This paper studies the consensus control of multiagent systems with binary-valued observations.An algorithm alternating estimation and control is proposed.Each agent estimates the states of its neighbors based on a pr...This paper studies the consensus control of multiagent systems with binary-valued observations.An algorithm alternating estimation and control is proposed.Each agent estimates the states of its neighbors based on a projected empirical measure method for a holding time.Based on the estimates,each agent designs the consensus control with a constant gain at some skipping time.The states of the system are updated by the designed control,and the estimation and control design will be repeated.For the estimation,the projected empirical measure method is proposed for the binary-valued observations.The algorithm can ensure the uniform boundedness of the estimates and the mean square error of the estimation is proved to be at the order of the reciprocal of the holding time(the same order as that in the case of accurate outputs).For the consensus control,a constant gain is designed instead of the stochastic approximation based gain in the existing literature for binary-valued observations.And,there is no need to make modification for control since the uniform boundedness of the estimates ensures the uniform boundedness of the agents’states.Finally,the systems updated by the designed control are proved to achieve consensus and the consensus speed is faster than that in the existing literature.Simulations are given to demonstrate the theoretical results.展开更多
In this paper,we present a twisting control scheme with proportional-integral-derivative(PID)sliding surface for a two-axis electrostatic torsional micromirror,and the utilization of the proposed scheme in a laser sca...In this paper,we present a twisting control scheme with proportional-integral-derivative(PID)sliding surface for a two-axis electrostatic torsional micromirror,and the utilization of the proposed scheme in a laser scanning system.The experimental results of set-point regulation verify that the proposed scheme provides enhanced transient response and positioning performance as compared to traditional sliding mode control.To evaluate the tracking performance of the closed-loop system,triangular waves with different frequencies are used as desired traces.With the proposed scheme the experimental results verified that the closed-loop controlled micromirror follows the given triangular trajectories precisely.A micromirror-based laser scanning system is developed to obtain images.When compared with open-loop control,the experimental results demonstrated that the proposed scheme is able to reduce the distortion of the raster scan,and improve the imaging performance in the presence of cross-coupling effect.展开更多
In this paper,the authors consider the distributed adaptive identification problem over sensor networks using sampled data,where the dynamics of each sensor is described by a stochastic differential equation.By minimi...In this paper,the authors consider the distributed adaptive identification problem over sensor networks using sampled data,where the dynamics of each sensor is described by a stochastic differential equation.By minimizing a local objective function at sampling time instants,the authors propose an online distributed least squares algorithm based on sampled data.A cooperative non-persistent excitation condition is introduced,under which the convergence results of the proposed algorithm are established by properly choosing the sampling time interval.The upper bound on the accumulative regret of the adaptive predictor can also be provided.Finally,the authors demonstrate the cooperative effect of multiple sensors in the estimation of unknown parameters by computer simulations.展开更多
Control invariant sets play a key role in model predictive control.Using Lyapunov function,a technique is proposed to design control invariant sets of planar systems in a precise form.First,itis designed for a linear ...Control invariant sets play a key role in model predictive control.Using Lyapunov function,a technique is proposed to design control invariant sets of planar systems in a precise form.First,itis designed for a linear system in Brunovsky canonical form.Then,the result is extended to generallinear systems.Finally,the nonlinear control systems are considered,and some sufficient conditionsand design techniques are also obtained.Numerical examples are presented to illustrate the proposeddesign methods.展开更多
This paper summarizes the parameter estimation of systems with set-valued signals, which can be classified to three catalogs: one-time completed algorithms, iterative methods and recursive algorithms. For one-time com...This paper summarizes the parameter estimation of systems with set-valued signals, which can be classified to three catalogs: one-time completed algorithms, iterative methods and recursive algorithms. For one-time completed algorithms, empirical measure method is one of the earliest methods to estimate parameters by using set-valued signals, which has been applied to the adaptive tracking of periodic target signals. The iterative methods seek numerical solutions of the maximum likelihood estimation, which have been applied to both complex diseases diagnosis and radar target recognition. The recursive algorithms are constructed via stochastic approximation and stochastic gradient methods, which have been applied to adaptive tracking of non-periodic signals.展开更多
