检索结果-南通市图书馆

Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 649-660页

作者： Meilin li Yue Long tieshan li Hongjing liang C.L.Philip Chen the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China IEEE the Yangtze Delta Region Institute University of Electronic Science and Technology of ChinaHuzhou 313000 the Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing 100089China the School of Computer Science and Engineering South China University of TechnologyGuangzhou 510006

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.

关键词： Constrained input designable minimum inter-event time directed communication topology dynamic event-triggered mechanism MASs consensus control

Path Following of Underactuated Autonomous Surface Vessels With Surge Velocity Constraint and Asymmetric Saturation

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1343-1345页

作者： Yalei Yu Chen Guo tieshan li the School of Marine Electrical Engineering Dalian Maritime UniversityDalian 116026China the Department of Aeronautical and Automotive Engineering Loughborough UniversityLoughborough LE113RHUK the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731 the School of Navigation Dalian Maritime UniversityDalian 116026China

Dear Editor, This letter is concerned with the path following of underactuated autonomous surface vessels(ASV) in the presence of surge velocity constraint and asymmetric saturation as well as unknown dynamics.To cope with velocity constraints both magnitude and rate and asymmetric saturation as well as unknown dynamics, an adaptive finitetime sliding mode control scheme(AFTSM) is designed.

关键词： dynamics saturation asymmetric

Target tracking algorithm based on a broad learning system

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2022年第5期65卷 261-263页

作者： Dan ZHANG tieshan li C.L.Philip CHEN He YANG Navigation College Dalian Maritime University Innovation and Entrepreneurship Education College Dalian Minzu University School of Automation Engineering University of Electronic Science and Technology of China Computer Science and Engineering College South China University of Technology

Target tracking is one of the most important research topics in the field of computer vision. It has been widely applied in aerospace, automatic monitoring, navigation, human-computer interaction, and artificial intel... 详细信息

关键词： Target tracking Broad learning system Selective search algorithm Multi-cue tracking Tracking adaptability

Target tracking method of Siamese networks based on the broad learning system

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

CAAI Transactions on Intelligence Technology 2023年第3期8卷 1043-1057页

作者： Dan Zhang C.L.Philip Chen tieshan li Yi Zuo Nguyen Quang Duy Navigation College Dalian Maritime UniversityDalianChina Innovation and Entrepreneurship Education College Dalian Minzu UniversityDalianChina Computer Science and Engineering College South China University of TechnologyGuangzhouChina Department of Computer and Information Science Faculty of Science and TechnologyUniversity of MacaoMacaoChina School of Automation Engineering University of Electronic Science and Technology of ChinaChengduChina Faculty of Navigation Vietnam Maritime UniversityHaiphongVietnam

Target tracking has a wide range of applications in intelligent transportation,real‐time monitoring,human‐computer interaction and other aspects.However,in the tracking process,the target is prone to deformation,occlusion,loss,scale variation,background clutter,illumination variation,etc.,which bring great challenges to realize accurate and real‐time tracking.Tracking based on Siamese networks promotes the application of deep learning in the field of target tracking,ensuring both accuracy and real‐time performance.However,due to its offline training,it is difficult to deal with the fast motion,serious occlusion,loss and deformation of the target during tracking.Therefore,it is very helpful to improve the performance of the Siamese networks by learning new features of the target quickly and updating the target position in time online.The broad learning system(BLS)has a simple network structure,high learning efficiency,and strong feature learning ability.Aiming at the problems of Siamese networks and the characteristics of BLS,a target tracking method based on BLS is proposed.The method combines offline training with fast online learning of new features,which not only adopts the powerful feature representation ability of deep learning,but also skillfully uses the BLS for re‐learning and re‐detection.The broad re‐learning information is used for re‐detection when the target tracking appears serious occlusion and so on,so as to change the selection of the Siamese networks search area,solve the problem that the search range cannot meet the fast motion of the target,and improve the adaptability.Experimental results show that the proposed method achieves good results on three challenging datasets and improves the performance of the basic algorithm in difficult scenarios.

关键词： broad learning system siamese network target tracking

Review of Antiswing Control of Shipboard Cranes

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 346-354页

作者： Yuchi Cao tieshan li Navigation College Dalian Maritime University

Shipboard cranes are extensively utilized in numerous fields such as cargo transferring and offshore engineering.The control of shipboard cranes,especially the antiswing control of payloads,has attracted much research attention due to their typical underactuation characteristics and complicated dynamics.Through comparisons of the traditional land-fixed cranes,a brief review on modeling and dynamics analysis is presented to illustrate the tremendous challenges and difficulties in controller design for shipboard cranes.A comprehensive review and brief analysis of shipboard crane control strategies are further presented.Some future research directions are also put forward for reference.It is expected that the paper will be useful for improving existing control schemes and generating novel control approaches for shipboard crane systems.

