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Consensus control of Second-Order Stochastic Delayed Multi-Agent systems with Intrinsic Dynamics and Undirected Topologies

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IFAC-PapersOnLine 2017年第1期50卷 2421-2426页

作者： Zong X. Li T. Zhang J.-F. School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan 430074 China Department of Mathematics East China Normal University Shanghai 200241 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China

In this paper, we address the consensus control of stochastic multi-agent systems with intrinsic dynamics based on measurements with time-delay and multiplicative noises under undirected graphs. By developing degenerate Lyapunov functional and stochastic stability theorem, we establish mean square and almost sure consensus conditions explicitly related to the nonlinearity of agent dynamics, control gains, noise intensities and parameters of network graphs. Especially, for the case with linear dynamics, we get necessary conditions for mean square consensus. It is shown that with respect to the weighted-average type control protocols, second-order multi-agent systems are kept mean square consentable with multiplicative measurement noises alone or intrinsic dynamics alone, but may become unconsentable due to the co-existence of multiplicative noises and intrinsic dynamics. © 2017

关键词： consensus intrinsic dynamics multiplicative noise Second-order multi-agent system time-delay

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Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model 36

Adaptive robust controller for electric cylinder with fast p...

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36th Chinese control Conference, CCC 2017

作者： Li, Duo Yang Zheng, Jun Hao, Wang Ren Jian Wang, Shou Kun Shen, Wei Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789881563934

In this paper, the adaptive robust control (ARC) algorithm is proposed for tracking control of the electric cylinder position. According to the analysis of the working principle of the electric cylinder servo system, the model of the system is established on the modified Lugre friction model, and single observer is designed for calculating friction as well. Then the ARC controller and adaptive law are designed for on-line parameters estimation, frictional compensation and the suppression external disturbance. Through the Lyapunov approach, the stability of this system can be obtained in this work. The simulation result shows that ARC can suppresses external disturbances effectively and realize real-time online parameter estimation. © 2017 Technical Committee on control Theory, CAA.

关键词： Friction Mathematical model Load modeling Adaptation models Adaptive systems Permanent magnet motors Synchronous motors

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Path Planning of Messenger UAV in Air-ground Coordination

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IFAC-PapersOnLine 2017年第1期50卷 8045-8051页

作者： Yulong D. Bin X. Jie C. Hao F. Yangguang Z. Guanqiang G. Lihua D. School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses a UAV path planning problem for a team of cooperating heterogeneous vehicles composed of one unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators while the UAV serves as a messenger to achieve information sharing among the UGVs. The UAV needs to fly over each UGV periodically to collect the information and then transmit the information to the other UGVs. The UAV path planning problem with messenger mechanism is formulated as a Dynamic Dubins Traveling Salesman Problem with Neighborhood (DDTSPN). The goal of this problem is to find the shortest route enabling the UAV to deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is introduced to sequentially determine the access sequence of UGVs for UAV and the access location of UAV in the communication neighborhood of each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on several randomly generated instances. © 2017

关键词： Air-ground coordination DDTSPN Dubins path planning messenger mechanism

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Research on Information Structure of Programmatic Advertising Markets

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IFAC-PapersOnLine 2017年第1期50卷 13587-13592页

作者： Li, Juanjuan Yuan, Yong Zhao, Xueliang Wang, Fei-Yue The State Key Laboratory of Management Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Beijing Qingdao China Research Center of Military Computational Experiments and Parallel Systems National University of Defense Technology Changsha China

With the abundance of online big data and computing resources, as well as the rapid develop-ment and diversification of business models, programmatic advertising (PA) has emerged and become the mainstream and one of the most promising advertising channels in recent years. As an effective way to precision marketing, PA relies heavily on the information elicited from analyzing Web users and pages, which can help advertisers precisely identify their best-matched audiences and evaluate the ad impressions in a real-time fashion In PA markets, publishers serve as the supplier of ad impressions, and have control on whether, what and how to reveal such key information to advertisers. These decisions play a central role in the information structure of data-driven PA markets, and attract intensive research interests. In this paper, we strive to investigate publishers’ rational preference over the symmetric and asymmetric information structures, with the aim of maximizing their revenues. Our model views publishers’ revenue as a function of the information structure among advertisers, and we hereby proved its convexity under an incentive compatible mechanism. This conclusion indicates that publishers prefer an asymmetric information structure rather than a symmetric one. Our research findings can help improve publishers’ revenue, and also can explain the underlying rationale for the hybrid PA markets mixed by public real-time bidding and private marketplaces. © 2017

关键词： Commerce Big data Marketing Advertising markets Asymmetric information Computing resource Incentive compatible mechanisms Information structures Precision marketings private marketplace Real time biddings

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An approach of joint-space trajectory generation 5

An approach of joint-space trajectory generation

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Chen, Xin Jiang, Chen-Xu Zhou, Li School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhanz430074 China School of Arts and Communication China University of Geosciences Wuhan430074 China

Trajectory generation is a prerequisite for robot control system and is divided into two regions, Cartesian space and joint space. This paper presents an approach to generate the trajectory in joint-space. This method uses normalization and transformation of the sine function to generate the desired trajectory, which is more smooth and continuous than the parabolic method in multiple time derivatives of the joint parameter. Compared with the third order polynomial method, this approach can depress the unacceptable infinite spikes in the jerk, which is the derivative of acceleration. Besides, the using of normalization in this approach is to make it more convenient and efficient be applied.

