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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Transient Performance Evaluation of Flexible Production Lines With Two Bernoulli Machines and Dedicated Buffers*

Transient Performance Evaluation of Flexible Production Line...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Jingchuan Chen Zhiyang Jia Longzhu Huang Yaping Dai School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

In the contemporary manufacturing environment, flexible production is growing in popularity due to its quick adaptation and response to the market changes and customized requirements. Multi-type products under small-batch-based operations are commonly seen in flexible production. Therefore, dedicated buffers are sometimes used to separate different types of parts that are being processed on one production system. Besides, the steady-state analysis may be ineffective because of the small-batch-based operation, as a result, transient analysis becomes indispensable in investigating the transient behavior of flexible production lines. In this work, we investigate the performance evaluation issue in flexible production systems with multi-type products, two machines obeying the Bernoulli reliability model, and dedicated buffers in real-time. Based on Markovian analysis, a set of auxiliary production lines are presented to decouple the dynamics of the original system. Then, the transient performance measures of interest are approximately evaluated from the auxiliary production lines to avoid the issue of system state explosion. The state explosion is common when applying the Markovian approach. Finally, the proposed analytical algorithm is validated to be with high precision through numerical experiments in contrast with the Monte Carlo simulation.

关键词： Transient analysis Production systems Reliability Performance evaluation Numerical models Manufacturing

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Dynamics of Small World Effect and Random Fuzzy Graph

Research Square

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Research Square 2021年

作者： Zhang, Yijin Huang, Jie Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing Municipal Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

Small World Effect (or Six Degrees of Separation theory) has generated significant influence in the world. Many researchers and institutes have done lots of work on the study of it. We model Small World Effect by random process and Graph, calculate the probability that any two people i and j in the world can contact each other after n steps (forwarding messages by intermediaries) based on different R (average number of acquaintances everyone has in the world).When R=50 or 80, if, the probability is 0.848 and the search is very likely to happen. When R=150, n=4, this probability is 0.99994, that is, after 4 steps, any two people in the world will establish connection almost surely. In the sense of Dunbar's number (R=150), six degrees of separation becomes four degrees of separation. We propose the concepts of (directed) Random Fuzzy Graph for the very first time which can describe the fact of recognition among people best, because the relation among persons is random and fuzzy. © 2021, CC BY.

关键词： Random processes

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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IEEE International Conference on Mechatronics and Automation

作者： Xinyue Xu Xiaoming Liu Yuqing Lin Pengyun Li Fengyu Liu Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation.

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An Improved Chimp Optimization Algorithm for Short-term Hydrothermal Scheduling

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2022年第3期49卷 666页

作者： Chen, Gonggui Wang, Shumin He, Yongsheng Shang, Wanfeng Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Shenzhen518055 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

The short-term hydrothermal scheduling (STHS) is a complex non-linear, non-convex and high-dimensional mathematical optimization problem. Due to the fact that the original chimp optimization algorithm (ChOA) is likely to fall into local optimum and has the disadvantage of low population diversity, an improved chimp optimization algorithm (IChOA) is proposed to solve the STHS problem. Firstly, Logistic-Tent chaotic mapping is employed to initialize the population and increase the population diversity. Then a new nonlinear convergence factor is introduced to make the optimization search process more applicable to STHS problems. Next, particle swarm algorithm (PSO) and gravitational search algorithm (GSA) are combined to enhance the shortcoming and balance the global search ability and local exploration ability of ChOA. Moreover, Cauchy mutation and opposition-based learning strategy are supplemented as perturbation interference when the optimal position is not updated to improve the ability to leap out of the local optimum. Finally, a graded optimization strategy is adopted for the constraint handing of dynamic reservoir balance and thermal power balance. Three standard hydrothermal power systems are utilized to verify the practicability and validity of the proposed method. Results of simulations reveal that IChOA has significant competitive advantages in addressing the STHS problem. © 2022, IAENG International Journal of Computer Science. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Multi-Objective Cooperative Salvo Attack Against Group Target

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Journal of systems Science & complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua XIN Bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

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Multi-UAV 3D Path Planning in Simultaneous Attack

Multi-UAV 3D Path Planning in Simultaneous Attack

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International Conference on control and Automation (ICCA)

作者： Chuyi Xiong Bin Xin Miao Guo Yulong Ding Hao Zhang School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

