele-cardiac auscultation

Automatic heart sound analysis for tele-cardiac auscultation

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SICE Annual Conference

作者： Sumeth Yuenyong Waree Kongpravechnon Kanokwech Tungpimolrut Akinori Nishihara Sirindhorn International Institute of Technology Thammasat University Thailand Industrial Control and Automation Laboratory National Electronic and Computer Center National Electronics and Computer Center Thailand Tokyo Institute of Technology Japan

This paper presents heart sound signal processing that is a part of an automatic tele-auscultation system. Segmentation of the heart sound is performed using ECG signal as reference. Feature vector is constructed for each cardiac cycle by analyzing the systole and diastole of each cycle by applying discrete wavelet transform. Features are classified using pattern recognition neural network. The study incorporates four types of valve-related cardiac disorder that are normally diagnosed by auscultation: aortic regurgitation, aortic stenosis, mitral regurgitation and mitral stenosis. The result shows that for limited set of heart sounds, correct classification can be achieved.

关键词： Electrocardiography Acoustic signal processing Discrete wavelet transforms Neural networks Stethoscope Heart valves Hospitals Feature extraction Robots Band pass filters

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Learning Approaches to the Witsenhausen Counterexample From a View of Potential Games

Learning Approaches to the Witsenhausen Counterexample From ...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Na Li Jason R.Marden Jeff S.Shamma Department of Control and Dynamical Systems California Institute of Technology Social and Informational Sciences Laboratory California Institute of Technology School of Electrical and Computer Engineering Georgia Institute of Technology

Since Witsenhausen put forward his remarkable counterexample in 1968,there have been many attempts to develop efficient methods for solving this non-convex functional optimization *** there are few methods designed from game theoretic *** this paper,after discretizing the Witsenhausen counterexample and re-writing the formulation in analytical expressions,we use fading memory JSFP with inertia,one learning approach in games,to search for better controllers from a view of potential *** achieve a better solution than the previously known best ***,we show that the learning approaches are simple and automated and they are easy to extend for solving general functional optimization problems.

关键词： Learning Approaches to the Witsenhausen Counterexample From a View of Potential Games

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