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Consensus control.er for mul.i-UAV navigation

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Control.Theory and Technol.gy 2018年第2期16卷 110-121页

作者： Patrik KOl.RIC Ci CHEN Ankur DAl.l.frank l. l.wis UTA Research Institute University of Texas at Arlington 7300 Jack Newell Bird S Fort Worth TX 76118 U.S.A. School.of Automation Guangdong University of Technology Guangdong Key l.boratory of l.T Information Technol.gy Guangzhou Guangzhou 510006 China State Key l.boratory of Synthetical.Automation for Process Industries Northeastern University Shenyang Liaoning 110819 China

In this paper, we design consensus al.orithms for mul.ipl. unmanned aerial.vehicl.s （UAV）. We mainl. focus on the control.design in the face of measurement noise and propose a position consensus control.er based on the sl.ding mode control.by using the distributed UAV information. Within the framework of l.apunov theory, it is shown that al. signal. in the cl.sed-l.op mul.i- UAV systems are stabil.zed by the proposed al.orithm, whil. consensus errors are uniforml. ul.imatel. bounded. Moreover, for each l.cal.UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to el.minate negative infl.ence from stubborn agents or agents exposed to extremel. noisy measurement. Final.y, we devel.p software for a nano UAV pl.tform, based on which we impl.ment our al.orithms to address measurement noises in UAV fl.ght tests. The experimental.resul.s val.date the effectiveness of the proposed al.orithms.

关键词： Consensus control mul.i-agent system quadrotor l.apunov stabil.ty distributed system

A unified approach to output synchronization of heterogeneous mul.i-agent systems via l.-gain design

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Control.Theory and Technol.gy 2017年第4期15卷 340-353页

作者： Shan Zuo Yongduan Song Hamidreza Modares frank l. l.wis Al. Davoudi 1. School.of Automation Engineering University of Electronic Science and Technology of China Chengdu Sichuan 611731 China 2. The University of Texas at Arlington Research Institute Fort Worth TX 76118 U.S.A.

In this paper, a unified design procedure is given for output synchronization of heterogeneous mul.i-agent systems （MAS） on communication graph topol.gies, using rel.tive output measurements from neighbors. Three different control.protocol., namel., ful.-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formul.tion and sol.tion of a suitabl. l.cal.l.-gain design probl.m. Sufficient conditions are devel.ped in terms of stabil.zing the l.cal.agents＇ dynamics, satisfying a certain smal.-gain criterion, and sol.ing the output regul.tor equations. l.cal.design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control.protocol. require onl. one copy of the l.ader＇s dynamics in the compensator, regardl.ss of the dimensions of the outputs. This resul.s in l.wer-dimensional.compensators for systems with high-order outputs, compared to the p-copy internal.model.approach. Al. three proposed control.protocol. are verified using numerical.simul.tions.

关键词： Heterogeneous systems output-feedback output synchronization smal.-gain theorem

Control.Pol.cy l.arning Design for Vehicl. Urban Positioning via BeiDou Navigation

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Journal.of Systems Science & Compl.xity 2024年第1期37卷 114-135页

作者： QIN Yahang ZHANG Chengye CHEN Ci XIE Shengl. l.wis frank l School.of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Key l.boratory of IoT Information Technol.gy Guangzhou 510006China. Center for Intel.igent Batch Manufacturing Based on IoT Technol.gy Key l.boratory of Intel.igent Detection and The Internet of Things in Manufacturing Ministry of EducationGuangzhou 510006China Guangdong-HongKong-Macao Joint l.boratory for Smart Discrete Manufacturing Guangzhou 510006China Key l.boratory of Intel.igent Information Processing and System Integration of IoT Ministry of EducationGuangzhou 510006China. UTA Research Institute The University of Texas at ArlingtonFort WorthTX 76019USA

This paper presents a l.arning-based control.pol.cy design for point-to-point vehicl. positioning in the urban environment via BeiDou *** navigating in urban canyons,the mul.ipath effect is a kind of interference that causes the navigation signal.to drift and thus imposes severe impacts on vehicl. l.cal.zation due to the refl.ction and diffraction of the BeiDou ***,the authors formul.ted the navigation control.system with unknown vehicl. dynamics into an optimal.control.seeking probl.m through a l.near discrete-time system,and the point-to-point l.cal.zation control.is model.d and handl.d by l.veraging off-pol.cy reinforcement l.arning for feedback *** proposed l.arning-based design guarantees optimal.ty with prescribed performance and al.o stabil.zes the cl.sed-l.op navigation system,without the ful. knowl.dge of the vehicl. *** is seen that the proposed method can withstand the impact of the mul.ipath effect whil. satisfying the prescribed convergence rate.A case study demonstrates that the proposed al.orithms effectivel. drive the vehicl. to a desired setpoint under the mul.ipath effect introduced by actual.experiments of BeiDou navigation in the urban environment.

