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Coordinated obstacle avoidance with reduced interaction

Neurocomputing 2014年 139卷 233-245页

作者： Jiaojie Li Wei Zhang Housheng Su Yupu Yang Hongtao Zhou Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Department of Measurement and Control Technology Shanghai Dian Ji University Shanghai 200240 China School of Automation Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China

In this paper, we study the coordinated obstacle avoidance algorithm of multi-agent systems when only a subset of agents has obstacle dynamic information, or every agent has local interaction. Each agent can get partial measuring states information from its neighboring agent and obstacle. Coordinated obstacle avoidance here represents not only the agents moving without collision with an obstacle, but also the agents bypassing and assembling at the opposite side of the obstacle collectively, where the opposite side is defined according to the initial relative position of the agents to the obstacle. We focus on the collective obstacle avoidance algorithms for both agents with first-order kinematics and agents with second-order dynamics. In the situation where only a fixed fraction of agents can sense obstacle information for agents with first-order kinematics, we propose a collective obstacle avoidance algorithm without velocity measurements. And then we extend the algorithm to the case in switched topology. We show that all agents can bypass an obstacle and converge together, and then assemble at the opposite side of the obstacle in finite time, if the agents׳ topology graph is connected and at least one agent can sense the obstacle. In the case where obstacle information is available to only a fixed fraction of agents with second-order kinematics, we propose two collective obstacle avoidance algorithms without measuring acceleration when the obstacle has varying velocity and constant velocity. The switched topology is considered and extended next. We show that agents can bypass the obstacle with their positions and velocities approaching consensus in finite time if the connectivity of switched topology is continuously maintained. Several simulation examples demonstrate the proposed algorithms.

关键词： Obstacle avoidance Consensus Reduced interaction Circular motion Multi-agents

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Torque constraints for hexapod robot slope walking

Torque constraints for hexapod robot slope walking

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Tianle Ge Hesheng Wang Weidong Chen Bowen Gui Ministry of Education of China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China

This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.

关键词： Robot kinematics Legged locomotion Stability analysis Torque Angular velocity Force

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On overcoming limitations of a class of linear systems with first-order reset elements

On overcoming limitations of a class of linear systems with ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing China Electrical Engineering and Computer Science Queens University Belfast UK

This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control model is proposed, such that the non-overshoot performance specification can be met for any minimum phase relative degree one plants, the results imply some limitations of linear systems are overcome and clearly illustrate the advantages of reset control. A numerical example is given to show the effectiveness.

关键词： Closed loop systems Stability analysis Gold Linear systems Steady-state Educational institutions

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Tabu fish swarm fault-tolerant QoS unicast routing mechanism

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Dongbei Daxue Xuebao/Journal of Northeastern University 2014年 35卷 145-149and161页

作者： Shi, Jun-Ling Wang, Xing-Wei Zhao, Zhi-Jie Huang, Min School of Information Science & Engineering Northeastern University Shenyang110819 China Key Laboratory of Network Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang110179 China

Firstly, aiming at the uncertainty of link information and users' satisfaction, the relevant knowledge of fuzzy mathematics and probability theory were introduced, and then the method of calculation of the users' QoS evaluation value was proposed. Secondly, the SRLG (shared risk link group)-disjoint and shared-path protection strategies, together with the distinction of the reliability of fault tolerant scheme were used when the single SRLG failure was under consideration. Thirdly, tabu fish swarm intelligent optimization algorithm was used to find the route, and finally a tabu fish swarm preventive fault-tolerant QoS unicast routing mechanism was proposed. The proposed mechanism was used to find the working path and the protective path which were satisfied the QoS constraint conditions and also could guarantee the end-to-end reliability, optimize link-cost and QoS evaluation value of the route. Simulation results showed that the proposed mechanism was feasible and effective. ©, 2014, Northeastern University. All right reserved.

关键词： Quality of service

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An efficient mathematical model for a generalized production process

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AIP Conference Proceedings 2015年第1期1648卷

作者： Wei Weng Cheng Chen Gang Rong Shigeru Fujimura aGraduate School of Information Production and Systems Waseda University 2-7 Hibikino Wakamatsu-ku Kitakyushu Fukuoka 808-0135 Japan bState Key Laboratory of Industrial Control Technology Institute of Cyber-systems and Control Zhejiang University Hangzhou China 310027

This study proposes an efficient mixed integer linear programming (MILP) model for a generalized job shop production process. In the process, a workstation contains one or multiple machines and each job visits some of the workstations in a specific sequence. It is allowed that a job visits the same workstation more than once. Although some similar processes were modeled by MILP in previous studies, the models are unable to solve problems that involve more than ten jobs due to high computational complexity. Our proposed model outperforms the best model that is identified among 23 research papers with regard to computational complexity. Simulation results show that our model is able to solve a problem with a dozen of jobs, which is classified as a large-scale problem in the literature.

