Conference Program of WCICA 2012

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Conference Program WCICA 2012 ◮ SaA07-6 15:10–15:30 An Exemplar Test Problem on Parameter Convergence Analysis of Temporal Difference Algorithms, pp.2925–2930 Brown, Martin Tutsoy, Onder The Univ. of Manchester The Univ. of Manchester Reinforcement learning techniques have been developed to solve difficult learning control problems having small amount of a priori knowledge about the system dynamics. In this paper, a simple unstable exemplar test problem is proposed to investigate issues in parametric convergence of the value function. A specific closed-form solution for the value function is determined which has a polynomial form. It is proved that the temporal difference error introduces a null space associated with the finite horizon basis function during the control trajectory. The learning problem can be only non-singular if the termination is handled correctly, and a number of possible solutions are introduced. This result was only revealed because of the derived closed form solution for the value function. SaA08 13:30–15:30 Room 310 Award: Theory (I) Chair: Chen, Ben M. Co-Chair: Zhang, Huanshui National Univ. of Singapore Shandong Univ. ◮ SaA08-1 13:30–13:50 A New Optimal Control Method for Discrete-Time Nonlinear Systems with Approximation Error, pp.185–190 Wei, Qinglai Liu, Derong Inst. of Automation CASIA In this paper, a new optimal control method is proposed for discretetime nonlinear systems based on iterative adaptive dynamic programming (ADP) algorithm. The method can obtain an iterative control law, and make the iterative performance index function converge to optimal. In each iteration, if the iterative control law and iterative performance index function are not accurately obtained, then the convergence conditions of the iterative ADP algorithm are used. According to the convergence conditions, the iterative performance index functions can converge to a small neighborhood of the optimal performance index function. Finally, a simulation example is given to illustrate the performance of the proposed method. ◮ SaA08-2 13:50–14:10 Emergence of Flocks with Local Interactions, pp.3515–3519 Chen, Ge Liu, Zhi-Xin Chinese Acad. of Sci. Chinese Acad. of Sci. In a recent paper, Cucker and Smale proposed a multi-agent model to study the flocking behavior, where they assume that all agents can interact with all other agents. Though this model attracted much attention of researchers, the global interactions used in that paper changed the nature of multi-agent systems. In this paper we will investigate a new flocking model, in which the global interactions between agents are replaced by local interaction functions. We will provide necessary conditions and sufficient conditions for consensus. ◮ SaA08-3 14:10–14:30 Cooperative Robust Output Regulation of Linear Uncertain Multi-Agent Systems, pp.1299–1304 Su, Youfeng Huang, Jie The Chinese Univ. of Hong Kong Chinese Univ. of Hong Kong, China The cooperative output regulation of a linear multi-agent system has been studied recently for the case where the system uncertain parameters vary in a sufficiently small neighborhood of their nominal value. This problem is handled by an internal model design which converts the problem into a simultaneously eigenvalue placement problem of an augmented multi-agent system. In this paper, we further consider the cooperative robust output regulation problem for a class of minimum phase linear multi-agent systems in the sense that the controller allows the system uncertain parameters to vary in an arbitrarily prescribed compact subset. For this purpose, we introduce a new type of internal model that allows the cooperative robust output regulation problem of the given plant to be converted into a robust stabilization problem of an augmented multi-agent system. We then solve our problem by combining a simultaneous high gain state feedback control technique and a distributed high gain observer technique. A special case of our result leads to the solution of the leader-following robust consensus problem for a large class of uncertain multi-agent systems. ◮ SaA08-4 14:30–14:50 Stochastic Approximation Based PCA and Its Application to Identification of EIV Systems, pp.3276–3280 Zhao, Wen-Xiao Chen, Han-Fu Chinese Acad. of Sci. Chinese Acad. of Sci. The stochastic approximation based principal component analysis (S- APCA) algorithm is introduced to recursively estimate the eigenvectors and the corresponding eigenvalues of a symmetric matrix A based on observations A k = A+ε k with ε k → 0 as k → ∞. The estimates are strongly consistent. The SAPCA algorithm is then applied to identifying the matrix coefficients of the multivariate errors-in-variables (EIV) systems, and the estimates are also strongly consistent. The performance of SAPCA algorithm is testified by a simulation example. ◮ SaA08-5 14:50–15:10 