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第三十二届中国控制会议

作者： YANG Xiong LIU Derong WANG Ding The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479900305

This paper develops a novel neural-network-based direct adaptive control scheme for a class of multi-input-multioutput uncertain nonlinear discrete-time(DT) systems in the presence of unknown bounded *** employing feedback linearization methods,neural network(NN) approximation can cancel the nonlinearity of the DT ***,the weights of NNs are directly updated online instead of preliminary offline *** addition,unlike most literatures,the condition for persistent excitation is *** on Lyapunov's direct method,both tracking errors and weight estimates are guaranteed to be uniformly ultimately bounded,while keeping the closed-loop system ***,an example is provided to demonstrate the effectiveness of the proposed approach.

关键词： Uncertain nonlinear system Output feedback Multi-input-multi-output Direct adaptive control Neural network

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A Learning Optimal control Scheme for Robust Stabilization of a Class of Uncertain Nonlinear systems

A Learning Optimal Control Scheme for Robust Stabilization o...

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第三十二届中国控制会议

作者： WANG Ding LIU Derong LI Hongliang YANG Xiong The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479900305

In this paper, a novel learning optimal control scheme is established to design the robust controller of a class of uncertain nonlinear systems. The robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainty, regulation, and control. Then, the online policy iteration algorithm is presented to solve the Hamilton-Jacobi-Bellman （HJB） equation by introducing a critic neural network. The approximate expression of the optimal control policy can be derived directly. Moreover, the closed-loop system is proved to be uniformly ultimately bounded. The equivalence of the neural-network-based HJB solution of the optimal control problem and the solution of the robust control problem is developed as well. Finally, an example is provided to verify the effectiveness of the constructed approach.

关键词： Adaptive dynamic programming Neural networks Optimal control Robust control Uncertain nonlinear systems

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

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第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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An Electronic Police System With Multiple Vehicle Parts Model

An Electronic Police System With Multiple Vehicle Parts Mode...

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IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI)

作者： Tian, Bin Li, Ye Li, Bo Zhu, Fenghua Xiong, Gang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479905300;9781479905294

With the development of urbanization, vehicle violations bring lots of problems for urban traffic. In this paper, we implement an electronic police system based on multiple salient vehicle parts for traffic surveillance. Vehicle is represented by its salient parts and its trajectory is obtained by tracking based on Kalman filter. First of all, multiple salient vehicle parts including the license plate and rear-lamps are localized using their distinctive features. Then vehicle tracking is performed using these parts with a Kalman filter to get vehicle motion trajectories. At last, traffic violations are detected by analyzing the vehicle trajectories and configuring various detection regions. Experiments show that our system is effective and it can achieve real-time performance for real traffic applications.

关键词： Vehicle detection tracking traffic incident detection

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Consensus tracking of general linear multi-agent systems: fast sliding-mode algorithms

Consensus tracking of general linear multi-agent systems: fa...

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第三十二届中国控制会议

作者： Liu Huiyang Cheng Long Tan Min Hou Zengguang Wang Yunpeng State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479900305

This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input is nonzero and not available to any followers. A set of sliding mode surfaces are defined and then fast sliding mode controllers are designed for both reduced order and non-reduced order cases. It is shown that all the trajectories exponentially converge to the sliding mode surfaces in a finite time if the leader has a directed path to at least one of the followers in a strongly connected and detailed balanced directed interaction graph and the leader’s control input is bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove the reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.

关键词： Multi-agent systems cooperative control fast terminal sliding mode consensus exponential finite-time

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PI controller design for Network control system based on minimum entropy control

PI controller design for Network control system based on min...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Xinlan-Guo Tao-Li Hongxia Zhao Mechanical and Electrical Engineering Department Nanjing Communications Institute of Technology Enterprise Custom Department Huawei Nanjing Institute The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper designs PI controller which is easy to operate in an actual random framework for NCS,for nonlinear ARMAX model is difficult to achieve in the practical *** on the nature of the network control system is a random system and PI controller design is easy to operate in an actual random framework for NCS,the iterative learning ideas to batch control system output probability density function,so that the output probability density function of the system with increasing batch tracking a given probability density *** order to achieve the NCS system of tracking error probability density function control,this paper introduces the minimum entropy control algorithm.

