Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6565188
Liang Li, Yongcheng Li, Qing Ling
The Dantzig selector is a linear regression model which aims to sparsely represent a response vector by regressors. This paper introduces two fast algorithms which solve the Dantzig selector. One algorithm is linearized alternating direction method (LADMM) which utilizes the separable structure to solve the Dantzig selector; another is a variant of Dantzig selector with sequential optimization (DASSO) which utilizes the sparsity prior to solve the Dantzig selector. We numerically compare the two algorithms on standard data sets, and show that taking advantage of properties of the problem itself enables designing fast algorithms.
{"title":"Fast algorithms to solve the Dantzig selector","authors":"Liang Li, Yongcheng Li, Qing Ling","doi":"10.1109/ICCA.2013.6565188","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565188","url":null,"abstract":"The Dantzig selector is a linear regression model which aims to sparsely represent a response vector by regressors. This paper introduces two fast algorithms which solve the Dantzig selector. One algorithm is linearized alternating direction method (LADMM) which utilizes the separable structure to solve the Dantzig selector; another is a variant of Dantzig selector with sequential optimization (DASSO) which utilizes the sparsity prior to solve the Dantzig selector. We numerically compare the two algorithms on standard data sets, and show that taking advantage of properties of the problem itself enables designing fast algorithms.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128902891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6565073
Feng Zhou, Lu Liu, G. Feng
This paper is concerned with the stochastic stability of a class of discrete-time networked control systems (NCS) with uncertain network-induced time delays and missing measurements by using a fuzzy decentralized control approach. We model nonlinear systems in Takagi-Sugetno (T-S) form and then develop fuzzy decentralized state feedback controllers with missing measurements. A sufficient condition on stochastic stability in the mean-square sense for the NCS is obtained by using Lyapunov function method. The constructive design of the controllers is expressed as the linear matrix inequality (LMI). Finally, a numerical simulation is provided to illustrate the result of this paper.
{"title":"Fuzzy decentralized control for a class of networked control systems with time delays and missing measurements","authors":"Feng Zhou, Lu Liu, G. Feng","doi":"10.1109/ICCA.2013.6565073","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565073","url":null,"abstract":"This paper is concerned with the stochastic stability of a class of discrete-time networked control systems (NCS) with uncertain network-induced time delays and missing measurements by using a fuzzy decentralized control approach. We model nonlinear systems in Takagi-Sugetno (T-S) form and then develop fuzzy decentralized state feedback controllers with missing measurements. A sufficient condition on stochastic stability in the mean-square sense for the NCS is obtained by using Lyapunov function method. The constructive design of the controllers is expressed as the linear matrix inequality (LMI). Finally, a numerical simulation is provided to illustrate the result of this paper.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"375 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131075676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6565128
Jianjun Gao, Y. Xiong
The conditional value-at-risk(CVaR) is defined as the expected value of the tail distribution exceeding Value-at-Risk(VaR). As a kind of risk measure, CVaR recently receives much attention from both academic field and financial industry. However, due to the tractability, most of the studies on mean-CVaR portfolio optimization are restricted to the static portfolio analysis, where only buy-and-hold portfolio policy is computed numerically. In this paper, we study the dynamic portfolio policy of the mean-CVaR portfolio model, in which the investor is allowed to adjust the investment policy dynamically to minimize the CVaR of the portfolio as well as keep certain level of the expected return. On recognizing the ill-posed nature of such a problem in continuous-time model, we modify the model by imposing the limited funding level as the upper bound of the wealth. By using the martingale approach, we develop the explicit portfolio policy and mean-CVaR efficient frontier for such a problem.