Perfect adaptation describes the ability of a biological system to restore its biological function precisely to the pre-perturbation level after being affected by the environmental disturbances.Mathematically,a biolog...Perfect adaptation describes the ability of a biological system to restore its biological function precisely to the pre-perturbation level after being affected by the environmental disturbances.Mathematically,a biological system with perfect adaptation can be modelled as an input-output nonlinear system whose output,usually determining the biological function,is asymptotically stable under all input disturbances concerned.In this paper,a quite general input-output mathematical model is employed and the 'functional' of biological function(FBF)- output Lyapunov function- is explored to investigate its perfect adaptation ability.Sufficient condition is established for the systems with FBF to achieve perfect adaptation.Then a sufficient and necessary condition is obtained for the linear systems to possess an output Lyapunov function.Furthermore,it is shown that the 'functional'of receptors activity exists in the perfect adaptation model of E.coh chemotaxis.Different with the existing mathematical surveys on perfect adaptation,most of which are based on the standpoint of control theory,we first investigate this problem using ways of nonlinear systems analysis.展开更多
A new matrix product, called the second semi-tensor product (STP-Ⅱ) of matrices is proposed. It is similar to the classical semi-tensor product (STP-I). First, its fundamental properties are presented. Then, the equi...A new matrix product, called the second semi-tensor product (STP-Ⅱ) of matrices is proposed. It is similar to the classical semi-tensor product (STP-I). First, its fundamental properties are presented. Then, the equivalence relation caused by STP-II is obtained. Using this equivalence, a quotient space is also obtained. Finally, the vector space structure, the metric and the metric topology, the projection and subspaces, etc. of the quotient space are investigated in detail.展开更多
This paper propees the consistent extended Kalman flter(CEKF)for the maneuvering target tracking(MTT)with nonlinear uncertain dynamics,and applies it on hand poition tracking.The general modlel of the MTT system i pre...This paper propees the consistent extended Kalman flter(CEKF)for the maneuvering target tracking(MTT)with nonlinear uncertain dynamics,and applies it on hand poition tracking.The general modlel of the MTT system i presented with unmodleled dynamics in terms of nonlinear unknown function of states.The CEKF is propoeed to ensure that the bounds of the estimation error's covariance matrix are av ailable through the flter algorithm.As a result,the creponding accuracy of the flter approach can be achieved online.Furthermore,a CEKF-baaed MTT algorithm is constructed via the tumning aw of the critical parameter matrix QE Finally,the efectiveness of CEKF i verified by MTT numerical simulations and hand tacking expeiments under dilferent maneuvens.Specifcally,two indices are employed to compare the CEKF with extended Kalman filter(EKF):the mean square errors(MSEa)and the bounded percentage,ie the percentage of the rang w bere the estimation error is encboed by the bound calculated by algorithms.All MSEs of CEKF are smaller than thoee of EKF,where the worst MSEa of CEKF and EKF are0.14 and 418 in the simulation,a8 well 80.11 and 059 in the expeiments,respectively;all bounded percentages of CEKF are larger than thoee of EKF,where the wonst average bounded percentages of CEKF and EKF ame 87.86%and 14.58%,8 well as 97.41%and 41.79%in the experiments,reapectively.展开更多
This paper studies the distributed state estimation problem for a class of discrete-time linear time-varying systems over a bearingsonly sensor network.A novel fusion estimation algorithm of the distance between the t...This paper studies the distributed state estimation problem for a class of discrete-time linear time-varying systems over a bearingsonly sensor network.A novel fusion estimation algorithm of the distance between the target and each sensor is constructed with the mean square error matrix of corresponding estimation being timely provided.Then,the refined estimation of distance is presented by minimizing the mean square error matrix.Furthermore,the distributed Kalman filter based state estimation algorithm is proposed based on the refined distance estimation.It is rigorously proven that the proposed method has the consistency and stability.Finally,numerical simulation results show the effectiveness of our methods.展开更多
