A compound neural network was constructed during the process of identification and multi-step prediction. Under the PID-type long-range predictive cost function, the control signal was calculated based on gradient alg...A compound neural network was constructed during the process of identification and multi-step prediction. Under the PID-type long-range predictive cost function, the control signal was calculated based on gradient algorithm. The nonlinear controller’s structure was similar to the conventional PID controller. The parameters of this controller were tuned by using a local recurrent neural network on-line. The controller has a better effect than the conventional PID controller. Simulation study shows the effectiveness and good performance.展开更多
In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the le...In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.展开更多
Pinning synchronization of a networked multi-agent system with a directed communication topology is investigated from a spectral analysis approach. Some new types of synchronized regions for networked systems with dif...Pinning synchronization of a networked multi-agent system with a directed communication topology is investigated from a spectral analysis approach. Some new types of synchronized regions for networked systems with different nonlinear agent dynamics and inner coupling structures are discovered. The eigenvalue distributions of the coupling and control matrices for different types of directed networks are obtained. The effects of the network topology, pinning density and pinning strength on the network synchronizability are examined through extensive numerical simulations. It is shown that the synchronizability of the pinned network can be effectively improved by increasing pinning density and pinning strength for some types of synchronized regions, whereas too large the pinning density and pinning strength will lead to desynchronization for other types. It is found that directed random networks are not always easier to synchronize than directed small-world networks, and a denser eigenvalue distribution may not always imply better synchronizability.展开更多
The advances in MIMO systems and networking technologies introduced a revolution in recent times, especially in wireless and wired multi-cast (multi-point-to-multi-point) transmission field. In this work, the distribu...The advances in MIMO systems and networking technologies introduced a revolution in recent times, especially in wireless and wired multi-cast (multi-point-to-multi-point) transmission field. In this work, the distributed versions of self-tuning proportional integral plus derivative (SPID) controller and self-tuning proportional plus integral (SPI) controller are described. An explicit rate feedback mechanism is used to design a controller for regulating the source rates in wireless and wired multi-cast networks. The control parameters of the SPID and SPI controllers are determined to ensure the stability of the control loop. Simulations are carried out with wireless and wired multi-cast models, to evaluate the performance of the SPID and SPI controllers and the ensuing results show that SPID scheme yields better performance than SPI scheme;however, it requires more computing time and central processing unit (CPU) resources.展开更多
This paper presents a framework for networked control system simulation （NCSS） to enable the analysis of the influence of network transmissions on the performance of control systems. The simulation is composed of th...This paper presents a framework for networked control system simulation （NCSS） to enable the analysis of the influence of network transmissions on the performance of control systems. The simulation is composed of the network environment simulated using the network simulator, the control system component simulation using Matlab or C/C＋＋, and an external application programming interface. To implement the plant （sensor）, controller, and actuator nodes, an agent-based design is introduced, and a multi-agent networked control system is constructed. Therefore, the network simulator 2-26 （NS-2.26） release is extended by modifying the user data protocol （UDP） common header in order to support application data transmission between network nodes. Then, modifying the network topology parameters, networked control system simulations are analyzed for different parameter changes, such as the network bandwidth, the number of plant nodes, and the sampling period. An analysis of the influence of these parameters on network-induced delays and packet drop is made. The results show that the simulation system is an effective tool for the study of networked control systems.展开更多
基金This work was supported by the National Natural Science Foundation of China (No. 60174021, No. 60374037)the Science and Technology Greativeness Foundation of Nankai University
文摘A compound neural network was constructed during the process of identification and multi-step prediction. Under the PID-type long-range predictive cost function, the control signal was calculated based on gradient algorithm. The nonlinear controller’s structure was similar to the conventional PID controller. The parameters of this controller were tuned by using a local recurrent neural network on-line. The controller has a better effect than the conventional PID controller. Simulation study shows the effectiveness and good performance.
基金supported by the National Natural Science Foundation of China(61203354)
文摘In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.
基金supported by the National Natural Science Foundation of China(Nos.61104151,61104018,61473240)the Science Foundation of Fujian Province(No.2012J01289)the Hong Kong Research Grants Council under the GRF Grant CityU 1120/14
文摘Pinning synchronization of a networked multi-agent system with a directed communication topology is investigated from a spectral analysis approach. Some new types of synchronized regions for networked systems with different nonlinear agent dynamics and inner coupling structures are discovered. The eigenvalue distributions of the coupling and control matrices for different types of directed networks are obtained. The effects of the network topology, pinning density and pinning strength on the network synchronizability are examined through extensive numerical simulations. It is shown that the synchronizability of the pinned network can be effectively improved by increasing pinning density and pinning strength for some types of synchronized regions, whereas too large the pinning density and pinning strength will lead to desynchronization for other types. It is found that directed random networks are not always easier to synchronize than directed small-world networks, and a denser eigenvalue distribution may not always imply better synchronizability.
文摘The advances in MIMO systems and networking technologies introduced a revolution in recent times, especially in wireless and wired multi-cast (multi-point-to-multi-point) transmission field. In this work, the distributed versions of self-tuning proportional integral plus derivative (SPID) controller and self-tuning proportional plus integral (SPI) controller are described. An explicit rate feedback mechanism is used to design a controller for regulating the source rates in wireless and wired multi-cast networks. The control parameters of the SPID and SPI controllers are determined to ensure the stability of the control loop. Simulations are carried out with wireless and wired multi-cast models, to evaluate the performance of the SPID and SPI controllers and the ensuing results show that SPID scheme yields better performance than SPI scheme;however, it requires more computing time and central processing unit (CPU) resources.
基金supported by the Natural Sciences and Engineering Research Council of Canada(N00892)in part by National Natural Science Foundation of China(51405436,51375452,61573174)
文摘This paper presents a framework for networked control system simulation （NCSS） to enable the analysis of the influence of network transmissions on the performance of control systems. The simulation is composed of the network environment simulated using the network simulator, the control system component simulation using Matlab or C/C＋＋, and an external application programming interface. To implement the plant （sensor）, controller, and actuator nodes, an agent-based design is introduced, and a multi-agent networked control system is constructed. Therefore, the network simulator 2-26 （NS-2.26） release is extended by modifying the user data protocol （UDP） common header in order to support application data transmission between network nodes. Then, modifying the network topology parameters, networked control system simulations are analyzed for different parameter changes, such as the network bandwidth, the number of plant nodes, and the sampling period. An analysis of the influence of these parameters on network-induced delays and packet drop is made. The results show that the simulation system is an effective tool for the study of networked control systems.
