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H_∞ control of networked control systems based on Markov jump unified model

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2015年第15期25卷 2770-2786页

作者： Qiu, Li Li, Shanbin Xu, Bugong Xu, Gang Shenzhen Univ Coll Mech & Control Engn Shenzhen Key Lab Urban Rail Transit Shenzhen 518060 Peoples R China S China Univ Technol Sch Automat Sci & Engn Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510640 Guangdong Peoples R China

This paper focuses on a new H controller design issue for networked control systems with external disturbance as well as random time delays and packet dropouts in forward and feedback channels, which are modeled by multiple Markov chains in a unified style. The output feedback controller is designed to stabilize the networked control system and also achieves the prescribed H disturbance attenuation level. The addressed controller design problem is transformed into a nonlinear minimization problem with LMI constraints. An illustrative example is provided to show the effectiveness of the proposed methods. Copyright (c) 2014 John Wiley & Sons, Ltd.

关键词： networked control systems H-infinity control Markov jump unified model packet dropouts and time delays

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Brain-actuated Teleoperation control of a Mobile Robot

Brain-actuated Teleoperation Control of a Mobile Robot

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Zhao, Suna Xu, Peng Li, Zhijun Su, Chun-Yi South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9781467396752

In order to extend the control capacity of human brain, this paper describes an feasible path planing and path tracking approach based on Bezier curve for the robot controlled by brain-actuated teleoperation. The BCI (Brain Computer Interface) using steady stare visual evoked potentials (SSVEP) analyzes the EEG data such that the human intentions can be recognized and used to control a robot tracking the trajectory. The planning path is continuous without violating dynamic constraints of the robot, and the planned trajectory is varies by changing the parameters which related by BCI. An online BCI system based on SSVEP is developed to control the path followed by the robot, which consists of signal data processing and Adaboost-SVM classifier. The experimental results confirmed the feasibility of the proposed BCI method only controlled by human brain.

关键词： Brain computer interface

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Improved Protocols and Stability Analysis for Multivehicle Cooperative autonomous systems

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systemS 2015年第5期16卷 2700-2710页

作者： Liu, Yonggui Xu, Bugong S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

With increasing growth of vehicles, traffic congestion and safety deserve to be looked at more closely. Cooperative autonomous driving is an effective solution to reduce traffic congestion and ensure traffic safety. In this paper, cooperative autonomous control of multiple vehicles is considered to realize sharing the same roads without collusion with each other. Lane-following and braking control are two basic operations of cooperative driving. The objectives of lane-following are to make intervehicles keep a safe spacing and run on the middle position of a lane. To reach the targets, two distributed control protocols are proposed in which we consider not only lateral control but also longitudinal control. The stability analysis is also shown for both the control protocols. Braking control is another basic operation for autonomous cooperative control. In order to make vehicles stop at the desired target stopping position (TSP), a new braking control protocol is also designed, and the convergence of which is analyzed and shown that, under three kinds of distinct braking control parameters, the position of the mass center of all vehicles exponentially converges to the TSP, and the velocity of the mass center of all vehicles exponentially converges to zero, which provide a guide for selecting the braking control parameters in real engineering applications. Moreover, the initial and limit conditions of position and velocity are discussed. Simulations demonstrate the validity and superiority of the proposed control protocols compared with existing approaches.

关键词： Cooperative control autonomous control stability analysis multiple vehicle systems distributed control protocol

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Integrated controller design with local controller designed independently for linear switching system with a single I/O delay

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2015年第10期352卷 4263-4278页

作者： Xie, Wei S China Univ Technol Coll Automat Sci & Technol Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510641 Guangdong Peoples R China

The paper presents an integrated switching controller synthesis for linear switching plant with a single I/O delay. The integrated switching controller is composed with local controllers designed independently and beforehand for different local plants. The design idea comes from the traditional stabilizing controller parameterization of LTI systems with a single I/O delay. It not only guarantees the quadratic stability of the closed-loop system for all operating points, but also considers local control performance at each operating point. The integrated control scheme can be applied in cases where the plant remains at the operating points most of the time and the switching from one point to another does not often occur. Finally, two simple numerical examples are given to show the efficiency of the proposed method. (C) 2015 The Franldin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： SWITCHING circuits controlLED designation of origin PARAMETERIZATION GEOMETRY DESIGN failures