关键词： minimum entropy control NCS PI controller.

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The design and optimization method of near space intelligent target generator

The design and optimization method of near space intelligent...

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Chinese control Conference (CCC)

作者： Xiaolong Han Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and complex decision-making Ministry of Education. Systems Beijing School of Automation Beijing Institute of Technology Beijing

This paper presents the design and optimization method of near space intelligent target generator to simulate the physical characteristics of the near space vehicle. Combined with High Level Architecture distributed simulation technology, a common, repeatable and verified platform for the near space vehicle has been provided. This method used 3D modeling software Creator and 3D visual rendering software Vega, two-dimensional map and three-dimensional vision were constructed to form a simulation environment, which enhanced the authenticity of the simulation. Based on particle swarm optimization, the intelligent path planning study of near space vehicle was conducted in this environment to make up for the inadequate intelligence of traditional target generators.

关键词： Solid modeling Generators Space vehicles Load modeling Path planning Radar

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Network Formation Games for the Link Selection of Cooperative Localization in Wireless Networks

Network Formation Games for the Link Selection of Cooperativ...

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IEEE International Conference on Communications

作者： Zijun Zhao Rongqing Zhang Xiang Cheng Liuqing Yang Bingli Jiao National Mobile Communications Research Laboratory Southeast University Nanjing China School of Electronics Engineering and Computer Science Peking University Beijing China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

Recently, localization has become an indispensable technique for wireless applications. In view of the limitation of global position system (GPS) in certain environments, alternative approaches are in demand. In this paper, we consider a cooperative localization approach named sum-product algorithm over a wireless network (SPAWN). Although SPAWN theoretically facilitates cooperative localization, it has several practical limitations. Specifically, SPAWN results in high computational complexity and increased network traffic. The main complexity of SPAWN lies in the selection of agents/anchors involved in the cooperative localization. To this end, we formulate the agent/anchor selection problem into a network formation game. Together with a practical limit on the number of agents/anchors used for cooperative localization, our proposed approach can markedly reduce the computational complexity and the resultant network traffic. Simulations show that these advantages come with a slight degradation in the localization mean squared error (MSE) performance.

关键词： Games Signal processing algorithms Wireless networks Computational complexity Nickel Signal processing

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The Stability of Multi-modal Traffic Network

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Communications in Theoretical Physics 2013年第7期60卷 48-54页

作者： HAN Ling-Hui Sun Hui-Jun ZHU Cheng-Juan WU Jian-Jun JIA Bin MOE Key Laboratory for Urban Transportation Complex Systems Theory Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China

There is an explicit and implicit assumption in multimodal traffic equilibrium models, that is, if the equilibrium exists, then it will also occur. The assumption is very idealized; in fact, it may be shown that the quite contrary could happen, because in multimodal traffic network, especially in mixed traffic conditions the interaction among traffic modes is asymmetric and the asymmetric interaction may result in the instability of traffic system. In this paper, to study the stability of multimodal traffic system, we respectively present the travel cost function in mixed traffic conditions and in traffic network with dedicated bus lanes. Based on a day-to-day dynamical model, we study the evolution of daily route choice of travelers in multimodal traffic network using 10000 random initial values for different cases. From the results of simulation, it can be concluded that the asymmetric interaction between the cars and buses in mixed traffic conditions can lead the traffic system to instability when traffic demand is larger. We also study the effect of travelers' perception error on the stability of multimodal traffic network. Although the larger perception error can alleviate the effect of interaction between cars and buses and improve the stability of traffic system in mixed traffic conditions, the traffic system also become instable when the traffic demand is larger than a number. For all cases simulated in this study, with the same parameters, traffic system with dedicated bus lane has better stability for traffic demand than that in mixed traffic conditions. We also find that the network with dedicated bus lane has higher portion of travelers by bus than it of mixed traffic network. So it can be concluded that building dedicated bus lane can improve the stability of traffic system and attract more travelers to choose bus reducing the traffic congestion.

关键词： multi-modal traffic network day-to-day dynamical model stability

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