{"title":"Dynamic mean-CVaR portfolio optimization in continuous-time","authors":"Jianjun Gao, Y. Xiong","doi":"10.1109/ICCA.2013.6565128","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565128","url":null,"abstract":"The conditional value-at-risk(CVaR) is defined as the expected value of the tail distribution exceeding Value-at-Risk(VaR). As a kind of risk measure, CVaR recently receives much attention from both academic field and financial industry. However, due to the tractability, most of the studies on mean-CVaR portfolio optimization are restricted to the static portfolio analysis, where only buy-and-hold portfolio policy is computed numerically. In this paper, we study the dynamic portfolio policy of the mean-CVaR portfolio model, in which the investor is allowed to adjust the investment policy dynamically to minimize the CVaR of the portfolio as well as keep certain level of the expected return. On recognizing the ill-posed nature of such a problem in continuous-time model, we modify the model by imposing the limited funding level as the upper bound of the wealth. By using the martingale approach, we develop the explicit portfolio policy and mean-CVaR efficient frontier for such a problem.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131082549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564954
M. J. Tippett, C. Zheng, J. Bao
An approach to distributed plant-wide analysis and control of networked systems with varying time delay in discrete time is presented, with a particular focus on chemical process systems. Plant-wide stability and performance conditions are ensured by putting constraints on the dissipativity properties of the plant-wide system, which is a linear function of the dissipativity properties of individual subsystems. To facilitate this, dynamic supply rates in the form of quadratic difference forms are used, which provide less conservative stability conditions than traditional forms of dissipativity and allow for the effect of time delays to be captured. The control design procedure includes a global planning stage where the required dissipativity of each controller is determined, followed by the independent synthesis of each controller which may take the form of either a linear controller or model predictive controller. This framework may be extended to consider additional forms of uncertainty.
{"title":"Dissipativity based analysis and control of process networks with varying time delay","authors":"M. J. Tippett, C. Zheng, J. Bao","doi":"10.1109/ICCA.2013.6564954","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564954","url":null,"abstract":"An approach to distributed plant-wide analysis and control of networked systems with varying time delay in discrete time is presented, with a particular focus on chemical process systems. Plant-wide stability and performance conditions are ensured by putting constraints on the dissipativity properties of the plant-wide system, which is a linear function of the dissipativity properties of individual subsystems. To facilitate this, dynamic supply rates in the form of quadratic difference forms are used, which provide less conservative stability conditions than traditional forms of dissipativity and allow for the effect of time delays to be captured. The control design procedure includes a global planning stage where the required dissipativity of each controller is determined, followed by the independent synthesis of each controller which may take the form of either a linear controller or model predictive controller. This framework may be extended to consider additional forms of uncertainty.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129855317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564938
Zhenhao Zhu, Zhang Tao, Baoji Wan
Based on the analysis of the pixel value difference (PVD) histograms of the cover and stego-images, a special steganalyzer is proposed for the edge adaptive image steganography based on least-significant-bit matching revisited (EA-LSBMR). The EA-LSBMR steganography utilizes the sharper edge regions within the cover images to embed the secret message firstly, which achieves a higher security. However, there exists unavoidable weakness: abnormal increasing at some position of the PVD histogram. The special steganslytic method is designed using the weakness of the EA-LSBMR steganography. Extensive experimental results show that the proposed method can defeat the EA-LSBMR steganography effectively.
{"title":"A special detector for the edge adaptive image steganography based on LSB matching revisited","authors":"Zhenhao Zhu, Zhang Tao, Baoji Wan","doi":"10.1109/ICCA.2013.6564938","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564938","url":null,"abstract":"Based on the analysis of the pixel value difference (PVD) histograms of the cover and stego-images, a special steganalyzer is proposed for the edge adaptive image steganography based on least-significant-bit matching revisited (EA-LSBMR). The EA-LSBMR steganography utilizes the sharper edge regions within the cover images to embed the secret message firstly, which achieves a higher security. However, there exists unavoidable weakness: abnormal increasing at some position of the PVD histogram. The special steganslytic method is designed using the weakness of the EA-LSBMR steganography. Extensive experimental results show that the proposed method can defeat the EA-LSBMR steganography effectively.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128039394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564995
Feng Xiaoliang, Wen Chenglin, Xu Lizhong
Multi-sensor fusion for OOSM system is still an open question in the field of wireless sensor network. In this paper, a new distributed sequential fusion algorithm for multi-sensor system with one-step-lag OOSMs is proposed in the sense of minimum trace of error covariance matrix. The main idea of this real time sequential fusion algorithm is that: firstly, an equivalent measurement “sampled” at the fusion time is obtained, once a measurement comes to the fusion center; then, a local estimation of the current state is obtained based on the equivalent measurement; furthermore, first round fusion is carried out for the second local estimate and the first local estimate to obtain the first local fusion when the second measurement comes; another round of fusion process is carried out for the third local estimate and the first local fusion estimation. Repeating this process until all the measurements are fused, sequentially. The final simulation illustrates its efficiency and validity of the proposed method.