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Mapping development and health effects of cooking with solid fuels in low-income and middle-income countries, 2000-18: a geospatial modelling study

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LANCET GLOBAL HEALTH 2022年第10期10卷 E1395-E1411页

作者： Frostad, Joseph Jon Nguyen, Quynh Anh P. Baumann, Mathew M. Blacker, Brigette F. Marczak, Laurie B. Deshpande, Aniruddha Wiens, Kirsten E. LeGrand, Kate E. Johnson, Kimberly B. Abbasi-Kangevari, Mohsen Abdoli, Amir Abolhassani, Hassan Abreu, Lucas Guimaraes Abrigo, Michael R. M. Abu-Rmeileh, Niveen Me Adekanmbi, Victor Agrawal, Anurag Ahmed, Muktar Beshir Al-Aly, Ziyad Alanezi, Fahad Mashhour Alcalde-Rabanal, Jacqueline Elizabeth Alipour, Vahid Altirkawi, Khalid A. Alvis-Guzman, Nelson Alvis-Zakzuk, Nelson J. Amegah, Adeladza Kofi Amini, Saeed Amiri, Fatemeh Amugsi, Dickson A. Ancuceanu, Robert Andrei, Catalina Liliana Andrei, Tudorel Antriyandarti, Ernoiz Anvari, Davood Arabloo, Jalal Arab-Zozani, Morteza Athari, Seyyed Shamsadin Ausloos, Marcel Ayano, Getinet Aynalem, Yared Asmare Azari, Samad Badiye, Ashish D. Baig, Atif Amin Balakrishnan, Kalpana Banach, Maciej Basu, Sanjay Bedi, Neeraj Bell, Michelle L. Bennett, Derrick A. Bhattacharyya, Krittika Bhutta, Zulfiqar A. Bibi, Sadia Bohlouli, Somayeh Boufous, Soufiane Bragazzi, Nicola Luigi Braithwaite, Dejana Nagaraja, Sharath Burugina Butt, Zahid A. Caetano dos Santos, Florentino Luciano Car, Josip Cardenas, Rosario Carvalho, Felix Castaldelli-Maia, Joao Mauricio Castaneda-Orjuela, Carlos A. Cerin, Ester Chattu, Soosanna Kumary Chattu, Vijay Kumar Chaturvedi, Pankaj Chaturvedi, Sarika Chen, Simiao Chu, Dinh-Toi Chung, Sheng-Chia Dahlawi, Saad M. A. Damiani, Giovanni Dandona, Lalit Dandona, Rakhi Darwesh, Aso Mohammad Das, Jai K. Dash, Aditya Prasad Davila-Cervantes, Claudio Alberto De Leo, Diego De Neve, Jan-Walter Demissie, Getu Debalkie Denova-Gutierrez, Edgar Dey, Sagnik Dharmaratne, Samath Dhamminda Dhimal, Meghnath Dhungana, Govinda Prasad Diaz, Daniel Dipeolu, Isaac Oluwafemi Dorostkar, Fariba Doshmangir, Leila Duraes, Andre Rodrigues Edinur, Hisham Atan Efendi, Ferry El Tantawi, Maha Eskandarieh, Sharareh Fadhil, Ibtihal Fattahi, Nazir Fauk, Nelsensius Klau Fereshtehnejad, Seyed-Mohammad Folayan, Morenike Oluwatoyin Foroutan, Masoud Fukumoto, Takeshi Gai Univ Washington Inst Hlth Metr & Evaluat Seattle WA 98195 USA Univ Washington Sch Med Dept Hlth Metr Sci Seattle WA 98195 USA Emory Univ Dept Epidemiol Atlanta GA 30322 USA Johns Hopkins Univ Dept Epidemiol Baltimore MD USA Johns Hopkins Univ Dept Radiol & Radiol Sci Baltimore MD USA Shahid Beheshti Univ Med Sci Social Determinants Hlth Res Ctr Tehran Iran Shahid Beheshti Univ Med Sci Injury Prevent & Safety Promot Res Ctr Tehran Iran Shahid Beheshti Univ Med Sci Tehran Iran Jahrom Univ Med Sci Zoonoses Res Ctr Jahrom Iran Univ Tehran Med Sci Res Ctr Immunodeficiencies Tehran Iran Univ Tehran Med Sci Multiple Sclerosis Res Ctr Tehran Iran Univ Tehran Med Sci Sch Med Tehran Iran Univ Tehran Med Sci Dept Environm Hlth Engn Tehran Iran Univ Tehran Med Sci Digest Dis Res Inst Tehran Iran Univ Tehran Med Sci Dept Epidemiol & Biostat Tehran Iran Univ Tehran Med Sci Water Qual Res Ctr Tehran Iran Univ Tehran Med Sci Metabol & Genom Res Ctr Tehran Iran Univ Tehran Med Sci Noncommunicable Dis Res Ctr Tehran Iran Univ Tehran Med Sci Endocrinol & Metab Res Inst Tehran Iran Karolinska Univ Hosp Dept Biosci & Nutr Huddinge Sweden Univ Fed Minas Gerais Dept Pediat Dent Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Maternal & Child Nursing & Publ Hlth Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Clin Med Belo Horizonte MG Brazil Univ Fed Minas Gerais Clin Hosp Belo Horizonte MG Brazil Philippine Inst Dev Studies Dept Res Quezon City Philippines Birzeit Univ Inst Community & Publ Hlth Ramallah Palestine Univ Texas Galveston Dept Obstet & Gynecol Galveston TX USA Ashoka Univ Trivedi Sch Biosci Sonipat India Baylor Coll Med Sect Gen Internal Med Houston TX 77030 USA Jimma Univ Dept Epidemiol Jimma Ethiopia Univ South Australia Australian Ctr Precis Hlth Adelaide SA Australia Washington Univ John T Milliken Dept Internal Med St Louis MO USA US Dept Vet Affairs Clin Epidemiol Ctr St Louis MO USA Imam Abdulrahman Bin F

