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第三十九届中国控制会议

作者： Xianwei Li Yang Tang Shaoyuan Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology

This paper focuses on designing dynamic event-triggered(DET) protocols for consensus control of general linear multi-agent systems(MASs). Design algorithms are constructed for DET protocols with static and adaptive coupling, respectively. The designed event-triggering conditions involve internal dynamic variables that depend on the error information of the system, which provide more flexibility to reduce the number of triggered events than the existing results on linear MASs. The protocol with adaptive coupling is of the fully distributed nature. It is proved that the proposed protocols can ensure consensus and are not Zeno. A numerical example is provided to illustrate the effectiveness and advantages of the designed protocols.

关键词： Multi-agent systems Consensus Dynamic event-triggered(DET) protocol Adaptive coupling

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A Constructive Semi-global Differential Game Design Method for Multi-agent Systems under Input Constraint and Collision Avoidance*

A Constructive Semi-global Differential Game Design Method f...

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Chinese automation Congress (CAC)

作者： Xiongjun Wu Jialing Zhou Yuanlong Li Chunfang Chen Kai Li National Defense Key Laboratory of Science and Technology on Electromagnetic Scattering The 802 Institute of Shanghai Academy of Space Flight Technology The Eighth Academy of China Aerospace Science and Technology Corporation Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China School of Automation Nanjing University Science and Technology Nanjing The 802 Institute of Shanghai Academy of Space Flight Shanghai School of Automation Science and Electrical Engineering Beihang University Beijing

ISBN: (纸本)9781665426480

The constructive semi-global differential game concept is introduced into the multi-agent’s cooperative controller designing of typical autonomous unmanned systems subject to controller input constraint as well as the collision avoidance requirements simultaneously. The problem of driving each agent which is assume to subject to input constraint nonlinearity from the initial position to a desired one and at the same time avoiding collisions (referring to both static obstacles and other agents) is modeled and transformed into multi-agent’s collision avoidance problem. In view of the requirement that different agents working together might possibly have individual but conflicting purpose (such as in the multi-missile cooperative detection requiring slowly and continuing actions vs fast formation control scenario, and multi-agents’ fast arriving vs avoiding different kinds of obstacles). The differential game theory provided a mechanism or framework for investigating different kinds of problems in which several players seek to achieve individual purposes or goals, which might be competing rather than cooperation. In view of the input constraints, the problem is reduced as a semi-global differential game. Conditions are established to guarantee input constraints are satisfied, and mainly by using the Hamilton-Jacobi-Isaacs (HJI for short) PDIs and as well as ε-Nash equilibria. The semi-global property of the states are also guaranteed. It provides a description in terms of the invariant set for the overall differential game system under constraint controller input. Illustrative examples are carried out to verify the effectiveness of the method, and also the feasibility of the suggested control protocols.

关键词： Protocols automation Design methodology Differential games Games control systems Collision avoidance

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The Design of Logic Gate Based on Triplex Structures 14th

The Design of Logic Gate Based on Triplex Structures

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14th International Conference on Bio-inspired Computing: Theories and Applications, BIC-TA 2019

作者： Hu, Yingxin Wang, Zhiyu Chen, Zhekun Liao, Sulin Huang, Yabing Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology WuhanHubei430074 China College of Information Science and Technology Shijiazhuang Tiedao University ShijiazhuangHebei050043 China School of Computer Science and Technology Huazhong University of Science and Technology WuhanHubei430074 China Department of Pathology Renmin Hospital of Wuhan University WuhanHubei430060 China

ISBN: (纸本)9789811534140

Molecular carch hotspots in the area of DNA nanotechnology due to its inherent large storage capacity, high parallelism, and energy efficiency. The assembled structures in the existing computing units mainly adopt a double-helix structure. However, besides duplex, DNA is known to adopt other helical forms such as triplex form. The triplex structure has introduced a novel paradigm into the DNA engineer owing to their unique characteristic sequence, structural and assembly requirements. Based on the assembly and disassembly of the triplex structure, a YES logic gate was constructed via strand displacement reaction. The experiment results showed that GC content and stem length would influence the displacement reaction. Then AND logic gate was also established through cooperative effect by two DNA strands. The construction of the cascading circuit indicated triplex-based logic gate could be integrated into larger circuits and enrich the toolbox of the computing devices. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Logic gates

