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2017 13th IEEE International Conference on Control & Automation (ICCA)最新文献

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A bank of sequential unscented Kalman Filters for target tracking in range-only WSNs 一组序列无气味卡尔曼滤波器用于全距离无线传感器网络的目标跟踪
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003069
Xusheng Yang, Wen-an Zhang, Bo Chen, Li Yu
{"title":"A bank of sequential unscented Kalman Filters for target tracking in range-only WSNs","authors":"Xusheng Yang, Wen-an Zhang, Bo Chen, Li Yu","doi":"10.1109/ICCA.2017.8003069","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003069","url":null,"abstract":"The paper is concerned with the target tracking in range-only wireless sensor networks (WSNs). To integrate the separated measurements from the WSN, a sequential fusion estimation method is presented in the sense of linear minimum mean squared error (LMMSE). Moreover, the un-scented transformation is used to implement the recursion of means and covariances, and this kind estimator is termed as sequential unscented Kalman filter (SUKF). A bank of SUKFs are employed to improve the estimation accuracy and stability as a result of that the orientation of the target is not observable. Accordingly, a set of estimates are generated by the filter bank and the estimates are pruned and updated at each estimation instant. Finally, by simulations of a target tracking example, it demonstrated that in contrast to the single SUKF a better estimation accuracy and convergence speed can be obtained by the SUKF bank.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124339617","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
Design of dense, accurate stereo maps for fast maneuvering of unmanned aerial vehicles 为无人机的快速机动设计密集、精确的立体地图
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003047
Bharath Ramesh, Anli Lim, C. Xiang, Denglu Wu, Zhi Gao, Mingjie Lao, F. Lin
{"title":"Design of dense, accurate stereo maps for fast maneuvering of unmanned aerial vehicles","authors":"Bharath Ramesh, Anli Lim, C. Xiang, Denglu Wu, Zhi Gao, Mingjie Lao, F. Lin","doi":"10.1109/ICCA.2017.8003047","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003047","url":null,"abstract":"In recent times, unmanned aerial vehicles (UAVs) are popular for several applications like rescue, surveillance, mapping, and so on. However, slow flight motion of Quadrotor UAVs is still a challenging issue to overcome. Although there exist several algorithms for the motion estimation and path planning of UAVs, most of them cannot be applied for fast flight in cluttered urban and forest environments. Many navigation systems based on laser scan matching have been demonstrated for the use on Quadrotor UAVs. Nevertheless, keeping in mind that the UAV is to fly at high speeds (5–10 m/s), an alternative for a heavy laser scanner would be a light-weight stereo camera. On the other hand, the main disadvantage for using stereo camera is that the depth map generated is often sparse and noisy, which is the bottleneck for obstacle detection and path planning. Therefore, a segmentation-based filter has been designed to overcome this problem without being dependent on different scenes and lighting conditions. The proposed filter has been tested on publicly available stereo images as well as data generated from our UAV cameras.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122377404","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
Multi input-multi output tank system data-driven model reference control 多输入-多输出油箱系统数据驱动模型参考控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003211
M. Radac, R. Precup, Raul-Cristian Roman
{"title":"Multi input-multi output tank system data-driven model reference control","authors":"M. Radac, R. Precup, Raul-Cristian Roman","doi":"10.1109/ICCA.2017.8003211","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003211","url":null,"abstract":"This paper suggests a model-free control approach for tuning nonlinear state feedback controllers to ensure model reference output tracking in an optimal control framework. An iterative Batch fitted Q (BFQ)-learning strategy uses two neural networks (NNs) to estimate the value function (critic) and the controller (actor). An initially stabilizing linear Virtual Reference Feedback Tuning (VRFT) controller learned from few input-output process samples is then used to collect significantly more input-state-output samples in a controlled constrained environment, by compensating for undesired process dynamics. This collected data is subsequently used to learn significantly superior nonlinear state feedback NN controllers for model reference output tracking using the proposed iterative BFQ-learning strategy. The mixed VRFT-BFQ learning approach is experimentally validated on the water level control of a multi input-multi output (MIMO) nonlinear constrained coupled two-tank system. Although the VRFT control is designed independently for each control channel and does not ensure decoupling, straightforward (MIMO) BFQ-learning proves good decoupling and ensures indirect linearization of the feedback MIMO control system.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121853749","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
Resilient distributed optimization algorithm against adversary attacks 针对对手攻击的弹性分布式优化算法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003106
Chengcheng Zhao, Jianping He, Qing-Guo Wang
{"title":"Resilient distributed optimization algorithm against adversary attacks","authors":"Chengcheng Zhao, Jianping He, Qing-Guo Wang","doi":"10.1109/ICCA.2017.8003106","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003106","url":null,"abstract":"In the distributed optimization, multiple agents aim to minimize the average of all local cost functions corresponding to one decision variable. Recently, the resilient algorithms for distributed optimization against attacks have received some attention, where it is assumed that the maximum number of tolerable attacks is strictly limited by the network connectivity. To relax this assumption, in this paper, we propose a resilient distribution optimization algorithm by exploiting the trusted agents, which cannot be compromised by adversary attacks. We prove that local variables of all normal agents can converge under the proposed algorithm if the trusted agents induce the connected dominating set of the original network. Furthermore, we exploit that the final solution of normal agents will converge to the convex optima set of the weighted average of all normal agents' local functions. We also show that the amount of tolerable adversary agents is not limited by the network connectivity under the proposed algorithm. Numerical results demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126607027","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: 9
