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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Li, Hongliang Liu, Derong Wang, Ding State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783902823458

In this paper, a novel adaptive dynamic programming algorithm based on policy iteration is developed to solve online multi-player non-zero-sum differential game for continuoustime nonlinear systems. This algorithm is mathematically equivalent to the quasi-Newton's iteration in a Banach space. The implementation using neural networks is given, where a critic neural network is used to learn its value function, and an action neural network sharing the same parameters with the corresponding critic neural network is used to learn its optimal control policy for each player. All the critic and action neural networks are updated online in real-time and continuously. A simulation example is presented to demonstrate the effectiveness of the developed scheme. Copyright © 2013 IFAC.

关键词： Neural networks

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Integral policy iteration for zero-sum games with completely unknown nonlinear dynamics

Integral policy iteration for zero-sum games with completely...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Li, Hongliang Liu, Derong Wang, Ding State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642420535

In this paper, we develop a model-free integral policy iteration algorithm to learn online the Nash equilibrium solution of twoplayer zero-sum differential games with completely unknown nonlinear continuous-time dynamics. The developed algorithm updates value function, control and disturbance policies simultaneously. To implement this algorithm, three neural networks are used to approximate the game value function, the control policy and the disturbance policy. The least squares method is used to estimate the unknown parameters of the neural networks. The effectiveness of the developed scheme is demonstrated by a simulation example. © Springer-Verlag 2013.

关键词： Neural networks

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Visual Measurement and control for Underwater Robots: A Survey

Visual Measurement and Control for Underwater Robots: A Surv...

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第25届中国控制与决策会议

作者： Feihu Sun Junzhi Yu De Xu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences The Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467355339

The recently increased interests in visual measurement and control applied to underwater robots have challenged the existing visual technologies that once were sufficient in ground-based applications. This paper surveys the major difficulties and representative applications in underwater visual measurement and control, most of which result from the particularity of the aquatic environments. Specifically, the state of the art of the underwater vision is summarized from different perspectives, primarily involving key points and existing problems. In particular, the application of the embedded vision-based system in the context of bionics is accented. Finally, the potential development trends and possible breakthroughs are discussed, shedding light on the effort both in hardware and software to advance real-world underwater vision applications.

关键词： Visual measurement and control, Underwater robots, Embedded vision, Bio-robotics.

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On Mobilizing Processes of Cyber Movement Organizations

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IFAC Proceedings Volumes 2014年第3期47卷 9853-9857页

作者： Tao Wang Zhong Liu Kainan Cui Jie Zhang Fei-Yue Wang C.L. Philip Chen College of Information System and Management National University of Defense Technology Changsha 410073 China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing 100190 China The Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha 410073 China Department of Computer and Information Science Science and Technology University of Macau Macau China

—Cyber Movement Organization (CMO) is a special kind of social movement organization on the Web. In this paper, we propose a model to simulate the mobilizing process of CMO, which consists of the individual unit, organization unit, and the mobilizing mechanisms. The mobilizing mechanisms has three sub-mechanisms: the participation mechanism, the choice mechanism, and the inviting mechanism. A dataset of more than two million “human flesh search” related microblogs is used to validate the model. Empirical results show that our model can capture the key features of the real-world mobilizing process.

关键词： Cyber Movement Organizations (CMO) Social Network Analysis Human Flesh Search (HFS) Simulation Social Movement Organizations Resource Mobilization

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A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights

A Robust Road Segmentation Method Based on Graph Cut with Le...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Jun Yuan Shuming Tang Fei Wang Hong Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences High-Tech Innovation Engineering Center Institute of AutomationChinese Academy of Sciences Institute of Artificial Intelligence and Robotics of Xi'an Jiaotong University School of Information Engineering Minzu University of China

Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approach,a novel graph-cut based method is proposed in this *** novelty of this proposal is that weights of neighboring links(n-links) in a s-t graph are estimated by Multilayer Perceptrons(MLPs) rather than calculating by the neighboring contrast simply in previous graph-cut based *** n-link weights by MLPs reinforces the ability of graph-cut based road segmentation algorithms to tolerate the complex and changeable appearance of road ***,the Gentle Ada Boost algorithm is integrated into the graph-cut framework to estimate the terminal link(t-link) weights in the s-t *** are conducted to show the robustness and efficiency of the proposed method.

