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Formation-containment control of multi-robot systems under a stochastic sampling mechanism

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Science China(Technological Sciences) 2020年第6期63卷 1025-1034页

作者： su housheng ZHANG JinXin ZENG ZhiGang Key Laboratory of Image Processing and Intelligence Control of Ministry of Education School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

This paper studies the problem of formation-containment for multi-robot systems with stochastic ***,a stochastic sampling control protocol is proposed,in which information exchanging among robots only occurred at the sampling time and two different sampling periods randomly ***,both energy and controller updating frequencies can be ***,the protocol can be applied to the situation where the sampling period varies ***,sufficient conditions guaranteeing mean square formation-containment are *** stochastic sampling mechanism,the leaders reach a geometric formation shape and the followers are in the geometric formation shape formed by the ***,an example is shown to demonstrate the results.

关键词： formation-containment multi-robot systems stochastic sampling

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Adaptive leader-following attitude consensus of multiple rigid body systems with resilience to communication link faults

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Science China(Information Sciences) 2023年第10期66卷 319-320页

作者： housheng su Zhuohang LI Key Laboratory of Imaging Processing and Intelligence Control School of Artifcial Intelligence and Automation Huazhong University of Science and Technology

Distributed coordination in multi-agent systems has been widely utilized in attitude alignment of spacecraft and cooperative control of unmanned vehicles, which has attracted extensive attention from biology, physics, and engineering researchers [1]. With the growing complexity of tasks, an increase in space missions and engineering projects needs to be completed by the cooperative operation of multi-spacecraft or multi-robot systems.

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Structure-free containment control for uncertain underactuated multiple Euler-Lagrange systems

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Science China(Information Sciences) 2023年第11期66卷 150-168页

作者： housheng su Yali WU Liren ZHANG Xia CHEN Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology

This article studies the problem of structure-free distributed containment control for uncertain underactuated multiple Euler-Lagrange systems(MELSs) considering disturbances by using a layered approach. First, the second layer is the virtual layer constructed artificially for hierarchical control. We move all virtual nodes to the convex hull formed by leaders in the first layer by implementing containment control algorithms on all virtual nodes. Then, the third layer is the following layer, and we propose an adaptive robust tracking controller to ensure that each follower in the third layer tracks the corresponding virtual node in the second layer. So far, the underactuated MELSs can achieve containment control. Furthermore,through the theoretical derivation, sufficient conditions are obtained to achieve the objective of structure-free containment control. Finally, the effectiveness of the proposed stratified structure-free containment control method is verified by a simulation example.

关键词： Euler-Lagrange systems underactuated system containment control adaptive-robust control

Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous Intelligent Systems 2021年第1期1卷 81-90页

作者： Xiuxian Li housheng su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

Adaptive Leader-Follower Flocking for Uncertain Lagrange Systems with Input Saturation and External Disturbances

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Adaptive Leader-Follower Flocking for Uncertain Lagrange Sys...

第37届中国控制会议

作者： Sahar Yazdani housheng su Department of Electrical Engineering Zanjan Branch Islamic Azad University School of Automation Huazhong University of Science and Technology

In this work, we study the leader-follower flocking problem of multi-agent systems with uncertain Lagrange dynamics subject to input saturation and external disturbances. We propose an adaptive protocol for prevention of actuator saturation and deterioration of external disturbance and model uncertainty. Our protocol, in comparing to the existing work in the flocking is simple, technically and implantation. Under the designed protocol, velocity convergence of agents to that of the virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well.

