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2019 IEEE 15th International Conference on Control and Automation (ICCA)最新文献

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Robust Mean Field Social Optimal Control with Applications to Opinion Dynamics 鲁棒平均场社会最优控制及其在意见动态中的应用
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899655
Yong Liang, Bingchang Wang
{"title":"Robust Mean Field Social Optimal Control with Applications to Opinion Dynamics","authors":"Yong Liang, Bingchang Wang","doi":"10.1109/ICCA.2019.8899655","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899655","url":null,"abstract":"This paper investigates the social optimal problem in linear quadratic mean field control systems with unmodeled dynamics. The objective of the agents in the social system is to optimize the social cost, which is the sum of the costs of all the agents. By the variational method, the social optimal problem is analyzed, and the equivalent robust optimal control problems are obtained for each agent. The decentralized strategies are obtained by solving the auxiliary problem with the mean field approximation, and the asymptotic social optimality is proved under mild conditions. The above results are applied into opinion dynamics, and all opinions are shown to converge to the mean opinion in probability.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129621564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
An LMI Approach to Controller Design for Balancing over Slackline 一种基于LMI的滑绳平衡控制器设计方法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8900024
K. Iqbal
{"title":"An LMI Approach to Controller Design for Balancing over Slackline","authors":"K. Iqbal","doi":"10.1109/ICCA.2019.8900024","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8900024","url":null,"abstract":"Balancing over a tight rope or slackline is a challenging task as the stabilizing moments must be internally generated by moving the arms. In this study, we use a two-segment biomechanical model of the subject to investigate postural stability and control during the balancing task on slackline. The assumed model has three degree of freedom (DoF), including slackline displacement, body orientation, and the arm rotation that also generates the stabilizing torque. We assume vestibular sensing of the body rotation rate and emulate a neural estimator in the brain that reconstructs the missing state variables. We employ linear matrix inequality (LMI) framework to design the controller-estimator to stabilize the proposed biomechanical model. The nonlinear model is then simulated to ensure postural stability during the execution of balancing task over slackline.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128713902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Bearing-based Bionic Encirclement Control Inspired by Dolphins 受海豚启发的基于方位的仿生包围控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8900008
Zhiwen Zeng, Xiangke Wang, Huimin Lu, Junhao Xiao, Zhiqiang Zheng
{"title":"Bearing-based Bionic Encirclement Control Inspired by Dolphins","authors":"Zhiwen Zeng, Xiangke Wang, Huimin Lu, Junhao Xiao, Zhiqiang Zheng","doi":"10.1109/ICCA.2019.8900008","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8900008","url":null,"abstract":"Inspired by the encirclement behavior of dolphins to entrap fishes, we investigate the bionic encirclement control by employing the bearing rigidity theory. To begin with, we transform the encirclement problem into target formation with time-varying bearing constraint. Then, to achieve a dynamic circle to entrap the target as well as gradually tighten the encirclement, we propose a distributed control law by combining orthogonal projection operator and the consensus protocol. In addition, we analyze the stability of the coordination tasks by using Lyapunov method and small-gain theorem. Moreover, we figure out that the shrinkage of the formation scale is according to exponential law and also provide the estimates of the tightening rate. Finally, simulation results are given to verify the theoretical analysis.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129303133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Automatic Tuning Methodology of Visual Servoing System Using Predictive Approach 基于预测方法的视觉伺服系统自动整定方法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899522
C. Copot, Lei Shi, S. Vanlanduit
{"title":"Automatic Tuning Methodology of Visual Servoing System Using Predictive Approach","authors":"C. Copot, Lei Shi, S. Vanlanduit","doi":"10.1109/ICCA.2019.8899522","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899522","url":null,"abstract":"In this paper, a tuning methodology based on predictive model approach for visual servoing system is investigated. The proposed approach uses features prediction based method to estimate the camera velocity and thus to calculate the optimal control tuning parameter. In order to have a faster convergence and in the same time a desired behaviour of the servoing system, a new control parameter is computed every sampling time. To evaluate the designed tuning strategy, a visual servoing architecture with an eye-in-hand configuration has been considered. The experimental results showed that the proposed tuning algorithm based on prediction model has a stable and convergent behavior when dealing with visual servoing applications. To the knowledge of the authors, the proposed methodology is the first approach which enables an automatic selection of control parameter for the proportional visual control law.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130580813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Quantized Feedback Control for Nonlinear Feedforward Systems 非线性前馈系统的量化反馈控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899931
Ping Wang, Chengpu Yu
{"title":"Quantized Feedback Control for Nonlinear Feedforward Systems","authors":"Ping Wang, Chengpu Yu","doi":"10.1109/ICCA.2019.8899931","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899931","url":null,"abstract":"This paper investigates the quantized feedback control for nonlinear feedforward systems with unknown control coefficients and unknown growth rates. The unknown control coefficients are assumed to be bounded, and the unknown growth rate is time-varying. Based on the wellknown backstepping method and the sector bound approach, a time-varying quantized feedback controller calculated from the quantized output is designed, which can achieve the boundedness and convergence of the closed-loop system states. Moreover, a guideline is provided for choosing the parameters of the quantizers. Finally, a simulation example is given to show the effectiveness of the control scheme.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123484473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Cooperative reconnaissance mission planning for heterogeneous UAVs with DCSA 基于DCSA的异构无人机协同侦察任务规划
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899557
Yao-zhong Zhang, He Li, Yun-hong Ma, Jian-dong Zhang, Jian-liang He