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Inverse linear-quadratic discrete-time finite-horizon optimal control for indistinguishable homogeneous agents: a convex optimization approach

arXiv

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arXiv 2021年

作者： Zhang, Han Ringh, Axel Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Mathematical Sciences Chalmers University of Technology University of Gothenburg Gothenburg41296 Sweden

The inverse linear-quadratic optimal control problem is a system identification problem whose aim is to recover the quadratic cost function and hence the closed-loop system matrices based on observations of optimal trajectories. In this paper, the discrete-time, finite-horizon case is considered, where the agents are also assumed to be homogeneous and indistinguishable. The latter means that the agents all have the same dynamics and objective functions and the observations are in terms of "snap shots" of all agents at different time instants, but what is not known is "which agent moved where" for consecutive observations. This absence of linked optimal trajectories makes the problem challenging. We first show that this problem is globally identifiable. Then, for the case of noiseless observations, we show that the true cost matrix, and hence the closed-loop system matrices, can be recovered as the unique global optimal solution to a convex optimization problem. Next, for the case of noisy observations, we formulate an estimator as the unique global optimal solution to a modified convex optimization problem. Moreover, the statistical consistency of this estimator is shown. Finally, the performance of the proposed method is demonstrated by a number of numerical examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Convex optimization

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on Robotics and automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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Vibration fatigue analysis and research of URV shunt reactor 14

Vibration fatigue analysis and research of URV shunt reactor

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14th IEEE Conference on industrial Electronics and Applications, ICIEA 2019

作者： Li, Shengmin Zheng, Zhicong Liang, Jining Xiao, Yamin Faculty of Automation and Information Engineering Xi'an University Ot Technology Xi'an710048 China Intelligent Information Processing Shaanxi Key Laboratory of Complex System Control Xi' an710048 China

ISBN: (纸本)9781538694909

Problems of vibration fatigue in UHV reactor is mentioned, comparative analysis of several commonly used fatigue analysis methods, finally, the modal superposition method is used to calculate the structural fatigue caused by vibration. Through analysis of reactor vibration data, the reason for using frequency domain signals as fatigue frequency domain load spectrum to calculate the service life of reactors. In order to perform reactor fatigue analysis, a finite element model of the reactor was first built using ANSYS Workbench finite element integration software, the frequency response function FRF is obtained by harmonic response analysis, and then the vibration time domain signal are transformed into frequency signal as load spectrum input with the power density spectrum, finally, nCode fatigue analysis software is used to estimate the service life of the reactor. © 2019 IEEE.

关键词： Finite element method

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Fractional order PID control of microbial fuel cell based on Kalman filter

Fractional order PID control of microbial fuel cell based on...

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第32届中国过程控制会议(CPCC2021)

作者： Yingying Zhao Minmin Wang Aimin An Minan Tang Dongsong Luo Feihong He Yinying Fan College of Electrical and Information Engineering Lanzhou University of Technology Key Laboratory of Gansu Advanced Control for Industrial Processes Lanzhou University of Technology National Demonstration Center for Experimental Electrical and Control Engineering Education Lanzhou University of Technology College of Automation and Electrical Engineering Lanzhou Jiaotong University Gansu Province Special Equipment Inspection and Testing Institute College of Foreign Languages Lanzhou University of Technology

In the actual fractional order PID control system of microbial fuel cell(MFC),the existence of interference noise seriously affects the control quality of the *** at this problem,a fractional order PID control strategy based on Kalman filter is *** Kalman filter is used to realize the optimal estimation of the state of the MFC system,eliminate uncertain factors such as interference noise,and provide more accurate state information for the fractional order PID controller,thereby improving the performance of the *** simulation results show that,compared with the conventional fractional order PID control,the fractional order PID control based on Kalman filter can effectively compensate the influence of interference on the MFC system,the steady-state accuracy is improved obviously,and the entire control process is smoother,at the same time,the anti-interference ability of the system is improved significantly,which effectively improves the ability of the MFC power generation system to operate stably in a complex environment.