{"title":"Multi-sensor multi-OOSM distributed sequential fusion filtering","authors":"Feng Xiaoliang, Wen Chenglin, Xu Lizhong","doi":"10.1109/ICCA.2013.6564995","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564995","url":null,"abstract":"Multi-sensor fusion for OOSM system is still an open question in the field of wireless sensor network. In this paper, a new distributed sequential fusion algorithm for multi-sensor system with one-step-lag OOSMs is proposed in the sense of minimum trace of error covariance matrix. The main idea of this real time sequential fusion algorithm is that: firstly, an equivalent measurement “sampled” at the fusion time is obtained, once a measurement comes to the fusion center; then, a local estimation of the current state is obtained based on the equivalent measurement; furthermore, first round fusion is carried out for the second local estimate and the first local estimate to obtain the first local fusion when the second measurement comes; another round of fusion process is carried out for the third local estimate and the first local fusion estimation. Repeating this process until all the measurements are fused, sequentially. The final simulation illustrates its efficiency and validity of the proposed method.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128171948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564899
S. Pan, Jin Dai
The problem of path-tracking of wheeled mobile robot (WMR) has been well studied and many algorithms have been presented to solve the problem. However, most of the existed methods are based on Lyapunov function while few works have been done on error analysis of the control law caused by imperfect conditions, especially by inaccurate controlling. In this paper, a discrete-time system model is established to obtain both theoretical and simulative results of a ground robot's position error caused by inaccurate control actions. We provide a general framework to analyze the problem, which enables other position error calculations adopting similar method. As indicated by the experimental results on Pioneer-3DX robots, the theoretical work is valid.
{"title":"A new way of understanding position error in wheeled mobile robots control problem","authors":"S. Pan, Jin Dai","doi":"10.1109/ICCA.2013.6564899","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564899","url":null,"abstract":"The problem of path-tracking of wheeled mobile robot (WMR) has been well studied and many algorithms have been presented to solve the problem. However, most of the existed methods are based on Lyapunov function while few works have been done on error analysis of the control law caused by imperfect conditions, especially by inaccurate controlling. In this paper, a discrete-time system model is established to obtain both theoretical and simulative results of a ground robot's position error caused by inaccurate control actions. We provide a general framework to analyze the problem, which enables other position error calculations adopting similar method. As indicated by the experimental results on Pioneer-3DX robots, the theoretical work is valid.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128404835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564981
Huabiao Qin, Cong Yu, Lianxiang Guo, Yanxi Zhou
Developing multi-hop communication in vehicular ad hoc networks (VANET) is a challenging problem. The rapidly changing topology and frequent network disconnections of vehicles cause failure or inefficiency in traditional ad hoc routing protocols. This paper propose Adaptive State Aware Routing (ASAR) Protocol, which solve these problems by adaptively selecting an optimal route with an estimated transmission delay model that takes into account real-time vehicle density and average speed. Simulation results show that the proposed ASAR protocol effectively increases the data delivery ratio, and significantly reduces the end to end delay and routing overhead, which is better than other existing VANET routing protocols.