This paper studies the problem of radar target recognition based on radar cross section(RCS)observation sequence.First,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid...This paper studies the problem of radar target recognition based on radar cross section(RCS)observation sequence.First,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid statistical feature vector containing five components.These five components represent five different features of the radar target.Second,the authors establish a set-valued model to represent the relation between the feature vector and the authenticity of the radar target.By set-valued identification method,the authors can estimate the system parameter,based on which the recognition criteria is given.In order to illustrate the efficiency of the proposed recognition method,extensive simulations are given finally assuming that the true target is a cone frustum and the RCS of the false target is normally distributed.The results show that the set-valued identification method has a higher recognition rate than the traditional fuzzy classification method and evidential reasoning method.展开更多
Global navigation satellite system(GNSS)carrier phase observations are two orders of higher accuracy than pseudo-range observations,and they are less affected by multipath besides.As a result,the time transfer accurac...Global navigation satellite system(GNSS)carrier phase observations are two orders of higher accuracy than pseudo-range observations,and they are less affected by multipath besides.As a result,the time transfer accuracy can reach 0.1 ns,and the frequency transfer stability can reach 1×10^-15 with carrier phase(CP)method,therefore CP method is considered the most accurate and promising time transfer technology.The focus of this paper is to present a comprehensive summary of CP method,with specific attention directed toward day-boundary clock jump,ambiguity resolution(AR),multi-system time transfer and real-time time transfer.Day-boundary clock jump is essentially caused by pseudo-range noise.Several approaches were proposed to solve the problem,such as continuously processing strategy,sliding batch and bidirectional filtering methods which were compared in this study.Additionally,researches on AR in CP method were introduced.Many scholars attempted to fix the single-difference ambiguities to improve the time transfer result,however,owing to the uncalibrated phase delay(UPD)was not considered,the current studies on AR in CP method were still immature.Moreover,because four GNSS systems could be used for time-transfer currently,which was helpful to increase the accuracy and reliability,the researches on multi-system time transfer were reviewed.What’s more,real-time time transfer attracted more attention nowadays,the preliminary research results were presented.展开更多
基金supported by the National Natural Science Foundation of China(61803370,61622309)the China Postdoctoral Science Foundation(2018M630216)the National Key Research and Development Program of China(2016YFB0901902)
文摘This paper studies the consensus control of multiagent systems with binary-valued observations.An algorithm alternating estimation and control is proposed.Each agent estimates the states of its neighbors based on a projected empirical measure method for a holding time.Based on the estimates,each agent designs the consensus control with a constant gain at some skipping time.The states of the system are updated by the designed control,and the estimation and control design will be repeated.For the estimation,the projected empirical measure method is proposed for the binary-valued observations.The algorithm can ensure the uniform boundedness of the estimates and the mean square error of the estimation is proved to be at the order of the reciprocal of the holding time(the same order as that in the case of accurate outputs).For the consensus control,a constant gain is designed instead of the stochastic approximation based gain in the existing literature for binary-valued observations.And,there is no need to make modification for control since the uniform boundedness of the estimates ensures the uniform boundedness of the agents’states.Finally,the systems updated by the designed control are proved to achieve consensus and the consensus speed is faster than that in the existing literature.Simulations are given to demonstrate the theoretical results.
基金supported by the National Natural Science Foundation of China(61374036,61703142,U1504615)the Natural Science and Engineering Research Council of Canadathe Scientific Research Key Foundation of Higher Education Institutions of Henan Province(16A413001)
文摘In this paper,we present a twisting control scheme with proportional-integral-derivative(PID)sliding surface for a two-axis electrostatic torsional micromirror,and the utilization of the proposed scheme in a laser scanning system.The experimental results of set-point regulation verify that the proposed scheme provides enhanced transient response and positioning performance as compared to traditional sliding mode control.To evaluate the tracking performance of the closed-loop system,triangular waves with different frequencies are used as desired traces.With the proposed scheme the experimental results verified that the closed-loop controlled micromirror follows the given triangular trajectories precisely.A micromirror-based laser scanning system is developed to obtain images.When compared with open-loop control,the experimental results demonstrated that the proposed scheme is able to reduce the distortion of the raster scan,and improve the imaging performance in the presence of cross-coupling effect.