A new testing method for XACML 3.0 policy based on ABAC and data flow 一种基于ABAC和数据流的XACML 3.0策略测试新方法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003052
Yunpeng Zhang, Beibei Zhang
{"title":"A new testing method for XACML 3.0 policy based on ABAC and data flow","authors":"Yunpeng Zhang, Beibei Zhang","doi":"10.1109/ICCA.2017.8003052","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003052","url":null,"abstract":"In this paper, the authors propose a new data flow based unit testing method. The authors involved the coverage selection approach with a decision inheritance tree, which can achieve high structural coverage to design test cases. The authors evaluate the effectiveness of the methods and conducted two sets of tests by using a series of mutation operators. The evaluation results show that the new method can reach higher mutation scores.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123180580","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: 8
A heuristic algorithm to optimize execution time of multi-robot path 多机器人路径执行时间优化的启发式算法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003182
D. Deplano, S. Ware, R. Su, A. Giua
{"title":"A heuristic algorithm to optimize execution time of multi-robot path","authors":"D. Deplano, S. Ware, R. Su, A. Giua","doi":"10.1109/ICCA.2017.8003182","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003182","url":null,"abstract":"A common problem in the field of robotics is to coordinate motions of multiple robots to ensure the shortest possible execution time. The problem is known PSPACE-complete, thus, it is impossible to find the best solution in a reasonable time for large scale problems. For this reason, in this work we look for sub-optimal solutions by systematically improving a given one. We present a heuristic algorithm to reduce execution time of a path by changing robots' priorities in case of path overlap. The algorithm is applied to a solution computed by a decoupled method in a discrete event system context. It is shown that the proposed approach is effective in finding a solution with shorter execution time. Tests show that the proposed algorithm can achieve improvement up to 45%.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124085898","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
Stability of sampled-data linear active disturbance rejection control: A classical control approach 采样数据线性自抗扰控制的稳定性:一种经典控制方法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003080
Huiyu Jin, Lili Liu, Weiyao Lan, Jianping Zeng
{"title":"Stability of sampled-data linear active disturbance rejection control: A classical control approach","authors":"Huiyu Jin, Lili Liu, Weiyao Lan, Jianping Zeng","doi":"10.1109/ICCA.2017.8003080","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003080","url":null,"abstract":"Stability of continuous-time and sampled-data LADRC is investigated with classical control approach. For the second-order uncertain LTI plant, the LADRC is described as an interconnection structure. Then sufficient conditions to guarantee continuous-time and sampled-data LADRC stabilizing the plant are proved respectively, while in proving the main theoretical tool is Nyquist diagram. With these results, a continuous-time controller designed with bandwidth tuning approach can be used as sampled-data controller after Euler approximation with a small sampling period.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130434509","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
Fixed-time nonlinear consensus algorithms for multi-agent systems with input delay 具有输入延迟的多智能体系统的固定时间非线性一致性算法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003034
Chunyan Wang, Zongyu Zuo, Yuanyuan Wu, Z. Ding
{"title":"Fixed-time nonlinear consensus algorithms for multi-agent systems with input delay","authors":"Chunyan Wang, Zongyu Zuo, Yuanyuan Wu, Z. Ding","doi":"10.1109/ICCA.2017.8003034","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003034","url":null,"abstract":"This paper deals with the fixed-time consensus for multi-agent systems with input delay. First, finite-time stability for single system with input delay is given with the aid of Artstein model reduction method. Then, two finite-time nonlinear consensus protocols are constructed for multi-agent systems with input delay using the Lyapunov functionals. In particular, the settling-time of the second consensus protocols is independent on the system initial states such that the convergence time can be designed or estimated. Finally, a simulation study is given to validate the proposed control design.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131918662","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
On the sufficient conditions for input-to-state safety 关于输入到状态安全的充分条件
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-03 DOI: 10.1109/ICCA.2017.8003054
M. Z. Romdlony, B. Jayawardhana
{"title":"On the sufficient conditions for input-to-state safety","authors":"M. Z. Romdlony, B. Jayawardhana","doi":"10.1109/ICCA.2017.8003054","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003054","url":null,"abstract":"In this paper, we present a novel notion of input-to-state safety (ISSf) for general nonlinear systems which can be useful for certifying system's safety under the influence of external bounded input (or disturbance) signals. We provide sufficient conditions for ISSf using barrier function/certificate which are analogous to the input-to-state stability Lyapunov function.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127535809","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
Distributed cooperation of directed coupled double-integrator agents using sampled and delayed position data 基于采样和延迟位置数据的定向耦合双积分器智能体的分布式合作
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003057
Na Huang, Chao Huang, Pengfei Fang, Changbin Yu
{"title":"Distributed cooperation of directed coupled double-integrator agents using sampled and delayed position data","authors":"Na Huang, Chao Huang, Pengfei Fang, Changbin Yu","doi":"10.1109/ICCA.2017.8003057","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003057","url":null,"abstract":"This paper considers how to design consensus algorithms using only sampled position data instead of involving real-time ones under directed coupling graphs. The proposed consensus algorithm utilizes only sampled position information and consists of two parts: a general part with communication delay and a special part with both communication and forced delays. A necessary and sufficient condition is provided for achieving consensus under the designed cooperative control law. Simulations are also provided to validate the proposed control protocol.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115264794","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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