Conference Program of WCICA 2012

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Conference Program WCICA 2012 On Definition and Construction of Lyapunov Functions for Boolean Networks, pp.1247–1252 Wang, Yuzhen Li, Haitao Shandong Univ. Shandong U This paper investigates how to define and construct a Lyapunov function for Boolean networks, and presents a number of new results based on the semi-tensor product of matrices. A proper form of pseudo- Boolean functions is found, and the concept of (strict-)Lyapunov functions is thus given. It is shown that a pseudo-Boolean function in the proper form can play the role of Lyapunov functions for Boolean networks, based on which some Lyapunov-based stability results are obtained. Then, we study how to construct a Lyapunov function for Boolean networks, and propose a definition-based method. The study of illustrative examples shows that the new results/method presented in this paper work very well. ◮ FrA08-2 13:50–14:10 Finding all controllers for disturbance decoupling of Boolean control networks, pp.1344–1349 Yang, Meng Chu, Tianguang Peking Univ. Peking Univ. We investigate a type of disturbance decoupling problem (DDP) of Boolean control networks. Using semi-tensor product of matrices, the dynamics of Boolean control network is expressed in its algebraic form. All the necessary arguments of the functions of outputs are called output-friendly coordinates. In order to estimate the solvability of D- DP, we give a necessary and sufficient condition of the output-friendly coordinates being always in a known invariant subspace. Then it is computationally feasible to construct all the valid feedback control matrices. The logical function of each controller can be recovered from the obtained feedback control matrix. We further discuss the constraints of the selection of the invariant subspace. Examples are provided to show the effectiveness of the proposed method. ◮ FrA08-3 14:10–14:30 New algorithm for finding fixed points and cycles of Boolean network, pp.2691–2694 Suo, Jinghui Sun, Jitao Tongji Univ. Tongji Univ. Boolean networks have been successfully used in modeling biological systems. The fixed points, cycles and transient states that lead to them play an essential role to describe the structure of Boolean networks. In this paper we propose an algorithm to get all the fixed points and cycles of Boolean network by using the results of semi-tensor product and permutation. At last, an example is given to illustrate the efficiency of the obtained results. ◮ FrA08-4 14:30–14:50 Matrix Approach to Simulation and Bisimulation Analysis of Finite Automata, pp.2716–2721 Xu, Xiangru Hong, Yiguang Lin, Hai Acad. of Mathematics & Sys. Sci., CAS Chinese Acad. of Sci. Univ. of Notre Dame In this paper, the simulation and bisimulation relations of finite automata are investigated using matrix-based method. To solve the problem, composition operations of automata are studied first and then the algorithms and criteria are provided to check the simulation and bisimulation relations of two automata. An illustrative example is also provided. ◮ FrA08-5 14:50–15:10 Approximation of Boolean Networks, pp.2280–2285 Cheng, Daizhan Zhao, Yun-Bo Zhao, Yin Chinese Acad. of Sci. Univ. of Glasgow Acad. of mathematics & Sys. Sci., CAS The problem of approximation to large-scale Boolean networks is considered. First, we assume a large-scale Boolean network is aggregated into several sub-networks. Using the outputs(or inputs) of each sub-network as new state variables, a new simplified time-varying network is obtained. Then a time-invariant Boolean network is used to approximate each subsystem. Observed data are used to find the best approximating dynamic models. Finally, the aggregation method is investigated. FrA09 13:30–15:30 Room 311A Invited Session: Coordination of Multi-Agent Systems and Networked Systems With Constraints and Uncertainties Chair: Chen, Zengqiang Co-Chair: Cheng, Long Nankai Univ. Inst. of Automation, Chinese Acad. of Sci. ◮ FrA09-1 13:30–13:50 Discarded Consensus of Multi-Agent Systems with State Constraint, pp.3460–3464 Liu, Zhongxin Chen, Zengqiang NanKai Univ. Nankai Univ. This work addresses the consensus problem of multi-agent systems (MAS) with state constraint, while very few researchers consider such constraint in their study of consensus. A simple distributed algorithm named discarded consensus algorithm is proposed for weighted directed multi-agent systems. The proposed method can ensure the MAS reaching consensus while keeping the state estimate of each agent within its own constraint if the digraph is strongly connected and the initial state of each agent is within its constraint. Network of agents with both fixed and switching communication topologies are investigated in this paper. The convergence of the presented algorithms is analyzed theoretically and numerical simulations are provided to demonstrate the effectiveness of the