Background More than 3 billion people do not have access to clean energy and primarily use solid fuels to cook. Use of solid fuels generates household air pollution, which was associated with more than 2 million deaths in 2019. Although local patterns in cooking vary systematically, subnational trends in use of solid fuels have yet to be comprehensively analysed. We estimated the prevalence of solid-fuel use with high spatial resolution to explore subnational inequalities, assess local progress, and assess the effects on health in low-income and middle-income countries (LMICs) without universal access to clean fuels. Methods We did a geospatial modelling study to map the prevalence of solid-fuel use for cooking at a 5 km x 5 km resolution in 98 LMICs based on 2.1 million household observations of the primary cooking fuel used from 663 population-based household surveys over the years 2000 to 2018. We use observed temporal patterns to forecast household air pollution in 2030 and to assess the probability of attaining the Sustainable Development Goal (SDG) target indicator for clean cooking. We aligned our estimates of household air pollution to geospatial estimates of ambient air pollution to establish the risk transition occurring in LMICs. Finally, we quantified the effect of residual primary solid-fuel use for cooking on child health by doing a counterfactual risk assessment to estimate the proportion of deaths from lower respiratory tract infections in children younger than 5 years that could be associated with household air pollution. Findings Although primary reliance on solid-fuel use for cooking has declined globally, it remains widespread. 593 million people live in districts where the prevalence of solid-fuel use for cooking exceeds 95%. 66% of people in LMICs live in districts that are not on track to meet the SDG target for universal access to clean energy by 2030. Household air pollution continues to be a major contributor to particulate exposure in LMIC

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Model Predictive control of Nonholonomic Chained systems Using General Projection Neural networks Optimization

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IEEE TRANSACTIONS ON systemS MAN CYBERNETICS-systemS 2015年第10期45卷 1313-1321页

作者： Li, Zhijun Xiao, Hanzhen Yang, Chenguang Zhao, Yiwen S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510640 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England

In this paper, a class of nonholonomic chained systems is first converted into two subsystems, and then an explicit exponential decaying term is introduced into the input of the first subsystem to guarantee its controllability. After a state-scaling transformation, a model predictive control (MPC) scheme is proposed for the nonholonomic chained systems. The proposed MPC scheme employs a general projection neural network (GPN) to iteratively solve a quadratic programming (QP) problem over a finite receding horizon. The GPN employed in this paper is proved to be stable in the sense of Lyapunov, and its global convergence to the optimal solution is guaranteed for the reformulated QP. A simulation study is performed to show stable and convergent control performance under the proposed method, irrespective of whether the control input u(1) vanishes or not.