基金supported by the Natural Science Foundation of China under Grant No.T2293772the National Key R&D Program of China under Grant No.2018YFA0703800+1 种基金the Strategic Priority Research Program of Chinese Academy of Sciences under Grant No.XDA27000000the National Science Foundation of Shandong Province under Grant No.ZR2020ZD26.
文摘In this paper,the authors consider the distributed adaptive identification problem over sensor networks using sampled data,where the dynamics of each sensor is described by a stochastic differential equation.By minimizing a local objective function at sampling time instants,the authors propose an online distributed least squares algorithm based on sampled data.A cooperative non-persistent excitation condition is introduced,under which the convergence results of the proposed algorithm are established by properly choosing the sampling time interval.The upper bound on the accumulative regret of the adaptive predictor can also be provided.Finally,the authors demonstrate the cooperative effect of multiple sensors in the estimation of unknown parameters by computer simulations.
基金supported by the National Natural Science Foundation of China under Grant Nos. 60674022, 60736022 and 60821091
文摘Control invariant sets play a key role in model predictive control.Using Lyapunov function,a technique is proposed to design control invariant sets of planar systems in a precise form.First,itis designed for a linear system in Brunovsky canonical form.Then,the result is extended to generallinear systems.Finally,the nonlinear control systems are considered,and some sufficient conditionsand design techniques are also obtained.Numerical examples are presented to illustrate the proposeddesign methods.
基金Supported by the National Natural Science Foundation of China(Nos.61803370,61622309)the China Postdoctoral Science Foundation(No.2018M630216)the National Key Research and Development Program of China(No.2016YFB0901902)
文摘This paper summarizes the parameter estimation of systems with set-valued signals, which can be classified to three catalogs: one-time completed algorithms, iterative methods and recursive algorithms. For one-time completed algorithms, empirical measure method is one of the earliest methods to estimate parameters by using set-valued signals, which has been applied to the adaptive tracking of periodic target signals. The iterative methods seek numerical solutions of the maximum likelihood estimation, which have been applied to both complex diseases diagnosis and radar target recognition. The recursive algorithms are constructed via stochastic approximation and stochastic gradient methods, which have been applied to adaptive tracking of non-periodic signals.
文摘Perfect adaptation describes the ability of a biological system to restore its biological function precisely to the pre-perturbation level after being affected by the environmental disturbances.Mathematically,a biological system with perfect adaptation can be modelled as an input-output nonlinear system whose output,usually determining the biological function,is asymptotically stable under all input disturbances concerned.In this paper,a quite general input-output mathematical model is employed and the 'functional' of biological function(FBF)- output Lyapunov function- is explored to investigate its perfect adaptation ability.Sufficient condition is established for the systems with FBF to achieve perfect adaptation.Then a sufficient and necessary condition is obtained for the linear systems to possess an output Lyapunov function.Furthermore,it is shown that the 'functional'of receptors activity exists in the perfect adaptation model of E.coh chemotaxis.Different with the existing mathematical surveys on perfect adaptation,most of which are based on the standpoint of control theory,we first investigate this problem using ways of nonlinear systems analysis.
基金National Natural Science Foundation of China (Nos. 61733018, 61333001, 61773371).
文摘A new matrix product, called the second semi-tensor product (STP-Ⅱ) of matrices is proposed. It is similar to the classical semi-tensor product (STP-I). First, its fundamental properties are presented. Then, the equivalence relation caused by STP-II is obtained. Using this equivalence, a quotient space is also obtained. Finally, the vector space structure, the metric and the metric topology, the projection and subspaces, etc. of the quotient space are investigated in detail.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.62025307,U1913209,61973299,61873013)the Beijing Natural Science Foundation(Grant No.JQ19020)supported in part by the Key Laboratory of Systems and Control,Chinese Academy of Sciences.
