Conference Program of WCICA 2012

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Conference Program WCICA 2012 ◮ SaA10-2 13:50–14:10 Consensus of Second-Order Multi-Agent Systems with Disturbance Generated by Nonlinear Exosystem, pp.1574–1579 Zhang, Xuxi Cheng, Daizhan Harbin Engineering Univ. Chinese Acad. of Sci. In this paper, the consensus of second-order multi-agent systems with exogenous disturbances generated by nonlinear exosystem is investigated. Firstly, a dynamic gain technique based disturbance observer is presented to estimate the exogenous disturbance generated by nonlinear exosystem. Secondly, based on the presented disturbance observer, consensus protocol is further proposed. A rigorous consensus analysis is performed. Finally, an example is provided to show the effectiveness of the proposed results. ◮ SaA10-3 14:10–14:30 Optimal Sweep-based Persistent Surveillance Using Multiple Unmanned Aerial Vehicles with Level of Interest, pp.2441–2446 Yao, Yu Zhang, Peng Liu, Hugh He, Fenghua Harbin Inst. of Tech. Harbin Inst. of Tech. Univ. of Toronto Harbin Inst. of Tech. This paper addresses the problem of sweep-based persistent surveillance (SBPS) using multiple Unmanned Aerial Vehicles (UAVs). Due to the variation of priority distributed in the area under surveillance, a novel concept of level-of-interest (LoI) is introduced to represent the relative priorities of the target areas. Inspired by an “age”- related algorithm in literature, we develop a novel recursive scheme with the LoI consideration. The algorithms on both single UAV case and multiple UAVs case are developed to decide the optimal target-choice based on the age-based performance index. The potential benefits of the proposed algorithms are demonstrated by simulations in both single UAV cases and multiple UAVs cases. ◮ SaA10-4 14:30–14:50 Robust Analysis of Different Guidance Laws of Terminal Guidance System under Model Uncertainties, pp.1716–1721 Wang, Xingdan Yao, Yu Yang, Baoqing Guo, Jian Harbin Inst. of Tech. Harbin Inst. of Tech. Harbin Inst. of Tech. Harbin Inst. of Tech. The purpose of this paper is to analyze the robustness of the given guidance laws by quantify the influence of model and target maneuver uncertainties on system performance valued by miss distance. The Pure Proportional Navigation (PPN), True Proportional Navigation (TPN) and Generalized True Proportional Navigation (GTPN) guidance laws of terminal guidance system are considered in this paper. The analyzing performance is tackled by a differential linear matrix inequalities (DL- MI) approach and this approach is demonstrated on a simple concrete example. The solution of DLMI is also proposed in this article which idea is to reduce it to an algebraic linear matrix inequality (LMI) by discretization. A numerical example is given to analyze the robustness of terminal guidance system (TGS) with different guidance laws in the end. ◮ SaA10-5 14:50–15:10 Application of Extended Kalman Filter to Unmanned Helicopter Navigation, pp.2291–2295 Liu, Fuchun Zhang, Qian South China Univ. of Tech. South Chian Univ. of Tech The attitude control of unmanned helicopter needs accurate acceleration, velocity and attitude information. The error induced by using low cost and low precision inertial component which widely used in the s- trapdown inertial navigation system cannot be neglected. In order to reduce the effect of the error, the navigation equation of unmanned helicopter is established by using quaternion method and the filtering problem of the GPS/INS navigation system is investigated based on the extended kalman filter theory. The last numerical simulation demonstrates the effectiveness of the proposed design, and the design satisfies the engineering accuracy. SaA11 13:30–15:30 Room 311C Invited Session: Complex Networks and Multi-Agent Systems: Some Recent Advances Chair: Lu, Jinhu Co-Chair: Yu, Xinghuo Chinese Acad. of Sci. RMIT Univ. ◮ SaA11-1 13:30–13:50 Neuronal Network Control for Robust Entrainment to Natural Oscillations - a Case Study, pp.4995–5000 Chen, Zhiyong Zhang, Hai-Tao The Univ. of Newcastle Huazhong Univ. Sci. Eng Biological control mechanism has motivated central pattern generator (CPG) circuits as the basic architecture of nonlinear control laws to achieve coordinated oscillations of engineered systems. In this paper, the coordinated oscillations of a multi-link pendulum on slope (MPOS) system are investigated. In an MPOS model, the gravity of the links and their interaction (friction) with the slope excites and damps the oscillating motion, respectively. With the sensory feedback from the links’angular states, the entrainment to a class of natural oscillations is achieved by a CPG based controller. The entrainment is robust with respect to a certain environmental and body variations. ◮ SaA11-2 13:50–14:10 On the Lyapunov Exponent of Consensus Algorithm, pp.931–936 Chen, Yao Lu, Jinhu Dong, Hairong Yu, Xinghuo Inst. of Sys. Sci. Chinese