关键词： Leader-follower flocking input saturation multi-agent system uncertain Lagrange dynamic external disturbance

ConvMS:Improving Convolutional Knowledge Graph Embeddings via Integrating Information of Multiple subspaces

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Guidance, Navigation and Control 2023年第1期3卷 1-20页

作者： Yanhong Li housheng su School of Articial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 P.R.China

Knowledge graphs are involved in more and more applications to further improve *** to the inherent incompleteness of knowledge graphs resulted from data updating and missing,a number of knowledge graph completion models are proposed in *** obtain better performance,many methods are of high complexity,making it time-consuming for training and *** paper proposes a simple but e®ective model using only shallow neural networks,which combines enhanced feature interaction and multi-subspace information *** the enhanced feature interaction module,entity and relation embeddings are almost peer-to-peer interacted via multi-channel 2D *** the multi-subspace information integration module,entity and relation embeddings are projected to multiple subspaces to extract multi-view information to further boost *** experiments on widely used datasets show that the proposed model outperforms a series of strong *** ablation studies demonstrate the e®ectiveness of each submodule in the model.

关键词： Knowledge graph completion multi-channel 2D convolution multiple subspaces

Event-Triggered Distributed Extended Kalman Filtering with Randomly Occurring Deception Attack: A Variance-Constrained Approach

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Event-Triggered Distributed Extended Kalman Filtering with R...

第37届中国控制会议

作者： Weihao Song Jianan Wang Jiayuan Shan housheng su School of Aerospace Engineering Beijing Institute of Technology School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology

In this paper, a distributed extended Kalman filtering algorithm is developed for a class of discrete-time nonlinear systems subject to stochastic disturbances and randomly occurring deception attacks. In order to utilize the limited communication and computation resources efficiently, the event-triggered communication scheme is introduced such that data transmission is executed only when the predefined condition is violated. Furthermore, a set of independent Bernoulli random variables with known statistical properties is defined to characterize the phenomenon of randomly occurring deception attacks. An upper bound for the estimation error covariance considering the event-triggered meachanism and linearization errors is derived via the varianceconstrained approach. The filter gain for each node can be calculated recursively by solving two Raccati-like difference equations to minimize such an upper bound, which is suitable for online application. Finally, an illustrative example is presented to verify the feasibility and effectiveness of the proposed algorithm.

关键词： Distributed filtering Event-triggered scheme Deception attacks Variance constraints

Adaptive Bipartite Time-Varying Formation Control for Multi-Agent Systems on Directed Graph

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Adaptive Bipartite Time-Varying Formation Control for Multi-...

第三十九届中国控制会议

作者： Chenhang Yan Wei Zhang Xiaohang Li housheng su Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science School of Artificial Intelligence and Automation Huazhong University of Science and Technology

Distributed bipartite time-varying formation control for multi-agent systems with a leader of unknown input on directed graphs is investigated. An adaptive non-smooth protocol proposed in this paper only utilizes the local output feedback information among neighboring agents and thus can avoid using eigenvalue information of the Laplacian matrix of the graph. It is shown that if the directed interaction network containing a spanning tree with the leader as the root is structurally balanced,then the bipartite time-varying formation tracking can be achieved with a leader of bounded input via the proposed scheme. A convergence analysis of the proposed protocol for multi-agent systems is reflected by the Lyapunov method. Finally, a validly numerical simulation is illustrated to show the performance of the proposed scheme.

关键词： time-varying formation multi-agent system bipartite graph distributed control cooperative control

Observer-Based Robust Containment Control of Multi-agent Systems With Input Saturation

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Observer-Based Robust Containment Control of Multi-agent Sys...

第三十九届中国控制会议

作者： Juan Qian Xiaoling Wang Guo-Ping Jiang housheng su College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunicationsand Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot) School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology

In this paper, the robust containment control problem of the leader-following multi-agent systems with input saturation and input additive disturbance is addressed, where the followers can be informed by multiple leaders. With the help of the lowand-high gain feedback technique and the high-gain observer approach, a distributed control algorithm for each agent is firstly designed by using the observed output information, then sufficient conditions are provided to guarantee the semi-global robust containment of the system. Finally, some numerical simulations are given to verify the correctness of the theoretical results.

关键词： Containment control multi-agent system input saturation input additive disturbance