文摘This paper propees the consistent extended Kalman flter(CEKF)for the maneuvering target tracking(MTT)with nonlinear uncertain dynamics,and applies it on hand poition tracking.The general modlel of the MTT system i presented with unmodleled dynamics in terms of nonlinear unknown function of states.The CEKF is propoeed to ensure that the bounds of the estimation error's covariance matrix are av ailable through the flter algorithm.As a result,the creponding accuracy of the flter approach can be achieved online.Furthermore,a CEKF-baaed MTT algorithm is constructed via the tumning aw of the critical parameter matrix QE Finally,the efectiveness of CEKF i verified by MTT numerical simulations and hand tacking expeiments under dilferent maneuvens.Specifcally,two indices are employed to compare the CEKF with extended Kalman filter(EKF):the mean square errors(MSEa)and the bounded percentage,ie the percentage of the rang w bere the estimation error is encboed by the bound calculated by algorithms.All MSEs of CEKF are smaller than thoee of EKF,where the worst MSEa of CEKF and EKF are0.14 and 418 in the simulation,a8 well 80.11 and 059 in the expeiments,respectively;all bounded percentages of CEKF are larger than thoee of EKF,where the wonst average bounded percentages of CEKF and EKF ame 87.86%and 14.58%,8 well as 97.41%and 41.79%in the experiments,reapectively.
基金supported by the National Key Research and Development Program of China(Grant No.2022YFA1004703)the National Natural Science Foundation of China(Grant Nos.62122083 and 62103014)the Chinese Academy of Sciences Youth Innovation Promotion Association(Grant No.2021003)。
文摘This paper studies the distributed state estimation problem for a class of discrete-time linear time-varying systems over a bearingsonly sensor network.A novel fusion estimation algorithm of the distance between the target and each sensor is constructed with the mean square error matrix of corresponding estimation being timely provided.Then,the refined estimation of distance is presented by minimizing the mean square error matrix.Furthermore,the distributed Kalman filter based state estimation algorithm is proposed based on the refined distance estimation.It is rigorously proven that the proposed method has the consistency and stability.Finally,numerical simulation results show the effectiveness of our methods.
基金supported by the National Natural Science Foundation of China under Grant No.61174042the National Key Basic Research Program of China(973 Program) under Grant No.2014CB845301
文摘This paper studies the problem of radar target recognition based on radar cross section(RCS)observation sequence.First,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid statistical feature vector containing five components.These five components represent five different features of the radar target.Second,the authors establish a set-valued model to represent the relation between the feature vector and the authenticity of the radar target.By set-valued identification method,the authors can estimate the system parameter,based on which the recognition criteria is given.In order to illustrate the efficiency of the proposed recognition method,extensive simulations are given finally assuming that the true target is a cone frustum and the RCS of the false target is normally distributed.The results show that the set-valued identification method has a higher recognition rate than the traditional fuzzy classification method and evidential reasoning method.
基金supported in part by the National Key Research and Development Program of China(Grant No.2016YFB0800401)in part by the National Natural Science Foundation of China(Grants Nos.61621003,61532020&11472290)。
文摘Global navigation satellite system(GNSS)carrier phase observations are two orders of higher accuracy than pseudo-range observations,and they are less affected by multipath besides.As a result,the time transfer accuracy can reach 0.1 ns,and the frequency transfer stability can reach 1×10^-15 with carrier phase(CP)method,therefore CP method is considered the most accurate and promising time transfer technology.The focus of this paper is to present a comprehensive summary of CP method,with specific attention directed toward day-boundary clock jump,ambiguity resolution(AR),multi-system time transfer and real-time time transfer.Day-boundary clock jump is essentially caused by pseudo-range noise.Several approaches were proposed to solve the problem,such as continuously processing strategy,sliding batch and bidirectional filtering methods which were compared in this study.Additionally,researches on AR in CP method were introduced.Many scholars attempted to fix the single-difference ambiguities to improve the time transfer result,however,owing to the uncalibrated phase delay(UPD)was not considered,the current studies on AR in CP method were still immature.Moreover,because four GNSS systems could be used for time-transfer currently,which was helpful to increase the accuracy and reliability,the researches on multi-system time transfer were reviewed.What’s more,real-time time transfer attracted more attention nowadays,the preliminary research results were presented.