关键词： BeiDou navigation mul.ipath effect prescribed convergence rate reinforcement l.arning urban l.cal.zation.

Stochastic DoS Attack Al.ocation Against Col.aborative Estimation in Sensor Networks

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IEEE/CAA Journal.of Automatica Sinica 2020年第5期7卷 1225-1234页

作者： Ya Zhang l.shuang Du frank l.l.wis School.of Automation Southeast Universityand also with the Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing 210096China University of Texas at Arl.ngton Research Institute Fort WorthTX 76118 USA IEEE

In this paper,denial.of service(DoS)attack management for destroying the col.aborative estimation in sensor networks and minimizing attack energy from the attacker perspective is *** the communication channel. between sensors and a remote estimator,the attacker chooses some channel. to randoml. jam DoS attacks to make their packets randoml. dropped.A stochastic power al.ocation approach composed of three steps is ***,the minimum number of channel. and the channel.set to be attacked are ***,a necessary condition and a sufficient condition on the packet l.ss probabil.ties of the channel. in the attack set are provided for general.and special.systems,***,by converting the original.coupl.ng nonl.near programming probl.m to a l.near programming probl.m,a method of searching attack probabil.ties and power to minimize the attack energy is *** effectiveness of the proposed scheme is verified by simul.tion exampl.s.

关键词： Attack al.ocation denial.of service(DoS)attack packet l.ss remote estimation sensor networks

Guaranteed Cost Attitude Tracking Control.for Uncertain Quadrotor Unmanned Aerial.Vehicl. Under Safety Constraints

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IEEE/CAA Journal.of Automatica Sinica 2024年第6期11卷 1447-1457页

作者： Qian Ma Peng Jin frank l.l.wis School.of Automation Nanjing University of Science and TechnologyNanjing 210094China UTA Research Institute University of Texas at ArlingtonFort WorthTexas 76118 USA IEEE

In this paper,guaranteed cost attitude tracking con-trol.for uncertain quadrotor unmanned aerial.vehicl.(QUAV)under safety constraints is ***,an augmented system is constructed by the tracking error system and reference *** transformation aims to convert the tracking control.prob-l.m into a stabil.zation control.***,control.barrier function and disturbance attenuation function are designed to characterize the viol.tions of safety constraints and tol.rance of uncertain disturbances,and they are incorporated into the reward function as penal.y *** on the modified reward function,the probl.m is simpl.fied as the optimal.regul.tion probl.m of the nominal.augmented system,and a new Hamil.on-Jacobi-Bel.man equation is ***,critic-onl. rein-forcement l.arning al.orithm with a concurrent l.arning tech-nique is empl.yed to sol.e the Hamil.on-Jacobi-Bel.man equa-tion and obtain the optimal.*** proposed al.orithm can not onl. ensure the reward function within an upper bound in the presence of uncertain disturbances,but al.o enforce safety *** performance of the al.orithm is eval.ated by the numerical.simul.tion.

关键词： Attitude tracking control quadrotor unmanned aerial.vehicl.(QUAV) reinforcement l.arning safety constraints uncertain disturbances.

Neuronal.aval.nches:Sandpil.s of sel.-organized critical.ty or critical.dynamics of brain waves?

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Frontiers of physics 2023年第4期18卷 337-348页

作者： Vital. l.Gal.nsky l.wrence R.frank Center for Scientific Computation in Imaging University of California at San DiegoLa JollaCA 92037-0854USA Center for Functional.MRI University of California at San DiegoLa JollaCA 92037-0677USA

Anal.tical.expressions for scal.ng of brain wave spectra derived from the general.nonl.near wave Hamil.onian form show excel.ent agreement with experimental.neuronal.aval.nche”*** theory of the weakl. evanescent nonl.near brain wave dynamics[*** 2,023061(2020);*** Neurosci.32,2178(2020)]reveal. the underl.ing col.ective processes hidden behind the phenomenol.gical.statistical.description of the neuronal.aval.nches and connects together the whol. range of brain activity states,from oscil.atory wave-l.ke modes,to neuronal.aval.nches,to incoherent spiking,showing that the neuronal.aval.nches are just the manifestation of the different nonl.near side of wave processes abundant in cortical.*** a more broad way these resul.s show that a system of wave modes interacting through al. possibl. combinations of the third order nonl.near terms described by a general.wave Hamil.onian necessaril. produces anharmonic wave modes with temporal.and spatial.scal.ng properties that fol.ow scal. free power *** the best of our knowl.dge this has never been reported in the physical.l.terature and may be appl.cabl. to many physical.systems that invol.e wave processes and not just to neuronal.aval.nches.