Acad. of Sci. Beijing Jiaotong Univ. RMIT Univ. Nowadays, consensus of multi-agent systems (MAS) is an intriguing topic which receives increasing attention from various disciplines recently. Traditionally, the analysis of consensusability for a given MAS with switching topology can be ttributed to some techniques such as eigenvalue analysis, convergence of Markov chain, Lyapunov candidate construction, and so on. However, all these techniques are based on some restrictive conditions and hardly be generalized to the case of general switching topology. This paper aims at providing an inner explanation that the general consensus problem of MAS with switching topology can be transformed into the numerical calculation of the Lyapunov exponent for a given set of matrices. Consequently, the consensus of MAS with general switching topology can be resolved by using the existing numerical algorithm of Lyapunov exponent. ◮ SaA11-3 14:10–14:30 Consensus decision-making of animal groups in motion, pp.952–957 Liu, Zhi-Xin Chinese Acad. of Sci. In this paper, we will investigate the effectiveness of leaders in animal groups by a discrete-time multi-agent system. The model is composed of two subgroups of agents: informed agents(called leaders) and uninformed agents(called followers). All agents move in the plane with a constant speed, but with different heading update laws. For the followers, the heading is updated according to the average direction of neighbors, while the heading of leaders is taken as the balance between the local interaction of neighbors and the preferred direction. For such a system, we will provide a necessary condition and a sufficient condition for the consensus decision-making. ◮ SaA11-4 14:30–14:50 Pinning Synchronization Criterion for Impulsive Dynamical Networks, pp.1976–1981 Yu, Wenwu Southeast Univ. This paper focuses on the problem of global synchronization for impulsive coupled dynamical networks via pinning control. Controlling impulsive synchronization of the network by changing the differences between some chosen nodes and the reference signal step by step is the main idea discussed in this paper, regardless of whether there is a synchronized or desynchronized impulses for the dynamical networks. In the previous literature, results are devoted to investigating criterion for synchronization with impulsive control on all the nodes in dynamical 156
WCICA 2012 Book of Abstracts: Saturday Sessions networks. Thus some questions arises: What is the relation between strength of impulsive signal and the impulsive interval? How do the chosen pinning nodes affect the dynamics of the network? In this paper, a synchronization criterion is derived for impulsive dynamical networks for pinning control, and clear relations between the strength of impulsive signal, the impulsive interval, and pinning nodes are provided. Numerical examples are given at last to show the effectiveness of results. ◮ SaA11-5 14:50–15:10 Modelling Complex Software Systems via Weighted Networks, pp.3533–3537 WANG, Beiyang Lu, Jinhu Wuhan Univ. Chinese Acad. of Sci. It is well known that many large-scale software systems show the typical characteristics of complex networks. However, some recent research results indicate us that some essential features of general software networks topology are different from the corresponding functions of real-world software systems. To bridge the above gap, this paper aims at developing a weighted network model to model the practical large-scale software systems from the partial dependency of software systems. Based on the proposed model, we further investigate the statistical characteristics of several representative software systems. Furthermore, we compare the traditional general software network model and the proposed weighted software network model based on two software systems. SaB01 15:50–17:50 Room 203A Optimal Control and Optimization Chair: Chen, Michael Z. Q. Co-Chair: Han, Chunyan The Univ. of Hong Kong Univ. of JInan ◮ SaB01-1 15:50–16:10 Multi-objective optimization for a conventional suspension structure, pp.1235–1240 Hu, Yinlong Chen, Michael Z. Q. Nanjing Univ. of Sci. & Tech. The Univ. of Hong Kong This paper investigates the multi-objective optimization of ride comfort, suspension deflection and tyre grip performance measures for a conventional suspension structure by deriving the analytical solutions for a quarter-car model. The optimization results are compared with two other configurations, one having the same complexity in construction but employing an inerter while the other being the simplest suspension network with one damper and one spring only. The motivation is to investigate the possibility and situations where the inerter can be replaced by some cheaper element such as the spring. The results show that for a low static stiffness and in the situations that ride comfort is less important than suspension deflection and tyre grip (such as race cars), the considered