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2019 3rd International Symposium on Autonomous Systems (ISAS)最新文献

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A Testing Support Method for Shore/Sea Integration of Unmanned Surface Vehicles 一种无人水面航行器岸海一体化的测试支撑方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757740
Weiqiang Feng, Weiwei Kong, Peiyu Han
{"title":"A Testing Support Method for Shore/Sea Integration of Unmanned Surface Vehicles","authors":"Weiqiang Feng, Weiwei Kong, Peiyu Han","doi":"10.1109/ISASS.2019.8757740","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757740","url":null,"abstract":"In order to achieve the goal of testing support of unmanned surface vehicles (USVs), by leveraging typical unmanned system features for USVs, this paper analyzes the testing support requirements, proposes a testing support method for shore-sea integration, and establishes a shore-sea integration testing support system. Based on the server-end and client-end modes, a testing support system with real-time monitoring of boats, periodic self-tests, online fault analysis and parallel systems is established, which can greatly reduce the adverse consequences caused by performance degradation or failures of USVs.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127650113","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
Overview of Task Understanding of Unmanned Combat Systems 无人作战系统任务理解综述
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757706
Qi Liu, Jia Zhang, Bin Xin, Hao Zhang
{"title":"Overview of Task Understanding of Unmanned Combat Systems","authors":"Qi Liu, Jia Zhang, Bin Xin, Hao Zhang","doi":"10.1109/ISASS.2019.8757706","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757706","url":null,"abstract":"Unmanned combat systems, as new weapons to overturn the rules of future war, have been the focus of research and development of military powers. To realize the efficient combat coordination between human and unmanned systems, the task understanding of unmanned combat systems is critical. Concerning the task understanding problems of unmanned combat systems, the basic concepts and significance are first discussed Then the existing methods for the task understanding of unmanned systems are summarized and analyzed A general process of the task understanding of unmanned combat systems and a task understanding framework based on deep learning are proposed The process defines the inputs, outputs, and triggering conditions. The deep learning based framework is capable of dealing with complex combat situations, which has certain reference significance for the task understanding of unmanned combat systems.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123234797","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
Online Hybrid Learning to Speed Up Deep Reinforcement Learning Method for Commercial Aircraft Control
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757756
Minjian Xin, Yue Gao, Tianhao Mou, Jianlong Ye
{"title":"Online Hybrid Learning to Speed Up Deep Reinforcement Learning Method for Commercial Aircraft Control","authors":"Minjian Xin, Yue Gao, Tianhao Mou, Jianlong Ye","doi":"10.1109/ISASS.2019.8757756","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757756","url":null,"abstract":"We propose an online hybrid learning algorithm that enables deep reinforcement learning agents to learn in environments where the cost of exploration is expensive. Our algorithm adopts ideas from imitation learning and Deep Deterministic Policy Gradient (DDPG). It utilizes an existing baseline controller to speed up the process of learning as well as lower the exploration cost. Our algorithm is validated on classic pendulum swing-up problem and shows faster convergence speed and lower exploration cost. Furthermore, the algorithm can also be applied in learning a controller for commercial aircraft cruising. While DDPG fails to learn a decent policy, our hybrid learning algorithm is able to learn quickly in an online manner with low cost. Our experiments show that the learned policy network is more robust than the baseline PID controller.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124550210","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
An IOS Small-Gain Theorem for Nonlinear Time-Delay Systems 非线性时滞系统的IOS小增益定理
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757785
Adiya Bao, Tengfei Liu, Zhong-Ping Jiang
{"title":"An IOS Small-Gain Theorem for Nonlinear Time-Delay Systems","authors":"Adiya Bao, Tengfei Liu, Zhong-Ping Jiang","doi":"10.1109/ISASS.2019.8757785","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757785","url":null,"abstract":"This paper presents small-gain results for time-delay systems composed of n subsystems. The input-to-output practically stable (IOpS) and unboundedness observable (UO) of the subsystems are assumed, and the time-delay system can be proved to be IOpS and UO as long as the proposed small-gain condition is satisfied.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124270602","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
Adaptive Fault-Tolerant PID Tracking Control of Mobile Robots Operating Over Sliding Surface 滑动表面移动机器人的自适应容错PID跟踪控制
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757733
Zhenfeng Han, S. Tan, Qian Cao
{"title":"Adaptive Fault-Tolerant PID Tracking Control of Mobile Robots Operating Over Sliding Surface","authors":"Zhenfeng Han, S. Tan, Qian Cao","doi":"10.1109/ISASS.2019.8757733","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757733","url":null,"abstract":"Most existing control algorithms for mobile robots are rather complicated yet seldom considering ground sliding nor actuation failures. This paper presents an adaptive tracking control algorithm for mobile robots operating over the slip-ping/skidding surface and at the same fine possibly suffering from actuator faults. The proposed control bears the simple structure of proportion-integrals-differential (PID) in which the PID gains are adaptively self-tuned, completely avoiding time-consuming manual “trial and error” tuning process as usually involved in most traditional PID control methods. The salient features of the proposed control lie in not only its simplicity in design and implementation, but also its ability to cope with modeling uncertainties and actuation faults as well as the sliding impacts. Simulations on butterfly trajectory tracking demonstrate and confirm the superior performance of the developed adaptive PID control as compared with traditional one.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115324346","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
Quantizer-Based Adaptive Event-Triggered Control for Linear Systems 基于量化器的线性系统自适应事件触发控制
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757792
Haohao Chen, Y. Fan, Jun Chen, Lun Wang