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Opinion Dynamics of Modified Hegselmann-Krause Model with Group-based Bounded Confidence

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IFAC Proceedings Volumes 2014年第3期47卷 9870-9874页

作者： Guiyuan Fu Weidong Zhang Department of Automation Shanghai Jiaotong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 P. R. China

The continuous opinion dynamics with group-based heterogeneous bounded confidences is considered in this paper. Firstly, a slightly modified Hegselmann-Krause model is proposed, and the agents are divided into open-minded-, moderate-minded-, and close-minded-subgroups according to the corresponding confidence intervals. Then numerical simulations are carried out to analyze the influence of the close-minded and open-minded agents, as well as the population size, on the opinion dynamics. It is observed that (1) for the fixed population size, the larger proportion of close-minded agents, the more opinion clusters; (2) open-minded agents cannot contribute to forging different opinions, instead, the existence of them maybe diversify final opinions; also interestingly the relative size of the largest cluster varies along concave-parabola-like curve as the proportion of open-minded agents increases; (3) for the same proportion of the three subgroups, as population size increases, the number of final opinion clusters will increase at the beginning and then reach a stable level, which is quite different from the previous studies.

关键词： opinion dynamics modified Hegselmann-Krause model heterogeneous group-based bounded confidence

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Formulation of MPC for Multiplicative Stochastic Uncertainty by Multi-step Probabilistic Sets

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IFAC Proceedings Volumes 2014年第3期47卷 10421-10426页

作者： Jiwei Li Dewei Li Yugeng Xi Lihui Cen Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China Department of Control Engineering Central South University Changsha Hunan Province 410083 China

This paper designs multi-step probabilistic sets for linear, discrete-time, stochastic systems with unbounded multiplicative noise and probabilistic constraints. Multi-step probabilistic sets strengthen IWPp by bringing more degrees of freedom to optimize the applicable region of finite-step probabilistic constraints, and extending the prediction horizon of IWPp to infinity for infinite-horizon probabilistic constraints. Conditions for multi-step probabilistic sets are then incorporated into a stochastic model predictive control algorithm to satisfy probabilistic constraints. Closed-loop mean-square stability is guaranteed by the algorithm. A numerical example shows the performance of the proposed algorithm.

关键词： probabilistic constraints multi-step feedback multiplicative uncertainty

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A generalized rough set-based information flling technique for failure analysis of thruster experimental data

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Chinese Journal of Aeronautics 2013年第5期26卷 1182-1194页

作者： Han Shan Zhu Qiang Li Jianxun Chen Lin Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

Interval-valued data and incomplete data are two key problems for failure analysis of thruster experimental data and have been basically solved by the proposed methods in this paper. Firstly, information data acquired from the simulation and evaluation system formed as intervalvalued information system （IIS） is classified by the interval similarity relation. Then, as an improvement of the classical rough set, a new kind of generalized information entropy called ＂H＇-information entropy＂ is suggested for the measurement of uncertainty and the classification ability of IIS. There is an innovative information filling technique using the properties of H＇-information entropy to replace missing data by some smaller estimation intervals. Finally, an improved method of failure analysis synthesized by the above achievements is presented to classify the thruster experimental data, complete the information, and extract the failure rules. The feasibility and advantage of this method is testified by an actual application of failure analysis, whose performance is evaluated by the quantification of E-condition entropy.

关键词： Data acquisition Data classification Failure analysis information filling Rough set

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On infinite time performance of nonlinear model predictive controllers 19

On infinite time performance of nonlinear model predictive c...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BelfastBT7 1NN United Kingdom

ISBN: (纸本)9783902823625

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases. © IFAC.

关键词： controllers

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Probabilistic constrained stochastic model predictive control for Markovian jump linear systems with additive disturbance

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IFAC Proceedings Volumes 2014年第3期47卷 10469-10474页

作者： Jianbo Lu Yugeng Xi Dewei Li Lihui Cen Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China Department of Control Engineering Central South University Changsha Hunan Province 410083 China

This paper is concerned with stochastic model predictive control for Markovian jump linear systems with additive disturbance, where the systems are subject to soft constraints on the system state and the disturbance sequence is finitely supported with joint cumulative distribution function given. By resorting to the maximal disturbance invariant set of the system, a model predictive control law is given based on a dynamic controller which is with guaranteed recursive feasibility and ensures the probabilistic constraints on the states. By optimizing the volume of the disturbance invariant set, the dynamic controller is given. The closed loop system under this control law is proven to be stable in the mean square sense. Finally, a numerical example is given to illustrate the developed results.

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