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Linear Optimal Estimation of Discrete-time Systems with Multiple Measurement Delays 36

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Linear Optimal Estimation of Discrete-time Systems with Mult...

System identification and control of the ground operation mode of a hybrid aerial-ground robot

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作者： Shuai Liu lihua xie School of Control Science and Engineering Shandong University School of Electrical and Electronic Engineering Nanyang Technological University

ISBN: (纸本)9781538629185

In this paper, we consider an optimal estimation problem in the sense of least mean square error for linear discrete-time systems with multiple state delays in the measurement output. Since computation complexity is high for augmentation approach,a lot of researches have been dedicated to finding alternative ways for the optimal estimation design. In existing studies, two dimensional Riccati iteration is unavoidable for calculating the optimal gain. Meanwhile, in the continuous-time setting, the counterpart of the two dimensional Riccati equation is partial differential equation which is difficult to solve. We shall provide a new result that the gain of the optimal estimation is obtained in terms of the solution of a Retarded Riccati-like equation instead of two dimensional Riccati equation. Furthermore, by applying the result to single delay case, we have found a relationship between optimal estimation of systems with multiple delays and optimal prediction.

关键词： Riccati Equation Delay Systems Optimal Estimation

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Control Theory and Technology 2023年第3期21卷 458-468页

作者： Muqing Cao Xinhang Xu Kun Cao lihua xie School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore

This paper presents an in-depth analytical and empirical assessment of the performance of DoubleBee,a novel hybrid aerial-ground ***,the dynamic model of the robot with ground contact is analyzed,and the unknown parameters in the model are *** apply an unscented Kalman filter-based approach and a least square-based approach to estimate the parameters with given measurements and inputs at every time *** data are collected and used to estimate the parameters;test data verify that the values obtained are able to model the rotation of the robot accurately.A gain-scheduled feedback controller is proposed,which leverages the identified model to generate accurate control inputs to drive the system to the desired *** system is proven to track a constant-velocity reference signal with bounded *** and real-world experiments using the proposed controller show improved performance than the PID-based controller in tracking step commands and maintaining attitude under robot movement.

关键词： Modelling Parameter identification Hybrid robots Robot control

Sensor selection for parameterized random field estimation in wireless sensor networks

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控制理论与应用（英文版） 2011年第1期9卷 44-50页

作者： Weng, Yang Xiao, Wendong xie, lihua School of Electrical and Electronic Engineering Nanyang Technological University Singapore 639798 Singapore Institute for Infocomm Research Singapore 138632 Singapore School of Mathematics Sichuan University Chengdu Sichuan 610064 China

We consider the random field estimation problem with parametric trend in wireless sensor networks where the field can be described by unknown parameters to be estimated. Due to the limited resources, the network selects only a subset of the sensors to perform the estimation task with a desired performance under the D-optimal criterion. We propose a greedy sampling scheme to select the sensor nodes according to the information gain of the sensors. A distributed algorithm is also developed by consensus-based incremental sensor node selection through information quality computation for and message exchange among neighboring sensors. Simulation results show the good performance of the proposed algorithms.

关键词： Random field estimation Parametric trend Wireless sensor network Sensor selection NP-completeness Distributed processing

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Infinite horizon LQR for systems with multiple delays in a single input channel

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控制理论与应用（英文版） 2010年第3期8卷 368-374页

作者： Shuai LIU lihua xie Huanshui ZHANG School of Electrical & Electronic Engineering Nanyang Technological University Singapore School of Control Science and Engineering Shandong University Jinan Shandong 250061 China

This paper is concerned with the linear quadratic regulation （LQR） problem for both linear discrete-time systems and linear continuous-time systems with multiple delays in a single input channel. Our solution is given in terms of the solution to a two-dimensional Riccati difference equation for the discrete-time case and a Riccati partial differential equation for the continuous-time case. The conditions for convergence and stability are provided.