关键词： General projection neural networks (GPNs) model predictive control (MPC) nonholonomic chained systems scaling transformation

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Nonlinear Disturbance Observer-Based control Design for a Robotic Exoskeleton Incorporating Fuzzy Approximation

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2015年第9期62卷 5763-5775页

作者： Li, Zhijun Su, Chun-Yi Wang, Liangyong Chen, Ziting Chai, Tianyou S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510640 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China

To perform power augmentation tasks of a robotic exoskeleton, this paper utilizes fuzzy approximation and designed disturbance observers to compensate for the disturbance torques caused by unknown input saturation, fuzzy approximation errors, viscous friction, gravity, and payloads. The proposed adaptive fuzzy control with updated parameters' mechanism and additional torque inputs by using the disturbance observers are exerted into the robotic exoskeleton via feedforward loops to counteract to the disturbances. Through such an approach, the system does not need any requirement of built-in torque sensing units. In order to validate the proposed framework, extensive experiments are conducted on the upper limb exoskeleton using the state feedback and output feedback control to illustrate the performance of the proposed approaches.

关键词： Adaptive fuzzy control disturbance observer design input saturation robotic exoskeleton

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Mind guided Motion control of Robot Manipulator using EEG signals 5

Mind guided Motion Control of Robot Manipulator using EEG si...

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5th International Conference on Information Science and Technology (ICIST)

作者： Malki, Antoni Yang, Chenguang Wang, Ning Li, Zhijun Univ Plymouth Ctr Robot & Neural Syst Plymouth Devon England South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781479974894

Most of current brain computer interfaces (BCI) designed for environment control or navigation are usually made using motor imagery and expensive data acquisition equipment. This study presents an alternative way of utilizing Electroencephalogram (EEG) signals acquired through a low-cost headset to steer a virtual object. In this paper, a preliminary framework of controlling the end effector of a 7 degree of freedom (DoF) virtual robot manipulator by EEG signals and the P300 speller BCI are built. The EEG signals emitted by the user brain are collected by the Emotiv EPOC neuro-headset, which is connected to the OpenViBE platform, where a BCI is designed to retrieve and process the EEG recording in real time. P300 is an observed peak evoked 250 to 500 ms after a visual stimulus in an EEG signal. The P300 speller BCI is an OpenViBE scenario that allows the user to spell letters using P300 signals. The main idea is to associate a letter with a command to control the virtual robot, where the six letters are corresponding to 6 robot movements in the Cartesian space: +X, -X, +Y, -V, +Z, -Z. Letters are sent via a VRPN server on Open Vi be platform and transmitted via a C++ client (designed on Microsoft Visual Studio 2010) to V-REP, a software for creating and testing virtual robot. V-REP remote API is used on the C++ client to control directly the end effector. Online experiments have been performed to test the system performance and the functionality.

关键词： Electroencephalography Robot Manipulator Motor control letter end effectors signals Environmental controls Virtual target system performance visual stimulation Correspondence Robot

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Missile Guidance Law Based on Robust Model Predictive control Using Neural-network Optimization

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IEEE TRANSACTIONS ON NEURAL networkS AND LEARNING systemS 2015年第8期26卷 1803-1809页

作者： Li, Zhijun Xia, Yuanqing Su, Chun-Yi Deng, Jun Fu, Jun He, Wei S China Univ Technol Key Lab Autonomous Syst & Network Control Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ H4B 1R6 Canada S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Peoples R China Northeast Univ Coll Informat Sci & Engn Shenyang 110006 Peoples R China Univ Elect Sci & Technol China Robot Inst & Sch Automat Engn Chengdu 611731 Peoples R China

In this brief, the utilization of robust model-based predictive control is investigated for the problem of missile interception. Treating the target acceleration as a bounded disturbance, novel guidance law using model predictive control is developed by incorporating missile inside constraints. The combined model predictive approach could be transformed as a constrained quadratic programming (QP) problem, which may be solved using a linear variational inequality-based primal-dual neural network over a finite receding horizon. Online solutions to multiple parametric QP problems are used so that constrained optimal control decisions can be made in real time. Simulation studies are conducted to illustrate the effectiveness and performance of the proposed guidance control law for missile interception.