关键词： Trajectories

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Set-Membership Filtering for Uncertain systems with Censored Measurements under Weighted Try-Once-Discard Protocol

Set-Membership Filtering for Uncertain Systems with Censored...

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第37届中国控制会议

作者： Xuerong Li Hongli Dong Fei Han Qinjiang Sun Jiahui Li Institute of Complex Systems and Advanced Control Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Tianjin Branch China National Offshore Oil Corporation Company Limited

In this paper, the set-membership filtering problem is investigated for a class of time-varying uncertain systems with censored measurements under Weighted Try-Once-Discard（WTOD） protocol. The system uncertainties are formulated by the norm-bounded conditions. The well-known Tobit Type I model is employed to formulate the censored measurements, which is caused by occlusion region, limit-of-detection or sensor faults. An indicator variable is introduced to obtain a unified form in order to address the censored nonlinearity. The WTOD protocol is designed to prevent data conflicts, under which only one node is allowed to transmit data at each instant. Via the mathematical induction, the existence condition of the set-membership filter is derived in terms of a set of recursive linear matrix inequalities, which can guarantee that the filtering error dynamics satisfies the given ellipsoid constraint. Then, the parameters of the filter can be obtained by using the convex optimization method, and the corresponding ellipsoid parameters are optimized. Finally, a simulation example is given to illustrate the effectiveness of the proposed methods.

关键词： Set-membership Filtering Weighted Try-Once-Discard Protocol Uncertain systems Censored Measurements

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Stability analysis of load frequency control systems with two delays in each area

Stability analysis of load frequency control systems with tw...

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Annual Conference of Industrial Electronics Society

作者： Fei Long Chuan-Ke Zhang Yong He Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In networked load frequency control (LFC) systems, time-varying delays could come from two aspects: measurements' transmission from power plant to control center and control signals from the control center to plant side, because of the use of open communication networks. Those delays can affect the dynamic performance and the stability of the system. In this paper, the two delays are considered in one-area LFC system, instead of combining these two delays into one, when the delay-dependent stability analysis is carried out by using Lyaponuvtheory and linear matrix inequality (LMI) technique. Moreover, the dynamic delay interval method is employed to derive less conservative delay-dependent stability criteria for such time-delay system compared with the existing results. Finally, the effectiveness of the proposed criteria are verified by two case studies.

关键词： Delays Stability criteria Time-varying systems Power system stability Frequency control Symmetric matrices

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Event-based Cubature Kalman Filter for Smart Grid Subject to Communication Constraint

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IFAC-PapersOnLine 2017年第1期50卷 49-54页

作者： Li S. Li Z. Li J. Wang Q. Song Z. Chen Z. Sheng Y. Liu X. Liu Y. School of Automation and Key Laboratory for Intelligent Control Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China Department of control science and engineering Harbin Institute of Technology Harbin 150001 China

Accurate real-time estimation plays an important role in smart grids. Although various filtering algorithms, such as unscented Kalman filter (UKF), have been proposed for phasor measurement unit (PMU), they occupy huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are applied. In order to relief this burden, the event-based cubature Kalman filter (EBCKF) is proposed based on event-based schemes in this paper. The event-based strategy guarantees that only the observations containing innovational information are transmitted, and cubature Kalman filter (CKF), which is based on the spherical cubature integration, provides more accurate estimation than UKF. Besides, the design-oriented communication rate is provided corresponding to the event-based strategy design. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2017

关键词： communication rate dynamic state estimation Event-based cubature Kalman filter (EBCKF) IEEE 39-bus phasor measurement unit (PMU)

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Impedance control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Hybrid Prediction Model of Carbon Efficiency for Sintering Process

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IFAC-PapersOnLine 2017年第1期50卷 10238-10243页

作者： Hu J. Wu M. Chen X. She J. Cao W. Chen L. Ding H. School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Mechanical Engineering & Electronic Information China University of Geosciences Wuhan 430074 China

Sintering process is the second most energy-consuming process in ironmarking. The main source of energy consumption is the consumption of carbon. It is significant to predict the carbon efficiency to reduce the energy consumption. In the paper, first, the comprehensive coke ratio (CCR) is defined and used as an index to measure the carbon efficiency by analyzing the sintering mechanism. The principal component analysis method is used to find the principal components affecting the CCR. Next, they are divided into different subclasses by adopting the fuzzy C-means clustering algorithm. Then, the least square-support vector machine (LS-SVM) sub-models are established based on the subclasses, and the parameters of the sub-models are obtained using an adaptive particle swarm optimization algorithm. Finally, a FCM-LSSVM model is established by weighting each LS-SVM sub-model with a fuzzy membership function. The simulations using actual production data show that the prediction accuracy of the FCM-LSSVM model is higher than that of a BP neural network model and a single LS-SVM model, and it meets the requirements of actual production. © 2017

关键词： Adaptive particle swarm optimization Comprehensive coke ratio Fuzzy C-means LS-SVM model Principal component analysis Sintering process

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