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| 1 | UIF-based cooperative tracking method for multi-agent systems with sensor faults显示文摘For maneuvering target tracking with sensor faults, consensus-based distributed state estimation problems are studied herein. The communication status of the nonlinear system composed of multiple agents is described using the graph theory. Considering the impacts caused by sensor failures on measurement equations, a weighted average consensus-based unscented information filter(UIF) algorithm is proposed to improve tracking accuracy. Moreover, the estimation error for the investigated nonlinear system has been analyzed based on the stochastic boundedness theory to evaluate the proposed algorithm's performance and feasibility. Finally, simulation results are presented to assert the validity of the method. | Yingrong YU Siting PENG Xiwang DONG Qingdong LI Zhang REN | 2019 | Science China(Information Sciences)2019，62，1： | 3 |
| 2 | Composite following control for wheeled inverted pendulum vehicles based on human-robot interaction显示文摘Dear editor,Over the past decade, wheeled mobile robots have been widely used in many fields, and for the human-following, they are required to respect the social zones when they follow humans for the purpose of company or carrying loads (1–4)To this end, an impedance control is proposed for a human-following robot Pioneer 3AT。 | Ming YUE Yigao NING Shuzhou YU Yongshun ZHANG | 2019 | Science China(Information Sciences)2019，62，5： | 2 |
| 3 | A population randomization-based multi-objective genetic algorithm for gesture adaptation in human-robot interaction显示文摘In recent years,vision-based gesture adaptation has attracted great attention from many experts in the field of human-robot interaction,and many methods have been proposed and successfully applied,such as particle swarm optimization and genetic algorithm.However,the reduction of the error and energy consumption of a robot while paying attention to more subtle attitude changes is very important and challenging.In view of these problems,we propose a population randomization-based multi-objective genetic algorithm.The gesture signal is processed with a slight change by imitating the biological evolution mechanisms.In the proposed algorithm,a random out-of-order matrix is added in the process of population evolution synthesis to prevent the premature grouping convergence of the new population.The weights of the objective function and the elite retention strategy are adopted,and the most adaptable individuals in each generation are inherited directly in the next generation without any recombination or mutation.To verify the effectiveness of the algorithm,preliminary application experiments are performed on the gesture adaptation of a robotic arm.The results are compared with the original signal,and the comparison shows that by using the proposed method,the energy consumption is reduced,and the end error is decreased to less than 3 mm while ensuring the tracking effect of the robotic arm.These obtained results meet the communication requirements for human-robot interactions such as handshakes.Moreover,the proposed method has better performance,uses less energy,and has a smaller tracking error than the particle swarm optimization,the single-objective genetic algorithm,and the traditional multi-objective genetic algorithm.A preliminary application experiment indicates that the robotic arm can adapt to human gestures in real time. | Luefeng CHEN Wanjuan SU Min LI Min WU Witold PEDRYCZ Kaoru HIROTA | 2021 | Science China(Information Sciences)2021，64，1： | 2 |
| 4 | A robust integrated model predictive iterative learning control strategy for batch processes显示文摘Dear editor,The modern process industry is evolving from the production of basic materials in large quantities to the production of many varieties of high-quality professional products in small batches.Batch process refers to the conversion of limited quantities of raw materials into specific product outputs in finite time and obtaining more products through repeated processes.Owing to the flexibility and lower equipment investment,batch processes are widely used in the process industry. | Liuming ZHOU Li JIA Yu-Long WANG | 2019 | Science China(Information Sciences)2019，62，11： | 2 |
| 5 | Cooperative transportation control of multiple mobile manipulators through distributed optimization显示文摘This paper investigates the problem of distributed control of multiple redundant mobile manipulators to collectively transport an object tracking a desired trajectory with energy and manipulability optimized. To solve this optimization problem, formation control tasks are introduced as equality constraints with the variables being the velocities. In this paper, we propose a distributed proximal gradient algorithm searching for the optimal solution, with which the stability of the closed-loop system is proved. Simulations demonstrate the effectiveness of the proposed distributed optimization scheme and proximal algorithm. | Jie CHEN Shixiong KAI | 2018 | Science China(Information Sciences)2018，61，12： | 2 |
| 6 | 陆用运动体多系统协同中的智能优化与控制显示文摘在信息化和网络化背景下,多系统协同正成为现代战争中陆用运动体的主要作战模式.针对陆用运动体多系统协同中的智能优化与控制问题,本文从多系统协同指挥控制中的优化与决策、多维高速运动体的协同制导与编队控制、陆用运动体群集运动的智能与安全控制和非线性随动系统的建模与控制四个方面,对当前主要研究成果和国内外最新进展做了简要综述.涵盖了陆用运动体协同过程中涉及的指挥决策、多平台火力控制和群集智能控制与安全控制.最后在总结国内外研究成果的基础上,指出了需要进一步研究的问题和未来的研究方向. | 方浩 王雪源 陈杰 | 2018 | 控制理论与应用2018，35，7： | 1 |
| 7 | Event-triggered receding horizon control via actor-critic design显示文摘In this paper, we propose a novel event-triggered near-optimal control for nonlinear continuoustime systems. The receding horizon principle is utilized to improve the system robustness and obtain better dynamic control performance. In the proposed structure, we first decompose the infinite horizon optimal control into a series of finite horizon optimal problems. Then a learning strategy is adopted, in which an actor network is employed to approximate the cost function and an critic network is used to learn the optimal control law in each finite horizon. Furthermore, in order to reduce the computational cost and transmission cost, an event-triggered strategy is applied. We design an adaptive trigger condition, so that the signal transmissions and controller updates are conducted in an aperiodic way. Detailed stability analysis shows that the nonlinear system with the developed event-triggered optimal control policy is asymptotically stable.Simulation results on a single-link robot arm with different noise types have demonstrated the effectiveness of the proposed method. | Lu DONG Xin YUAN Changyin SUN | 2020 | Science China(Information Sciences)2020，63，5： | 1 |
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