关键词： Guidance law primal-dual neural network (PDNN) robust model predictive control (MPC)

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Genesis, Evolution and Prevalence of H5N6 Avian Influenza Viruses in China

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Cell Host & Microbe 2016年第6期20卷 810-821页

作者： Bi, Yuhai Chen, Quanjiao Wang, Qianli Chen, Jianjun Jin, Tao Wong, Gary Quan, Chuansong Liu, Jun Wu, Jun Yin, Renfu Zhao, Lihua Li, Mingxin Ding, Zhuang Zou, Rongrong Xu, Wen Li, Hong Wang, Huijun Tian, Kegong Fu, Guanghua Huang, Yu Shestopalov, Alexander Li, Shoujun Xu, Bing Yu, Hongjie Luo, Tingrong Lu, Lin Xu, Xun Luo, Yang Liu, Yingxia Shi, Weifeng Liu, Di Gao, George Fu Shenzhen Third Peoples Hosp State Key Discipline Infect Dis Shenzhen Key Lab Pathogen & Immun Shenzhen 518112 Peoples R China Chinese Acad Sci Ctr Influenza Res & Early Warning CASCIRE Beijing 100101 Peoples R China Chinese Acad Sci Inst Microbiol Collaborat Innovat Ctr Diag & Treatment Infect Di CAS Key Lab Pathogen Microbiol & Immunol Beijing 100101 Peoples R China Chinese Acad Sci Wuhan Inst Virol CAS Key Lab Special Pathogens & Biosafety Wuhan 430071 Hubei Peoples R China BGI Shenzhen China Natl Genebank Shenzhen Shenzhen 518083 Peoples R China Chinese Ctr Dis Control & Prevent China CDC Natl Inst Viral Dis Control & Prevent Beijing 102206 Peoples R China Jilin Univ Coll Vet Med Dept Vet Prevent Med Changchun 130062 Jilin Peoples R China Yunnan Ctr Dis Control & Prevent Kunming 650022 Peoples R China Diqing Tibetan Autonomous Prefecture Ctr Dis Cont Shangri La 674400 Peoples R China Natl Res Ctr Vet Med Luoyang 471003 Peoples R China Fujian Acad Agr Sci Inst Anim Husb & Vet Med Fuzhou 350003 Peoples R China Novosibirsk State Univ Res Inst Expt & Clin Med Novosibirsk 630090 Russia South China Agr Univ Coll Vet Med Guangzhou 510642 Guangdong Peoples R China Tsinghua Univ Ctr Earth Syst Sci Key Lab Earth Syst Modelling Minist Educ Beijing 100084 Peoples R China Chinese Ctr Dis Control & Prevent Key Lab Surveillance & Early Warning Infect Dis Div Infect Dis Beijing 102206 Peoples R China Guangxi Univ Coll Anim Sci & Vet Med Lab Anim Infect Dis Nanning 530004 Peoples R China Taishan Med Coll Inst Pathogen Biol Tai An 271016 Shandong Peoples R China Chinese Acad Sci Inst Microbiol Network Informat Ctr Beijing 100101 Peoples R China Broad Inst Harvard & MIT Cambridge MA 02142 USA Univ Chinese Acad Sci Savaid Med Sch Beijing 100049 Peoples R China

Constant surveillance of live poultry markets (LPMs) is currently the best way to predict and identify emerging avian influenza viruses (AIVs) that pose a potential threat to public health. Through surveillance of LPMs from 16 provinces and municipalities in China during 2014-2016, we identified 3,174 AIV-positive samples and isolated and sequenced 1,135 AIVs covering 31 subtypes. Our analysis shows that H5N6 has replaced H5N1 as one of the dominant AIV subtypes in southern China, especially in ducks. Phylogenetic analysis reveals that H5N6 arose from reassortments of H5 and H6N6 viruses, with the hemagglutinin and neuraminidase combinations being strongly lineage specific. H5N6 viruses constitute at least 34 distinct genotypes derived from various evolutionary pathways. Notably, genotype G1.2 virus, with internal genes from the chicken H9N2/H7N9 gene pool, was responsible for at least five human H5N6 infections. Our findings highlight H5N6 AIVs as potential threats to public health and agriculture.

关键词： H5N6 avian influenza genesis evolution prevalence resassortment live poultry markets human infection birds

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