theoretic results. ◮ FrA09-2 13:50–14:10 Control Design for Flexible Hierarchical Formation of Multiple Robots, pp.3595–3600 Tang, Yutao Hong, Yiguang Chinese Acad. of Sci. Chinese Acad. of Sci. In this paper, we consider flexible formation and related control design of multi-robot systems. A hierarchical structure is provided for flexible formation of unicycle robots. With the virtual hierarchy defined in light of interconnection graphs, the formation and related parameters can be changed in different levels of the whole structure. The formation control design is given from a leader-following viewpoint. Stability analysis is also provided after that. ◮ FrA09-3 14:10–14:30 Performance Analysis for Multi-Agent Coordination With Partial Measurable States Over Digital Networks, pp.863–868 Li, Tao Acad. of Mathematics & Sys. Sci., Chinese Acad. of Sci. Xie, Lihua Nanyang Technological Univ. In this paper, we consider the performance of a class of distributed coordination algorithms of discrete-time second-order multi-agent systems with partially measurable states and a limited communication data rate. The distributed coordinated control law is based on an encodingdecoding scheme which integrates the state observation with encoding/decoding. The convergence time, the selection of controller parameters and the performance limit are discussed. We give upper bounds of the convergence time in terms of precision, control and network parameters. We develop a linear approximation of the spectral radius of the closed-loop matrix with respect to the control gains and the algebraic connectivity of the communication graph, by which we show that for a connected network, 2-bit quantizers suffice for the exponential asymptotic synchronization of the states of the agents. Furthermore, it is shown that as the number of agents increases, the asymptotic convergence rate can be approximated as a function of the number of agents, the number of quantization levels (communication data rate) and the ratio of the algebraic connectivity to the spectral radius of the Laplacian matrix of the communication graph. ◮ FrA09-4 14:30–14:50 A Sampled-Data Based Average Consensus Protocol for Double- Integrator Multi-Agent Systems with Switching Topologies and Commu- 98
WCICA 2012 Book of Abstracts: Friday Sessions nication Noises, pp.886–891 Cheng, Long Wang, Yunpeng Hou, Zengguang Tan, Min Cao, Zhiqiang Inst. of Automation, Chinese Acad. of Sci. Chinese Acad. of Sci. Inst. of Automation Chinese Acad. of Sci. Inst. of Automation, Chinese Acad. of Sci. Inst. of Automation,Chinese Acad. of Sci. A distributed sampled-data based protocol is proposed for the average consensus of double-integrator multi-agent systems with switching topologies and communication noises. The proposed protocol uses information from two aspects: the agent’s own state and the relative s- tates between the agent and its neighbors. Due to the existence of communication noises, the relative states cannot be obtained accurately. To deal with this difficulty, a time-varying consensus gain is employed to attenuate the noise effect. Under the proposed protocol, it is proved that sufficient conditions for ensuring mean square average consensus are: the consensus gain satisfies the stochastic approximation type condition and the communication topology graph at each sampling instant is a balanced graph with a spanning tree. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed consensus protocol. ◮ FrA09-5 14:50–15:10 Distributed Tracking Control for Linear Multi-Agent Systems with a Leader of Bounded Input Using Output Information, pp.1756–1761 Li, Zhongkui Liu, Xiangdong Beijing Inst. of Tech. Beijing Inst. of Tech. This paper considers the distributed tracking control problem of multiagent systems with general linear dynamics and a leader whose control input is nonzero and available to only a subset of followers. Based on the relative output information of neighboring agents, two distributed observer-based controllers with, respectively, static and adaptive coupling gains, are designed for each follower to ensure that the states of the followers asymptotically approach the state of the leader, if the communication graph among the followers is undirected, the leader has directed paths to all followers, and the leader’s control input is bounded. A sufficient condition for the existence of the distributed controllers is that each agent is stabilizable and detectable. Simulation examples are given to illustrate the theoretical results. ◮ FrA09-6 15:10–15:30 A High Level Decentralized Tracking Algorithm for Three Manipulators subject to Motion Constraints, pp.1920–1924 Wang, Lin Markdahl, Johan Hu, Xiaoming Kragic, Danica Shanghai Jiao Tong Univ. KTH Royal Inst. of Tech. Royal Inst. of Tech. This paper considers a tracking problem for three manipulators grasping a rigid object. The control objective is to coordinate the movements of the manipulators using local