As the key technology of UAV mission planning, path planning has a very important impact on the combat effectiveness of UAV. In order to destroy enemy units, multiple UAVs are often needed to attack the target at the same time. In the complex combat environment, the path planning of multiple UAVs is a very complex problem. On the basis of genetic algorithm, this paper designs a path planning algorithm to ensure that multiple UAVs arrive at the same time from different angles on the premise of satisfying environment constraints and the motion constraints of UAV. The algorithm uses the method of regionalization to initialize the path, designs a reasonable fitness function, and adds an adaptive disturbance operator to plan the path of each UAV. Finally, the length difference between the paths planned for each UAV is taken as the path evaluation factor. Some of the paths are replanned to achieve the goal of the same path length and simultaneous attack by UAV. The effectiveness of the algorithm is verified by experiments in typical combat scenarios, and the superiority of the adaptive disturbance operator in the optimization of the algorithm is verified by the contrast experiment.

关键词： Path planning Radar Planning Optimization Radar detection Genetic algorithms Three-dimensional displays

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Distance- And velocity-based collision avoidance for time-varying formation control of second-order multi-agent systems

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IEEE Transactions on Circuits and systems II: Express Briefs 2021年第4期68卷 1253-1257页

作者： Pang, Zhong-Hua Zheng, Chang-Bing Sun, Jian Han, Qing-Long Liu, Guo-Ping Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing100144 China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Software and Electrical Engineering Swinburne University of Technology MelbourneVIC3122 Australia Department of Artificial Intelligence and Automation Wuhan University Wuhan430072 China

This brief addresses the time-varying formation control problem with collision avoidance for second-order multi-agent systems. By taking both distances and velocities between agents into account, a novel collision avoidance scheme is proposed on the basis of conventional distance-based artificial potential field methods. Compared with the latter, the proposed scheme can more accurately determine possible collision situations and thus significantly reduce possible collision areas, which consequently not only can reduce energy consumption, but also has as few adverse effects on formation maintenance as possible. Then a time-varying formation control protocol is designed so as to achieve zero steady-state position and velocity formation tracking errors without collision. Finally, theoretical analysis, numerical demonstration, as well as comparative simulation are provided to verify the effectiveness of the proposed method. © 2004-2012 IEEE.

关键词： Multi agent systems

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Gauss-Newton unrolled neural networks and data-driven priors for regularized PSSE with robustness

arXiv

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arXiv 2020年

作者： Yang, Qiuling Sadeghi, Alireza Wang, Gang Giannakis, Georgios B. Sun, Jian State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States

Renewable energy sources, elastic loads, and purposeful manipulation of meter readings challenge the monitoring and control of today’s power systems (PS). In this context, fast and robust state estimation (SE) is timely and of major importance to maintain a comprehensive view of the system in real time. Conventional PSSE solvers typically entail minimizing a nonlinear and nonconvex least-squares cost using e.g., the Gauss-Newton method. Those iterative solvers however, are sensitive to initialization, and may converge to local minima. To overcome these hurdles, the present paper adapts and leverages recent advances on image denoising to introduce a PSSE approach with a regularizer capturing a deep neural network (DNN) prior. For the resultant regularized PSSE objective, a "Gauss-Newton-type" alternating minimization solver is developed first. To accommodate real-time monitoring, a novel end-to-end DNN is constructed subsequently by unrolling the proposed alternating minimization solver. The deep PSSE architecture can further account for the power network topology through a graph neural network (GNN) based prior. To further endow the physics-based DNN with robustness against bad data, an adversarial DNN training method is put forth. Numerical tests using real load data on the IEEE 118-bus benchmark system showcase the improved estimation and robustness performance of the proposed scheme compared with several state-of-the-art alternatives. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep neural networks

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A Quantized controller of Linear systems with Disturbances under DoS Attacks

A Quantized Controller of Linear Systems with Disturbances u...

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International Conference on control and Automation (ICCA)

作者： Wenjie Liu Jian Sun Jie Chen State Key Lab of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China Tongji University Shanghai China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper considers the problem of stabilizing linear time-invariant systems with quantized state measurements under both external disturbances and Denial-of-Service (DoS) attacks. An element-based impulsive controller that can stabilize systems when quantization, DoS attacks and bounded disturbances coexist is proposed. A sufficient condition for stability characterized by the parameters of DoS attacks, bit-rate and the quantizer's saturation time is obtained. Moreover, analysis shows that under an appropriate design of parameters of the controller, the resultant saturation time always remains small. A numerical example is given to confirm the validity of the proposed method.

关键词： Denial-of-service attack Quantization (signal) Encoding Decoding Bandwidth Switched systems Eigenvalues and eigenfunctions

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