Reaching Optimal Consensus for Multi-agent Systems Based on Approximate Projection, pp.2794–2800 Lou, Youcheng Acad. of Mathematics & Sys. Sci., Chinese Acad. of Sci. Shi, Guodong Johansson, Karl Henrik Hong, Yiguang KTH Royal Inst. of Tech. Royal Inst. of Tech. Chinese Acad. of Sci. In this paper, we propose an approximately projected consensus algorithm for a multi-agent system to cooperatively compute the intersection of several convex sets, each of which is known only to a particular n- ode. Instead of assuming the exact convex projection, we allow each node to just compute an approximate projection. The communication graph is directed and time-varying, and nodes can only exchange information via averaging among local view. We present sufficient and/or necessary conditions for the considered algorithm on how much projection accuracy is required to ensure a global consensus within the intersection set, under the assumption that the communication graph is uniformly jointly strongly connected. A numerical example indicates that the approximately projected consensus algorithm achieves better performance than the exact projected consensus algorithm. The results add the understanding of the fundamentals of distributed convex intersection computation. ◮ SaA08-6 15:10–15:30 Quantum Multi-Channel Decoupling, pp.2286–2290 Liu, Pei-Lan Li, Jr-Shin Tarn, Tzyh-Jong Washington Univ. in St. Louis Washington Univ. in St. Louis Washington Univ., St. Louis, MO We study multiple-input multiple-output (MIMO) quantum systems and explore quantum decoupling techniques that can be used to facilitate the design of quantum networks. We provide a quantum state feedback control law to change the structure of a quantum system in order to decouple the multiple channels. We show that an MIMO quantum system can be decoupled as an aggregate of n separated single-input single-output (SISO) quantum systems from an input-output point of view. We also discuss the conditions under which quantum decoupling can be achieved. We illustrate our method with several qubit and atomic systems. SaA09 13:30–15:30 Room 311A Award: Application (I) Chair: Chen, Jie Co-Chair: Chen, Hong Beijing Inst. of Tech. Jilin Univ. ◮ SaA09-1 13:30–13:50 Bilateral Teleoperation of Force/Motion for aRobotic Manipulator with Communication RandomDelays, pp.3915–3920 Kang, Yu Univ. of Sci. & Tech. of China 154
WCICA 2012 Book of Abstracts: Saturday Sessions Li, Zhijun Zhai, Dihua Cao, Xiaoqing Shanghai Jiao Tong Univ. Uiversity of Sci. & Tech. of China Shanghai Jiao Tong Univ In this paper, bilateral teleoperation control is proposed for holonomic constrained robotic manipulators with stochastic time-varying delays in communication channels. A unified control model is introduced for representing well-known holonomic systems with an environmental constraint. By integrating Markov jump systems, the motion/force tracking control strategy is developed. Furthermore, a feasible solution for the derived linear matrix inequality guarantees the attenuation of unsymmetrical stochastic delay in an propobalty sense. Finally, the proposed control are validated by extensive simulation and experimental studies. ◮ SaA09-2 13:50–14:10 Mathematical Model Building and Optimization Control of Horizontal Continuous Heat Treatment Furnace, pp.2412–2416 Hu, Lingyan Wang, Xingcheng College of Information Engineering,Dalian Univ. Dalian Maritime Unversity According to the large continuous annealing furnace widely used to produce ductile iron pipes in metallurgy area, heat transfer mathematical model was built in the paper. Based on the pipe setting temperature curve and boundary conditions, temperature distribution in the furnace is deduced by solving heat transfer differential equation. The aim is to optimize the control temperature curve. In order to make the temperature uniform in the furnace, the pulse combustion control program is developed. The actual application shows that the product quality is enhanced in a large scale with the optimization curve. The maneuverability is good. The whole system meets the process requirements perfectly. It also proves the truth and practicability of the model algorithm ◮ SaA09-3 14:10–14:30 Occluded Object Grasping Based on Robot Stereo Vision, pp.3698– 3704 Lin, Chuan Chen, Yen-Lun Hao, Weidong Wu, Xinyu Guilin Univ. of Electronic Tech. Shenzhen Inst. of Advanced Tech., Chinese Acad. of Sci. Guilin Univ. of Electronic Tech. Shenzhen Inst.s of Advacned Tech., CAS To solve the problem of occlusion for robot grasping, a novel method is proposed, by which the robot can grasp an occluded target object accurately. In this paper, the principles of binocular vision, camera calibration, stereo rectification and stereo matching are described. By utilizing the stereo-vision algorithm, robots can obtain the three-dimensional information of objects. For accurate grasping, the depth information of the object is optimized, where