关键词： Microbial fuel cell Fractional order PID control Kalman filter Anti-interference ability

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Trajectory optimisation design of robot based on artificial intelligence algorithm

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International Journal of Wireless and Mobile Computing 2019年第1期16卷 35-40页

作者： Huang, Li Zhang, Kai Hu, Wei Li, Chengcheng College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan430081 China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan430081 China

Artificial intelligence has attracted more and more attention and has been widely used in all walks of life, especially in the education industry;artificial intelligence has gradually become the core. Aiming at the problem of robot trajectory planning in artificial intelligence, this paper applies the project teaching method to the course of artificial intelligence, regards trajectory planning as a project, analyses and studies it, uses ant colony algorithm to find the optimal planning path. Through the teaching of the project, the students will understand the ant colony algorithm more deeply. The algorithm is programmed independently to achieve the final trajectory optimisation. Students become the main body of the classroom, give full play to the initiative and enthusiasm of the students, through the operation of the project to train the students' innovative ability and cooperation ability, and improve the overall quality of the college students. Copyright © 2019 Inderscience Enterprises Ltd.

关键词： Students

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Path Planning Algorithm for Unmanned Surface Vessel Based on Multiobjective Reinforcement Learning

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Computational intelligence and neuroscience 2023年第1期2023卷 2146314页

作者： Caipei Yang Yingqi Zhao Xuan Cai Wei Wei Xingxing Feng Kaibo Zhou MOE Key Laboratory of Image Information Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China. Wuhan Second Ship Design and Research Institute Wuhan 430205 China.

It is challenging to perform path planning tasks in complex marine environments as the unmanned surface vessel approaches the goal while avoiding obstacles. However, the conflict between the two subtarget tasks of obstacle avoidance and goal approaching makes the path planning difficult. Thus, a path planning method for unmanned surface vessel based on multiobjective reinforcement learning is proposed under the complex environment with high randomness and multiple dynamic obstacles. Firstly, the path planning scene is set as the main scene, and the two subtarget scenes including obstacle avoidance and goal approaching are divided from it. The action selection strategy in each subtarget scene is trained through the double deep -network with prioritized experience replay. A multiobjective reinforcement learning framework based on ensemble learning is further designed for policy integration in the main scene. Finally, by selecting the strategy from subtarget scenes in the designed framework, an optimized action selection strategy is trained and used for the action decision of the agent in the main scene. Compared with traditional value-based reinforcement learning methods, the proposed method achieves a 93% success rate in path planning in simulation scenes. Furthermore, the average length of the paths planned by the proposed method is 3.28% and 1.97% shorter than that of PER-DDQN and dueling DQN, respectively.

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The Emerging Intelligent Vehicles and Intelligent Vehicle Carriers Collaborative Systems

The Emerging Intelligent Vehicles and Intelligent Vehicle Ca...

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IEEE Symposium on Intelligent Vehicle

作者： Zhipeng Shen Chao Huang Hailong Huang Yutong Wang Fei-Yue Wang Abbas Jamalipour Duc Truong Pham Ljubo Vlacic Andrey V. Savkin Department of Aeronautical and Aviation Engineering the Hong Kong Polytechnic University Hong Kong Department of Industrial and Systems Engineering the Hong Kong Polytechnic University Hong Kong State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China School of Electrical and Information Engineering University of Sydney Sydney Australia Department of Mechanical Engineering University of Birmingham Birmingham UK Institute of Intelligent & Integrated Systems and the School of Engineering and Built Environment Griffith University Brisbane Australia School of Electrical Engineering and Telecommunications University of New South Wales Sydney Australia

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

In this paper, we propose the innovative use of Intelligent Vehicle Carriers (IVCs) as a key solution to address the energy constraints of small-scale unmanned Intelligent Vehicles (IVs). IVCs function as both transporters and charging stations, significantly boosting the operational range and efficiency of IVs. Our research delves into the IV-IVC collaborative framework, highlighting the existing challenges, exploring potential solutions, and examining a range of applications. This study offers a visionary approach to revolutionizing intelligent transportation systems by leveraging the synergistic relationship between IVs and IVCs.

关键词： Intelligent vehicles Collaboration Charging stations Boosting

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