{"title":"Quantizer-Based Adaptive Event-Triggered Control for Linear Systems","authors":"Haohao Chen, Y. Fan, Jun Chen, Lun Wang","doi":"10.1109/ISASS.2019.8757792","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757792","url":null,"abstract":"In this paper, we propose an adaptive event-triggered control approach based on quantizer for linear systems. Firstly, an adaptive event-triggered mechanism is designed according to the state measurement error in order to reduce the number of information transmission and the occupation of communication bandwidth while ensuring the stability of the system. Secondly, a quantizer is used for reducing processing data and cutting down network congestion, which can improve the quality of control in a certain extent. Next, the co-design scheme of event-triggered mechanism and the controller is given to guarantee the asymptotically stability of the closed-loop system based on Lyapunov function and linear matrix inequality technique. Finally, a simulation example illustrates the efficiency of the presented method.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"34 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121018631","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
A gradient tracking method for resource allocation base on distributed convex optimization 基于分布凸优化的资源分配梯度跟踪方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757716
Ermeng Fu, Hui Gao, Muhammad Fasehullah, Lian Tan
{"title":"A gradient tracking method for resource allocation base on distributed convex optimization","authors":"Ermeng Fu, Hui Gao, Muhammad Fasehullah, Lian Tan","doi":"10.1109/ISASS.2019.8757716","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757716","url":null,"abstract":"In this paper we consider the distributed resource allocation problem, where the individual cost of each agent attempts to minimize when both the total resource and the capacity of local agents are limit. This problem is encountered in many practical applications such as demand response, cloud computing systems and economic dispatch of power systems. This kind of problem can be expressed as an optimization problem under constraints. Our goal is to obtain the optimal resource allocation under limited conditions and the global objective function is a sum of all local agents individual cost function. By combining with the distributed primal-dual method, we design a distributed optimization algorithm with a constant step-size. When the cost function of each agent is convex and smooth, we prove that our method can converge to the optimal solution. Finally, we apply the algorithm to the problem of the economic dispatch in power systems and get the optimal resource allocation, which verifies the effectiveness of the algorithm.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115092755","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
Optimal Scheduling of Electricity Powered Thermal System for Demand Side Management of Buildings 基于需求侧管理的电力热力系统优化调度
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757699
Jiang Wu, Yang Li, Zhanbo Xu
{"title":"Optimal Scheduling of Electricity Powered Thermal System for Demand Side Management of Buildings","authors":"Jiang Wu, Yang Li, Zhanbo Xu","doi":"10.1109/ISASS.2019.8757699","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757699","url":null,"abstract":"The heating and cooling system coupled with thermal energy storages brings flexibility to demand side management of buildings. Its optimal operation may be very helpful to reduce the energy mismatch between availability of distributed photovoltaic (PV) generation and the demand in buildings where hot water, heating and cooling are delivered by electricity powered thermal system. An optimization problem for the demand side management of building multi-energy systems with feed-in electricity, renewable generations, thermal storage devices, and schedulable loads is formulated as a mixed integer linear programming problem, which could capture the coupling between the cooling, heating and electricity energy in the building energy systems and handle the correlation between the thermal storages and renewable generation. By solving the developed problem, the scheduling strategy of the electricity powered thermal system under time-of-use electricity price can be obtained. The performance of the developed method is demonstrated using numerical case studies under different demand situations. The results show that the thermal storage devices can significantly improve the energy efficiency of the building and save the total electricity cost.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126137862","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
Observer-based finite-time consensus for double integrator systems with time varying disturbances by sliding mode control 基于观测器的时变扰动双积分系统有限时间一致性滑模控制
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757762
Qian Cao, Yongduan Song
{"title":"Observer-based finite-time consensus for double integrator systems with time varying disturbances by sliding mode control","authors":"Qian Cao, Yongduan Song","doi":"10.1109/ISASS.2019.8757762","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757762","url":null,"abstract":"This paper investigates the distributed finite-time consensus problem of double integrator systems with time varying disturbances in absence of velocity information. Based on the continuous homogeneous finite time consensus protocol for the nominal multi-agent systems (MAS), both the discontinuous and continuous integral sliding mode (ISM) protocols are developed respectively by using only the position information of local and neighboring agents. Simulation results validate the effectiveness of the proposed scheme.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133207731","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
Minimum-energy Optimal Control System for Four- wheeled Omni-directional Mobile Robot 四轮全向移动机器人的最小能量最优控制系统
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757735
Jianbin Wang, Jianping Chen, Pingmeng Bao
{"title":"Minimum-energy Optimal Control System for Four- wheeled Omni-directional Mobile Robot","authors":"Jianbin Wang, Jianping Chen, Pingmeng Bao","doi":"10.1109/ISASS.2019.8757735","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757735","url":null,"abstract":"The four-wheeled omnidirectional mobile robot driven by four electric motors is a typical redundant system. In this paper, a minimum-energy optimal control system for motion control of a four-wheeled omnidirectional mobile robot is presented. The kinematics of the mobile robot is built. And then a trajectory tracking controller is designed based on the kinematics model. Considering the wheel velocity redundancy, a harmony search and genetic algorithm hybrid optimization algorithm is applied to search for the best inputs by minimizing the motion energy. The designed control algorithm has been extensively tested in simulation. The obtained results indicate that the trajectory tracking control system has good stability and accuracy with minimum-energy consumption.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131722521","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
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