the principles of connected consistency and threshold setting have been applied in the depth image. The ORB algorithm is applied to find the occlusion dynamically. The approach for grasping the occluded object is proved to be effective by experiments. ◮ SaA09-4 14:30–14:50 Intelligent Switching Control for Cement Raw Meal Calcination Process, pp.280–285 Qiao, Jinghui Chai, Tian-you Northeastern Univ. Northeastern Univ. In raw meal calcination process, since boundary conditions of raw meal change frequently, the decomposition rate of raw meal (RMDR) cannot guarantee the desirable ranges. Therefore, C5 feeding tube was blocked and the load of rotary kiln will increase. To solve above problem, an intelligent switching control method is proposed to control the calciner temperature into their setpoints. This method for raw meal calcination process consists of four modules, namely a easy calcination controller, a difficult calcination controller, a abnormal condition controller, and a switching mechanism. The proposed approach can select right controller according to the change of the working conditions and has been successfully applied to the raw meal calcination process of Jiuganghongda Cement Plant in China and its efficiency has been validated by the practical application results. ◮ SaA09-5 14:50–15:10 Design of Entry Trajectory Tracking Law for a Hypersonic Vehicle via Inversion Control, pp.1092–1097 Pu, Zhiqiang Tan, Xiangmin Fan, Guoliang Yi, Jian-qiang Inst. of Automation, 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 nominal altitude-velocity longitudinal entry trajectory is planned and tracked for a Generic Hypersonic Vehicle (GHV) in this paper. The entry corridor is presented which is defined by the dynamic pressure, normal acceleration, heating constraints, and the so-called Quasi-Equilibrium Glide Condition (QEGC). The flyability of the vehicle along the nominal trajectory is carefully analyzed for further validation of the selected nominal trajectory. The control scheme mainly consists of two loops: a guidance loop and a posture loop, of which the latter is separated into the slow and fast loops with the time-scale separation theory. Inversion control is employed in these three loops, and an integration feedback approach is especially added into the inversion controller to eliminate the tracking error. Simulations demonstrate that the nominal trajectory is designed appropriately and tracked well. ◮ SaA09-6 15:10–15:30 Finite-Horizon Neural Optimal Tracking Control for a Class of Nonlinear Systems with Unknown Dynamics, pp.138–143 Wang, Ding Liu, Derong Li, Hongliang Inst. of Automation, Chinese Acad. of Sci. CASIA chinese Acad. of Sci. A neural-network-based finite-horizon optimal tracking control scheme for a class of unknown nonlinear discrete-time systems is proposed. First, the tracking control problem is converted into designing a regulator for the tracking error dynamics under the framework of finite-horizon optimal control theory. Then, with convergence analysis in terms of cost function and control law, the iterative adaptive dynamic programming algorithm is introduced to obtain the finite horizon optimal controller to make the cost function close to its optimal value within an ”-error bound. Furthermore, in order to implement the algorithm via dual heuristic dynamic programming technique, three neural networks are employed to approximate the error dynamics, the cost function, and the control law, respectively. In addition, a numerical example is given to demonstrate the validity of the present approach. SaA10 13:30–15:30 Room 311B Invited Session: Guidance and Control of Flight Vehicles: Theory and Application Chair: He, Fenghua Co-Chair: Liu, Fuchun Harbin Inst. of Tech. South China Univ. of Tech. ◮ SaA10-1 13:30–13:50 Square Division Method for Attitude Dynamic Analysis of Modular S- pace Station, pp.1350–1355 Guo, Jian Guo, Yang Zhang, Peng Yao, Yu Zhao, Hui Yang, Baoqing Harbin Inst. of Tech. Harbin Inst. of Tech. Harbin Inst. of Tech. Harbin Inst. of Tech. Harbin Inst. of Tech. Harbin Inst. of Tech. This paper presents a numerical method to calculate the aerodynamic force and torque for the complex spacecraft considering components blocking. The Square Division Method (SDM) is applied to analyze and therefore evaluate the space station’s structure. The efficiency and accuracy of the SDM are investigated in the simulation section primarily. Then major structures of the space station are analyzed and evaluated by testing their performance in the Local- Horizontal-Local-Vertical (LVLH), Inertial-Oriented-Attitude (IOA) and Torque-Equilibrium-Attitude (TEA) modes. The long-term momentum accumulation is chosen as the criterion to evaluate appropriate flight modes for each structure. Based on the simulation results, appropriate operation modes are decided for each structure. 155
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