{"title":"Cooperative reconnaissance mission planning for heterogeneous UAVs with DCSA","authors":"Yao-zhong Zhang, He Li, Yun-hong Ma, Jian-dong Zhang, Jian-liang He","doi":"10.1109/ICCA.2019.8899557","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899557","url":null,"abstract":"In this paper, an improved Discrete Cuckoo Search algorithm (DCSA) is proposed to solve the problem of cooperative reconnaissance mission planning for multi-heterogeneous UAVs, to maximize the reconnaissance revenue of UAVs and achieve the shortest total mission time in the combat areas. DCSA achieves the balance between local and global solutions via Lévy flights in the search space. At the same time, it avoids falling into local optimal solution. Considering the heterogeneity and resource constraints of UAVs, the multi-heterogeneous UAVs cooperative reconnaissance task planning model has been established, which is based on the evaluation criteria of total investigative revenue and the longest time consumption of UAV. Meanwhile, the UAV-task combination sequence is constructed. Therefore, the task planning problem is transformed into Traveling Salesman Problem (TSP). With the aid of DCSA, the task planning problem is simplified effectively. As the result in simulation shows, the improved DCSA can effectively solve this problem.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123486614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Practical time-varying output formation tracking for high-order nonlinear strict-feedback multi-agent systems with control gap using adaptive neural networks 具有控制间隙的高阶非线性严格反馈多智能体系统实用化时变输出编队跟踪
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899920
Jianglong Yu, Xiwang Dong, Qingdong Li, Z. Ren
{"title":"Practical time-varying output formation tracking for high-order nonlinear strict-feedback multi-agent systems with control gap using adaptive neural networks","authors":"Jianglong Yu, Xiwang Dong, Qingdong Li, Z. Ren","doi":"10.1109/ICCA.2019.8899920","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899920","url":null,"abstract":"Practical time-varying output formation tracking issues for high-order nonlinear strict-feedback multi-agent systems with control gap are studied in this paper. The outputs of the followers are desired to form a time-varying formation while tracking the leader’s output. Besides, the dynamics of each agent has high-order mismatched nonlinearities and control gap, and the leader has unknown control signal. Firstly, the mismatched nonlinearities, the control gap and the leader’s unknown control signal are transformed into the integrated uncertainties, and a practical time-varying output formation tracking protocol is constructed by using adaptive neural networks and back-stepping technique. Then, the procedures for designing the protocol are summarized to an algorithm including the feasible time-varying formation tracking condition and the criteria for the selection of the control parameters. Thirdly, the stability of the closed-loop multi-agent system can be guaranteed through the analysis method of the Lyapunov stability theory. Finally, a simulation example is presented for illustrating the effectiveness of the proposed method.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114081633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed Identification of Large-Scale MISO Output-Error Systems 大规模MISO输出误差系统的分布式辨识
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899976
Chengyan He, Chengpu Yu, Ping Wang
{"title":"Distributed Identification of Large-Scale MISO Output-Error Systems","authors":"Chengyan He, Chengpu Yu, Ping Wang","doi":"10.1109/ICCA.2019.8899976","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899976","url":null,"abstract":"This paper presents a distributed identification algorithm for large-scale MISO output-error systems. The considered MISO system is decomposed into multiple SISO output-error systems with their outputs being summed up to the measurable system output, and each SISO subsystem performs recursive identification by exchanging parameter estimates with other subsystems. Using the Lyapunov theory, it is proven that the proposed distributed identification algorithm converges asymptotically. Finally, a simulation example is given to demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114230842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Stabilizability Conditions for One Class of Linear Singularly Perturbed Differential-Difference Systems 一类线性奇摄动微分-差分系统的稳定性条件
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899752
V. Glizer
{"title":"Stabilizability Conditions for One Class of Linear Singularly Perturbed Differential-Difference Systems","authors":"V. Glizer","doi":"10.1109/ICCA.2019.8899752","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899752","url":null,"abstract":"Asingularly perturbed linear time-invariant controlled system with a point-wise delay in the state variables is considered. The delay is nonsmall. It appears in both, slow and fast, state variables but only in the slow mode equation. Two much simpler parameter-free subsystems (the slow and fast ones) are associated with this system. Although the original singularly perturbed system has the delay only in the state variables, its slow subsystem has delays in both, state and control, variables. It is established in the paper that the stabilizability of the slow and fast subsystems yields the stabilizability of the original singularly perturbed system for all sufficiently small values of the parameter of singular perturbation. The theoretical results are illustrated by example.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124135557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Gait Detection using a Single Accelerometer 使用单个加速度计的步态检测
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8900017
R. Wu, Jian-Kang Wu, Wendong Xiao
{"title":"Gait Detection using a Single Accelerometer","authors":"R. Wu, Jian-Kang Wu, Wendong Xiao","doi":"10.1109/ICCA.2019.8900017","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8900017","url":null,"abstract":"The research of gait parameters is of great significance to understand the law of human motion and the coordination between limbs. To obtain accurate gait parameters, it is necessary to study the contact states of the heel and the toe against the ground during walking, that is, Heel Strike (HS) and Toe Off (TO), which are the basis for dividing the starting point of gait and calculating the characteristic parameters such as gait period. This paper will present a new zero-crossing gait detection method based on a single accelerometer by attaching the accelerometer to the chest of the subject and collecting the triaxial acceleration data when the subject is walking. Equal ripple Finite Impulse Response (EFIR) band pass filter is adopted for data preprocessing, so that the characteristics of zero point in the signal is more obvious. The zero crossing method is used to detect HS, TO and other gait events, then the related gait temporal parameters are calculated. The parameters are compared with the gait parameters calculation system using lower limb motion capture device. The results show that the proposed method can achieve high PPV (Positive Predictive Values).","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127708333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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