structure would be a reasonable alternative for the one employing an inerter. ◮ SaB01-2 16:10–16:30 Optimal control of quantum systems under different manipulation conditions, pp.2091–2096 Wei, Hua Zhou, Wei Dai, Yi Zou, Fengxing Zhang, Ming NUDT NUDT NUDT NUDT NUDT In this paper, we explicitly explore how to manipulate single qubits by one-rotation controls under different manipulation conditions. It is revealed that one can construct control Hamiltonian and adjust the controls to manipulate quantum states. Furthermore, we comprehensively discuss how to optimize control magnitude in terms of a new kind of weighted time-energy performance. A comparison has been made a- mong the optimal performances under different manipulation conditions. Three concrete examples indicate the feasibility and efficiency of this approach on optimal control of two-level quantum systems. ◮ SaB01-3 16:30–16:50 Optimal Filtering on Continuous-time systems with Markovian Communication Delays and packet dropouts, pp.2027–2032 Han, Chunyan Wang, Wei Zhang, Huanshui Univ. of JInan Shandong Univ. Shandong Univ. This paper is concerned with the optimal filter problems for networked systems with random transmission delays, while the delay process is modeled as a multi-state Markov chain which incorporates the data losses naturally. By defining an indicator function of the random delay, the optimal filter problems are transformed into the ones of the standard Markov jumping parameter measurement system. We first present an optimal Kalman filter, which is with time-varying, path-dependent filter gains, and the number of the paths grows exponentially in time delay. Thus an alternative optimal Markov jump linear filter is presented, in which the filter gains just depend on the present value of the Markov chain, and as a result, the obtained filter is again a Markov jump linear system. It can be further shown that the proposed Markov jump linear filter converges to a constant-gain filter under appropriate assumptions. ◮ SaB01-4 16:50–17:10 FFSM Trajectory Optimization via Multiphase Gauss Pseudospectral Method, pp.1615–1620 Duan, Guang-Ren Li, Shi Harbin Inst. of Tech. Harbin Inst. of Tech. Based on the multiphase Gauss pseudospectral method, this paper presents a new optimal control method to solve the nonholonomic trajectory planning of the free-floating space manipulator (FFSM) system. The general case of path planning problem with constraints is formulated as a standard multiphase Bolza problem. Accuracy is improved by increasing degree of the polynomial approximation in particular mesh intervals based on the relative errors of states. Numerical simulation results demonstrate that the proposed method is effective and available for solving the FFSM trajectory optimization problem. ◮ SaB01-5 17:10–17:30 A novel Varible Gain Unscented kalman filter and its application in the Integrated Navigation system, pp.1160–1165 Zhang, Limin Chen, Zengqiang Zhang, Xinghui college of information technicail Sci. Nankai Univ. tianjin Univ. of Tech. & education The unscented kalman filter is a widely used nonlinear filter in nonlinear system. But because of inaccuracies of system modeling and other reasons, when the disturbance or observation anomaly appears, UK- F filtering algorithm does not have the ability of tracking the mutation state of system, so the system is likely to become unstable. Iin this paper, the reasons for cause these problems of UKF are analysed firstly, and then,some improvements are made to it. Then, this paper gives a detailed introduction of unscented transformt, according the theory of strong tracking filter, puts forward a new kind of variable gain unscented kalman filter. At last,this paper does some simulation experiment to compare variable gain UKF filter with standard UKF. The results show that the variable gain UKF has the ability of tracking the mutation state of system when the disturbance or observation anomaly appears,and variable gain UKF really makes the system more robust and stable. ◮ SaB01-6 17:30–17:50 Comparison of Nonlinear Filtering Approach in Tightly-coupled GP- S/INS Navigation System, pp.1176–1181 Nie, Qi Beijing Aerospace Automatic Control Inst. This paper proposes the fusion of GPS measurements and inertial sensor data from gyroscopes and accelerometers in tightly-coupled GP- S/INS navigation systems. Usually, an extended Kalman fiter (EKF) is applied for this task. However, as system dynamic model as well as the pseudorange and pseudorange rate measurement models are nonlinear, the EKF is sub-optimal choice from theoretical point of view, as it approximates the propagation of mean an covariance of Gaussian random vectors through these nonlinear models by a linear transformation, which is accurate to first-order only. The sigma-point Kalman filter (SP- 157
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WCICA 2012 The 10 th World Congress
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