关键词： Input delay systems Linear quadratic regulation Riccati difference and differential equations Stability analysis

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Optimal full-order filtering for discrete-time systems with random measurement delays and multiple packet dropouts

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控制理论与应用（英文版） 2010年第1期8卷 105-110页

作者： Shuli SUN lihua xie Wendong XIAO School of Electronic Engineering Heilongjiang University Harbin Heilongjiang 150080 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore 639798 Institute for Infocomm Research Singapore 138632

This paper is concerned with the estimation problem for discrete-time stochastic linear systems with possible single unit delay and multiple packet dropouts. Based on a proposed uncertain model in data transmission, an optimal full-order filter for the state of the system is presented, which is shown to be of the form of employing the received outputs at the current and last time instants. The solution to the optimal filter is given in terms of a Riccati difference equation governed by two binary random variables. The optimal filter is reduced to the standard Kalman filter when there are no random delays and packet dropouts. The steady-state filter is also investigated. A sufficient condition for the existence of the steady-state filter is given. The asymptotic stability of the optimal filter is analyzed.

关键词： Full-order filter Random delay Packet dropouts Riccati difference equation

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Editorial:special issue on frontiers of control and automation,dedicated to *** *** 60th birthday

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Control Theory and Technology 2023年第3期21卷 263-264页

作者： Jie Chen Jie Huang lihua xie Department of Control Science and Engineering Tongji UniversityShanghaiChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina Center for Advanced Robotics Technology Innovation School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore

It is our great pleasure and honor to organize this special issue"Frontiers of Control and Automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben *** Chen obtained his *** in mathemat-ics and computer science in 1983 from Xiamen University,China;*** in electrical engineering in 1988 from Gonzaga University,Spokane,Washington,USA;and *** in electrical and computer engineering in 1991 from Washington State University,Pullman,Washington,USA.

关键词： computer Xiamen frontier

A survey on recent progress in control of swarm systems

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Science China(Information Sciences) 2017年第7期60卷 5-28页

作者： Bing ZHU lihua xie Duo HAN Xiangyu MENG Rodney TEO School of Electrical and Electronic Engineering Nanyang Technological University The Seventh Research Division Beihang University Division of Systems Engineering Boston University Temasek Lab National University of Singapore

It has been witnessed that swarm systems are superior to individual agents in performing complicated tasks. In recent years, new results in some branches of control for swarm systems have developed and investigated with respect to various objectives and scenarios. This survey is to take a glimpse into some newly developed control techniques for swarm systems, especially those presented after 2013. The covered topics include some up-to-date progress in the areas of consensus, formation, flocking, containment, optimal coverage/mission planning, and sensor networks. Contributions and connections of the mentioned references are discussed *** on the new results in control of swarm systems, some possible new future research topics are suggested.

关键词： formation swarm systems consensus containment flocking sensor networks

Distributed non-cooperative robust MPC based on reduced-order models

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Control Theory and Technology 2016年第1期14卷 11-20页

作者： Yushen LONG Shuai LIU lihua xie Karl Henrik JOHANSSON School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore ACCESS Linnaeus Center School of Electrical Engineering Royal Institute of Technology SE-100 44 Stockholm Sweden

In this paper, a non-cooperative distributed MPC algorithm based on reduced order model is proposed to stabilize large-scale systems. The large-scale system consists of a group of interconnected subsystems. Each subsystem can be partitioned into two parts： measurable part, whose states can be directly measured by sensors, and the unmeasurable part. In the online computation phase, only the measurable dynamics of the corresponding subsystem and neighbour-to-neighbour communication are necessary for the local controller design. Satisfaction of the state constraints and the practical stability are guaranteed while the complexity of the optimization problem is reduced. Numerical examples are given to show the effectiveness of this algorithm.

关键词： Model predictive control distributed control building energy efficiency

Solvability of General Linear Forward and Backward Stochastic Difference Equations 36

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Solvability of General Linear Forward and Backward Stochasti...