关键词： nonl.near waves critical.exponent Hamil.onian system neuronal.aval.nches critical.dynamics

Heterogeneous mul.i-pl.yer imitation l.arning

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Control.Theory and Technol.gy 2023年第3期21卷 281-291页

作者： Bosen l.an Wenqian Xue frank l.l.wis Department of El.ctrical.and Computer Engineering Auburn UniversityAuburnAL 36849USA State Key l.boratory of Synthetical.Automation for Process Industries and International.Joint Research l.boratory of Integrated Automation Northeastern UniversityShenyang 110819LiaoningChina UTA Research Institute University of Texas at Arlington(UTA)Fort WorthTX 76118USA

This paper studies imitation l.arning in nonl.near mul.i-pl.yer game systems with heterogeneous control.input *** propose a model.free data-driven inverse reinforcement l.arning(Rl.al.orithm for a l.aner to find the cost functions of a N-pl.yer Nash expert system given the expert's states and control.*** al.ows us to address the imitation l.arning probl.m without prior knowl.dge of the expert's system *** achieve this,we provide a basic model.based al.orithm that is buil. upon Rl.and inverse optimal.*** serves as the foundation for our final.model.free inverse Rl.al.orithm which is impl.mented via neural.network-based val.e function *** anal.sis and simul.tion exampl.s verify the methods.

关键词： Imitation l.arning Inverse reinforcement l.arning Heterogeneous mul.i-pl.yer games Data-driven model.free control

Adaptive Uniform Performance Control.of Strict-Feedback Nonl.near Systems With Time-Varying Control.Gain

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IEEE/CAA Journal.of Automatica Sinica 2023年第2期10卷 451-461页

作者： Kai Zhao Changyun Wen Yongduan Song frank l.l.wis IEEE the Department of El.ctrical.and Computer Engineering National University of SingaporeSingapore 119077Singapore the School.of El.ctrical.and El.ctronic Engineering Nanyang Technological UniversitySingapore 639798Singapore the State Key l.boratory of Power Transmission Equipment&System Security and New Technol.gy Chongqing Key Laboratory of Intelligent Unmanned SystemsSchool of AutomationChongqing UniversityChongqing 400044China the UTA Research Institute University of Texas at ArlingtonFort WorthTX 76118 USA

In this paper,we present a novel.adaptive performance control.approach for strict-feedback nonparametric systems with unknown time-varying control.coefficients,which mainl. incl.des the fol.owing ***,by introducing several.key transformation functions and sel.cting the initial.val.e of the time-varying scal.ng function,the symmetric prescribed performance with gl.bal.and semi-gl.bal.properties can be handl.d uniforml.,without the need for control.***,to handl. the probl.m of unknown time-varying control.coefficient with an unknown sign,we propose an enhanced Nussbaum function(ENF)bearing some unique properties and characteristics,with which the compl.x stabil.ty anal.sis based on specific Nussbaum functions as commonl. used is no l.nger ***,by util.zing the core-function information technique,the nonparametric uncertainties in the system are graceful.y handl.d so that no approximator is ***,simul.tion resul.s verify the effectiveness and benefits of the approach.

关键词： Adaptive control enhanced Nussbaum function(ENF) strict-feedback systems unified prescribed performance

Error-based adaptive optimal.tracking control.of nonl.near discrete-time systems

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Science China(Information Sciences) 2024年第1期67卷 154-167页

作者： Chun l. Jinl.ang DING frank l.l.wis Tianyou CHAI State Key l.boratory of Synthetical.Automation for Process Industries Northeastern University UTA Research Institute The University of Texas at Arlington

In this paper,for the output tracking probl.m of nonl.near discrete-time systems,a performance index is newl. defined using the adaptive dynamic programming(ADP) technique to compl.tel. el.minate tracking errors in *** contrast to traditional.definitions of performance indices in other ADP-based methods,the proposed performance index is not onl. designed from the perspective of output tracking errors but al.o introduced errors of system states and control.inputs at adjacent stages,which is suitabl. for practical.situations in many industrial.appl.cations,such as the al.mina production,the fl.tation process,and the mineral.grinding *** proved that the obtained control.er can make the system output ful.y track the given reference trajectory by appl.ing the iterative criteria of the ADP *** addition,the proposed al.orithm was impl.mented using a data-driven technique and neural.networks to avoid anal.zing and deducing the compl.cated dynamics of actual.industrial.***,using historical.data for a forced-circul.tion evaporation system in the al.mina production process,the effect of the proposed approach was verified through a numerical.simul.tion and compared with that of the proportional.integral.control.er.

关键词： adaptive dynamic programming iterative criteria performance index tracking errors tracking probl.m

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