关键词： Control review shipboard crane underactuated system

Predictor-based neural dynamic surface control for distributed formation tracking of multiple marine surface vehicles with improved transient performance

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2016年第9期59卷 208-226页

作者： Zhouhua PENG Dan WANG tieshan li School of Marine Engineering Dalian Maritime University Control Science and Engineering Dalian University of Technology School of Navigation Dalian Maritime University

In this paper, we investigate the distributed formation tracking problem of multiple marine surface vehicles with model uncertainty and time-varying ocean disturbances induced by wind, waves, and ocean currents. The objective is to achieve a collective tracking with a time-varying trajectory, which can only be accessed by a fraction of follower vehicles. A novel predictor-based neural dynamic surface control design approach is proposed to develop the distributed adaptive formation controllers. We use prediction errors, rather than tracking errors, to construct the neural adaptive laws, which enable the fast identification of the vehicle dynamics without incurring high-frequency oscillations in control signals. We establish the stability properties of the closed-loop network via Lyapunov analysis, and quantify the transient performance by deriving the truncated L2 norms of the derivatives of neural weights, which we demonstrate to be smaller than the classical neural dynamic surface control design approach. We also extend the above result to the distributed formation tracking using the relative position information of vehicles, and the advantage is that the velocity information of neighbors and leader are required. Finally, we give the comparative studies to illustrate the performance improvement of the proposed method.

关键词： dynamic surface control distributed formation tracking predictor marine surface vehicles neural networks

Containment control of multi-agent systems with nonvanishing disturbance via topology reconfiguration

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2021年第7期64卷 250-252页

作者： Qihe SHAN Fei TENG tieshan li C.L.Philip CHEN Navigation College Dalian Maritime University College of Information Science and Engineering Northeastern University

Dear editor,Multi-agent systems (MASs) are ubiquitous in natural as well as artificial systems. Over the past several decades, an increasing number of researchers have devoted attention to distributed cooperative cont... 详细信息

关键词： multi agent nonvanishing disturbance topology reconfiguration containment control convex parameters

带有状态/输入量化的无人船自适应模糊跟踪控制

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

华南理工大学学报（自然科学版） 2024年第5期52卷 52-61页

作者：宁君马一帆李伟 †李铁山陈俊龙岳兴旺大连海事大学航海学院辽宁大连116026 电子科技大学自动化工程学院四川成都611730 华南理工大学计算机科学与工程学院广东广州510006

针对海上通讯带宽受限情况下无人船的航迹跟踪控制问题,设计了一种带有状态量化和输入量化的自适应反馈跟踪控制方案。在保证有效跟踪的同时,减少执行器执行频次,降低控制幅度。首先,在不考虑量化情况下基于自适应反步法设计了系统跟踪... 详细信息

针对海上通讯带宽受限情况下无人船的航迹跟踪控制问题,设计了一种带有状态量化和输入量化的自适应反馈跟踪控制方案。在保证有效跟踪的同时,减少执行器执行频次,降低控制幅度。首先,在不考虑量化情况下基于自适应反步法设计了系统跟踪控制律,并结合动态面技术有效降低了虚拟控制律的计算量膨胀问题。对于控制系统中存在的不确定项,利用模糊逻辑系统进行逼近。其次,采用均匀量化器分别对控制系统中的状态变量和输入变量进行量化,且量化后的状态反馈信息被用于无人船航迹跟踪控制器的设计。根据所得到的量化信息,给出了同时考虑状态量化和输入量化的无人船航迹跟踪控制律。在稳定性分析中,通过Lyapunov稳定性理论证明了在不考虑量化的情况下闭环控制系统的稳定性,并根据递归的方法证明了闭环控制系统中量化变量和非量化变量之间误差的有界性。基于给定的引理,最终证明了在同时考虑状态量化和输入量化的情况下,所设计的带有状态量化和输入量化的模糊自适应反馈跟踪控制系统的稳定性。最后,通过两组仿真实验验证了所提方案的实用性。即在同时考虑状态量化和输入量化的情况下,无人船仍能保持对理想轨迹良好的跟踪性能,并有效减轻了执行器的执行频次,更符合航海工程实践。

关键词：无人船航迹跟踪状态量化及输入量化模糊自适应控制量化误差

Path following control of underactuated ships based on nonswitch analytic model predictive control

在线全文

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2010年第4期8卷 429-434页

作者： Xiaofei WANG Zaojian ZOU tieshan li Weilin LUO School of Naval Architecture Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai 200030 China

A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.

关键词： Underactuated ship Path following Model predictive control Ill-defined relative degree