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第36届中国控制会议

作者： Li Jun Zhang Neng Li Jing Jing Zhang Xi Yong Tian School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

This paper present a prediction model for three different objection(the airflow rate,the carbonaceous biochemical oxygen demand(CBOD) of the effluent,and the total suspend solids(TSS) of the *** model is built by the MLP neural *** accurancy of the prediction result of MLP neural network is compared with the accurancy of the result of trational stational autoregressive model(AR).The conclution is that the percentage error prediction model of the MLP neural network(PE),the fractional deviation(FB),normalized mean square error(NMSE),the mean absolute error(MAE) and mean square error(MSE) prediction model of evaluation index is better than the AR *** other words,the prediction model based on MLP neural network provides a reliable basis for reducing the energy consumption in the activated sludge process of industrial waste water treatment and further improving its effect on the treatment of industrial waste water.

关键词： Industrial waste water treatment Activated sludge process MLP neural network Data mining

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Further results on cloud control systems

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Science China(Information Sciences) 2016年第7期59卷 232-236页

作者： Yuanqing XIA Yongming QIN Di-Hua ZHAI Senchun CHAI School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is devoted to further investigating the cloud control systems(CCSs). The benefits and challenges of CCSs are provided. Both new research results of ours and some typical work made by other researchers are p... 详细信息

关键词： cloud control systems cloud computing cyber-physical systems networked control systems big data

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Experimental Study on Decentralized Concurrent Learning for Multi-Agent System with complex Dynamics 36

Experimental Study on Decentralized Concurrent Learning for ...

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第36届中国控制会议

作者： Ting Fei Xin Chen Min Wu Chi Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

A cooperative multi-agent system entitles some independent agents to complete complex tasks through coordination and *** the dynamics of physical agents are so complex that the environment of learning is indeed stochastic,the paper introduces the decentralized multi-agent reinforcement learning（MARL） algorithm,named as Decentralized Concurrent Learning with Cooperative Policy Exploration（DCL-CPE）,in order to solve cooperative learning within stochastic *** investigate its feasibility in practical multi-agent systems,the box-pushing test with DCL-CPE is designed with a group of two-wheel driven robots acting as learning *** to physical properties,such as nonholonomic dynamics,rolling and sliding frictions,unreliable sense,rigid body collision,etc.,the cooperative learning is a high stochastic learning *** simulation test in Webots shows that DCL-CPE is good at exploring best cooperative policy in a decentralized way,even as state transition and rewards are all stochastic.

关键词： Multi-agent system Decentralized cooperative learning Stochastic environment Webots

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Consensus control of second-order stochastic discrete-time multi-agent systems without velocity transmission

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control Theory and Technology 2023年第4期21卷 591-601页

作者： Zi-Xuan Wang Xiaofeng Zong Ling-Jie Gai School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems WuhanHubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhanHubeiChina

This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative ***,a control law based on the absolute velocity and relative position information is ***,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov ***,for the linear second-order multi-agent systems,some explicit consensus conditions are ***,two sets of numerical simulations are performed.

关键词： Consensus control Multiplicative noises Second-order Discrete-time Multi-agent system

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Group Hybrid Coordination control of Multi-Agent systems With Time-Delays and Additive Noises

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 737-748页

作者： Chuanjian Li Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China IEEE

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this *** group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,*** MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,*** developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,*** is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented ***,the validity of the group control results is verified by several simulation examples.

关键词： Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) time-delays

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A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

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Journal of Bionic Engineering 2022年第5期19卷 1334-1348页

作者： Lingjie Gai Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending *** device consists of soft gripper structures and a soft bionic bracket *** adopt the local thin-walled design in the soft gripper *** design improves the grippers’bending efficiency,and imitate human finger’s segmental bending *** addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing *** to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping ***,to grasp small objects reliably,we further present a new Pinching Grasping(PG)*** great performance of the fully SBGD is verified by *** work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

关键词： Fully soft bionic grasping device Local thin-walled grippers Soft bionic bracket Adjust grasping range automatically Segmental bending shape New pinching grasping method

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Trajectory reshaping based guidance with impact time and angle constraints

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Chinese Journal of Aeronautics 2016年第4期29卷 984-994页

作者： Zhao Yao Sheng Yongzhi Liu Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This study presents a novel impact time and angle constrained guidance law for homing missiles. The guidance law is first developed with the prior-assumption of a stationary target, which is followed by the practical extension to a maneuvering target scenario. To derive the closed-form guidance law, the trajectory reshaping technique is utilized and it results in defining a specific polynomial function with two unknown coefficients. These coefficients are determined to satisfy the impact time and angle constraints as well as the zero miss distance. Furthermore, the proposed guidance law has three additional guidance gains as design parameters which make it possible to adjust the guided trajectory according to the operational conditions and missile's capability. Numerical simulations are presented to validate the effectiveness of the proposed guidance law. (C) 2016 Chinese Society of Aeronautics and Astronautics. Production and hosting by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license.

关键词： Guidance Homing missiles Impact angle Impact time Trajectory reshaping

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Containment control of Multi-Agent systems with Stochastic Multiplicative Noises

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Journal of systems Science & complexity 2022年第3期35卷 909-930页

作者： REN Junhao ZONG Xiaofeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied *** on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure ***,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure *** is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent *** examples are also introduced to illustrate the effectiveness of the theoretical results.

关键词： Containment control multi-agent system multiplicative noises stochastic system

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A modular four-modal soft grasping device

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Science China(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

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Sliding mode control based guidance law with impact angle constraint

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Chinese Journal of Aeronautics 2014年第1期27卷 145-152页

作者： Zhao Yao Sheng Yongzhi Liu Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

The terminal guidance problem for an unpowered lifting reentry vehicle against a sta- tionary target is considered. In addition to attacking the target with high accuracy, the vehicle is also expected to achieve a desired impact angle. In this paper, a sliding mode control （SMC）-based guidance law is developed to satisfy the terminal angle constraint. Firstly, a specific sliding mode function is designed, and the terminal requirements can be achieved by enforcing both the sliding mode function and its derivative to zero at the end of the flight. Then, a backstepping approach is used to ensure the finite-time reaching phase of the sliding mode and the analytic expression of the control effort can be obtained. The trajectories generated by this method only depend on the initial and terminal conditions of the terminal phase and the instantaneous states of the vehicle. In order to test the performance of the proposed guidance law in practical application, numerical simulations are carried out by taking all the aerodynamic parameters into consideration. The effec- tiveness of the proposed guidance law is verified by the simulation results in various scenarios.

关键词： Backstepping Impact angle Sliding mode control Terminal guidance Unpowered lifting reentryvehicle

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