information in order to align the object attitude with a desired rest attitude and the object position with a time parameterized reference trajectory. The object rigidity is modelled as a constraint on the motion of the end-effectors saying that the distance between any pair of end-effectors must be constant in time. The control law consists of a rotational part and a translational part. The translational part also incorporates a linear observer of the reference trajectory. We prove stability and illustrate the system dynamics by simulation. FrA10 13:30–15:30 Room 311B Invited Session: Control over networks: an information flow point of view Chair: You, Keyou Co-Chair: Chen, Michael Z. Q. Nanyang Technological Univ. The Univ. of Hong Kong ◮ FrA10-1 13:30–13:50 Distributed Containment Control of Uncertain Linear Multi-Agent Systems, pp.869–874 Wen, Guanghui Duan, Zhisheng Zhao, Yu Peking Univ. Peking Univ. Peking U Chen, Guanrong City Univ. of Hong Kong This paper studies the containment control problem for uncertain linear multi-agent systems where the agents have identical nominal dynamics but subject to different norm-bounded parameter uncertainties. A new kind of distributed control protocol based only on the relative states of neighboring agents is constructed for achieving containment. By using tools from nonsmooth analysis and algebraic theory, it is proved that the states of the followers will asymptotically converge to a convex hull formed by those of the leaders if for each follower there exists at least one leader that has a directed path to that follower. Finally, a simulation example is given to verify the effectiveness of the theoretical results. ◮ FrA10-2 13:50–14:10 Adaptive Group Consensus of Coupled Harmonic Oscillators with Multiple Leaders, pp.3475–3480 Su, Housheng Chen, Michael Z. Q. Wang, Xiaofan Valeyev, Najl Huazhong Univ. of Sci. & Tech. The Univ. of Hong Kong Shanghai Jiaotong Univ. Univ. of Exeter In this paper, we investigate the group consensus of coupled harmonic oscillators with multiple leaders in an undirected fixed network. Unlike many existing algorithms for group consensus of multi-agent systems or cluster synchronization of complex dynamical networks, which require global information of the underlying network such as the eigenvalues of the coupling matrix or centralized control protocols, we propose a novel decentralized adaptive group consensus algorithm for coupled harmonic oscillators. By using the decentralized adaptive group consensus algorithm and without using any global information of the underlying network, all agents in the same group asymptotically synchronize with the corresponding leader even when only one agent in each group has access to the information of the corresponding leader. Numerical simulation results are presented to illustrate the theoretical results. ◮ FrA10-3 14:10–14:30 Pinning Control of General Multi-agent Systems, pp.1930–1935 Yu, Wenwu Chen, Guanrong Lu, Jinhu Southeast Univ. City Univ. of Hong Kong Chinese Acad. of Sci. This paper studies synchronization via pinning control on general multiagent systems with strongly connected topologies. A criterion for reaching network synchronization on strongly connected networks is given. It is found that the vertices with very small in-degrees should be pinned first and the vertices with very large out-degrees may be pinned from the reformulated lower-order condition. Finally, a simulation example is given to verify the proposed pinning scheme. ◮ FrA10-4 14:30–14:50 Decentralized Adaptive Control for a Class of Semi-parametric Uncertain Multi-agent Systems, pp.2060–2065 Ma, Hongbin Zhao, Yali Fu, Mengyin Yang, Chenguang Beijing Inst. of Tech. Beijing Inst. of Tech. Beijing Inst. of Tech. Univ. of Plymouth Decentralized adaptive control for a discrete-time multi-agent semiparametric uncertain dynamical system, where each agent is coupled with other agents in both parametric and nonparametric ways, is studied in this paper. Each agent can only use its history information and local information on its neighborhood agents to design its control law aimed at achieving its own local goal, i.e. tracking a local signal sequence. To deal with the co-existing parametric and nonparametric uncertainties occurred in the local couplings and the internal dynamics, an idea of information concentration is adopted with the key idea of nearestneighbor-estimation, which makes it possible to compensate well the challenging nonparametric uncertainties. With such ideas, decentralized adaptive control laws are designed based on the ”certainty equivalence” principle, and the simulations as well as preliminary theoretical discussions show that the closed-loop system for the whole multi-agent system is stable under some mild conditions on the a priori knowledge 99
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WCICA 2012 The 10 th World Congress
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