{"title":"Adaptive state aware routing protocol for vehicle ad hoc network in urban scenarios","authors":"Huabiao Qin, Cong Yu, Lianxiang Guo, Yanxi Zhou","doi":"10.1109/ICCA.2013.6564981","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564981","url":null,"abstract":"Developing multi-hop communication in vehicular ad hoc networks (VANET) is a challenging problem. The rapidly changing topology and frequent network disconnections of vehicles cause failure or inefficiency in traditional ad hoc routing protocols. This paper propose Adaptive State Aware Routing (ASAR) Protocol, which solve these problems by adaptively selecting an optimal route with an estimated transmission delay model that takes into account real-time vehicle density and average speed. Simulation results show that the proposed ASAR protocol effectively increases the data delivery ratio, and significantly reduces the end to end delay and routing overhead, which is better than other existing VANET routing protocols.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122148816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564867
Xiaohui Li, Zhenping Sun, Qing-yang Chen, Daxue Liu
A path tracking algorithm with adaptive preview distance based on roadside sampling is proposed in order to solve the path tracking control problems of autonomous driving in the complex off-road environment. The proposed lateral and longitudinal control laws involve both feedback control and feedforward control. We have reformulated the lateral control problem as an optimal control problem, and the designed trajectory is planned by taking the kinematic constrains of the vehicle and the preview road information pertaining to road curvature and road width into account. The desired lateral control command is directly decided by the curvature of the planned circular curves and the longitudinal velocity is planned by utilizing the preview information and the planned circular curves. In the meantime, the feedback control laws are designed by adopting inverse model of the vehicle dynamics. We implement our control method on the 14-DOF vehicle simulation model. And the simulation results are presented and discussed.
{"title":"An adaptive preview path tracker for off-road autonomous driving","authors":"Xiaohui Li, Zhenping Sun, Qing-yang Chen, Daxue Liu","doi":"10.1109/ICCA.2013.6564867","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564867","url":null,"abstract":"A path tracking algorithm with adaptive preview distance based on roadside sampling is proposed in order to solve the path tracking control problems of autonomous driving in the complex off-road environment. The proposed lateral and longitudinal control laws involve both feedback control and feedforward control. We have reformulated the lateral control problem as an optimal control problem, and the designed trajectory is planned by taking the kinematic constrains of the vehicle and the preview road information pertaining to road curvature and road width into account. The desired lateral control command is directly decided by the curvature of the planned circular curves and the longitudinal velocity is planned by utilizing the preview information and the planned circular curves. In the meantime, the feedback control laws are designed by adopting inverse model of the vehicle dynamics. We implement our control method on the 14-DOF vehicle simulation model. And the simulation results are presented and discussed.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126095857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6564861
Xiang Gong, Yaodong Pan, Jianning Li, H. Su
This paper is to develop a novel consensus algorithm or protocol for multi-agent systems in the event of communication link failure over the network. System dynamics are defined as a double-integrator system with the topology of MAS modeled by the graph theory. Bernoulli distribution is applied to represent the data dropout during operation. The sufficient conditions for the stabilization controller design is developed by Lyapunov-based methodologies and Linear matrix inequality (LMIs) techniques. The feasibility of the given LMIs is analyzed to ensure the stabilization controller design, which ensures the MAS to achieve the consensus. Leader-following numerical simulations with a group of agents are successfully conducted to demonstrate the effectiveness of the novel consensus algorithm in this paper. The results are studied to show that the consensus achievement is incorporating with the data loss probability up to 95%, however the higher data loss rate may cause longer time for agents to achieve consensus.
{"title":"Leader following consensus for multi-agent systems with stochastic packet dropout","authors":"Xiang Gong, Yaodong Pan, Jianning Li, H. Su","doi":"10.1109/ICCA.2013.6564861","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564861","url":null,"abstract":"This paper is to develop a novel consensus algorithm or protocol for multi-agent systems in the event of communication link failure over the network. System dynamics are defined as a double-integrator system with the topology of MAS modeled by the graph theory. Bernoulli distribution is applied to represent the data dropout during operation. The sufficient conditions for the stabilization controller design is developed by Lyapunov-based methodologies and Linear matrix inequality (LMIs) techniques. The feasibility of the given LMIs is analyzed to ensure the stabilization controller design, which ensures the MAS to achieve the consensus. Leader-following numerical simulations with a group of agents are successfully conducted to demonstrate the effectiveness of the novel consensus algorithm in this paper. The results are studied to show that the consensus achievement is incorporating with the data loss probability up to 95%, however the higher data loss rate may cause longer time for agents to achieve consensus.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127586984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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