关键词： image A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights Graph

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Containment control with multiple interacting leaders under switching topologies

Containment control with multiple interacting leaders under ...

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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 Cao Zhiqiang Wang Ming State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781479900305

In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders’ final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers’ positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.

关键词： containment control multi-agent systems directed network topology switching topology cooperative control

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Variable window stereo matching based on phase congruency

Variable window stereo matching based on phase congruency

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2013 International Conference on Vehicle and Mechanical Engineering and Information Technology, VMEIT 2013

作者： Guo, Long Yuan Sun, Chang Yin Zhang, Guo Yun Wu, Jian Hui College of Information and Communication Hunan Institute of Science and Technology Yueyang 414006 China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Optimization and Control for Complex Systems College of Hunan Province Yueyang 414006 China

ISBN: (纸本)9783037858202

The major challenge in area stereo matching algorithms is to find appropriate window size and shape. Phase congruency is robust to noise and can reflects the gray changes. With these benefits, the paper first detects image and determines pixels characteristics according to phase congruency. Then, different window will be used to matching according to different feature pixels. After using cost function which combined with non-parametric measure and gray value, the final disparity map will be obtained. The result of experiment indicates that the algorithm can generates more accurate disparity map. © (2013) Trans Tech Publications, Switzerland.

关键词： Pixels

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Necessary and Sufficient Conditions for Solving Leader-Following Problem of Multi-Agent systems with Communication Noises

Necessary and Sufficient Conditions for Solving Leader-Follo...

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第25届中国控制与决策会议

作者： Yunpeng Wang Long Cheng Zeng-Guang Hou Min Tan Huiyang Liu Min Wang State Key Laboratory of Management and Control for Complex Systems (SKLMCCS) Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781467355339

The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise's effect, a positive time-varying gain a(t) is employed in the protocol. It is proved that the proposed protocol can solve the mean square leader-following problem if the following conditions hold: 1) the communication topology graph has a spanning tree;2) ∫∞0 a(t)dt = ∞;3) lim t→∞ a(t) = 0. The requirements on a(t) are different from most existing papers, where a(t) is required to satisfy that ∫∞0 a(t) = ∞ and ∫∞0 a2(t) < ∞. It turns out that ∫∞0 a2(t) < ∞ implies lim t→∞ a(t) = 0, if a(t) is uniformly continuous. Therefore this paper relaxes the requirements on a(t) to some extent. In addition, under the mild condition (a(t) is uniformly continuous) these three conditions are necessary as well. Furthermore, if ∫∞0 a2(t)<∞, the employed protocol is proved to be able to solve the almost sure leader-following problem of first-order integral multi-agent system. Finally, a simulation example is provided to verify the effectiveness of the employed protocols.

关键词： Leader-following, Consensus, Multi-agent system, Communication noise

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Sensor fault detection with online sparse least squares support vector machine

Sensor fault detection with online sparse least squares supp...

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32nd Chinese control Conference, CCC 2013

作者： Su, Guo Fang, Deng Jian, Sun Li, Fengmei School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

ISBN: (纸本)9789881563835

In this paper, we present the theory of online sparse least squares support vector machine (OS-LSSVM) for prediction and propose a predictor with OS-LSSVM to detect sensor fault. The principle of the predictor and its online algorithm are introduced. Compared with the traditional least squares support vector machine (LSSVM), OS-LSSVM has an advantage on training speed owing to the online training algorithm based on the base vector set. The real-time output data of sensor is employed as the training vector to establish the regression model. This method is compared with the LSSVM predictor in the experiment. Three typical faults of sensors are investigated and the simulation result indicates that the OS-LSSVM predictor can diagnose sensor fault accurately and rapidly, thus it is especially suitable for online sensor fault detection. © 2013 TCCT, CAA.

关键词： Vectors

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