Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7831797
Yanlei Ye, Chin-Yin Chen, Peng Li, Guilin Yang, Chang'an Zhu, Chi Zhang
In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a physical interpretation is addressed and analyzed for the purpose controller via passivity theory. It is proved by a Lyapunov function that the control law is globally asymptotically stabilizes at any reference configuration. Moreover, the control performance of algorithm is assessed by a simulation; the simulation study reveals a better performance regarding as the torque ripple in contrast to a proportional-derivative (PD) control.
{"title":"Passivity-based elastic joint robot control with on-line gravity compensation","authors":"Yanlei Ye, Chin-Yin Chen, Peng Li, Guilin Yang, Chang'an Zhu, Chi Zhang","doi":"10.1109/ICINFA.2016.7831797","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831797","url":null,"abstract":"In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a physical interpretation is addressed and analyzed for the purpose controller via passivity theory. It is proved by a Lyapunov function that the control law is globally asymptotically stabilizes at any reference configuration. Moreover, the control performance of algorithm is assessed by a simulation; the simulation study reveals a better performance regarding as the torque ripple in contrast to a proportional-derivative (PD) control.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127524057","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831819
Jianhua Qiao, Xueying Zhang
The design of measurement matrices is one of the key contents of the compressed sensing (CS) theory. This paper constructs a new dual-structured measurement matrix-unit array + random matrix, by combining the advantages of the random measurement matrices with high recovery probability and the structured measurement matrices of low storage. The experiments show that the reconstruction errors can be gotten lower through using the measurement matrix designed than those of the simple application of the random measurement matrix. Then a method of sub-frame overlapping is proposed for reconstructing the entire signal, which can remove large errors caused by unit array in the measurement matrix, and ensure the stability of the whole signal reconstruction. Simulation results demonstrate that the signal to noise ratio (SNR) is increased significantly and the reconstruction performance of signal is improved remarkably.
{"title":"The design of a dual-structured measurement matrix in compressed sensing","authors":"Jianhua Qiao, Xueying Zhang","doi":"10.1109/ICINFA.2016.7831819","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831819","url":null,"abstract":"The design of measurement matrices is one of the key contents of the compressed sensing (CS) theory. This paper constructs a new dual-structured measurement matrix-unit array + random matrix, by combining the advantages of the random measurement matrices with high recovery probability and the structured measurement matrices of low storage. The experiments show that the reconstruction errors can be gotten lower through using the measurement matrix designed than those of the simple application of the random measurement matrix. Then a method of sub-frame overlapping is proposed for reconstructing the entire signal, which can remove large errors caused by unit array in the measurement matrix, and ensure the stability of the whole signal reconstruction. Simulation results demonstrate that the signal to noise ratio (SNR) is increased significantly and the reconstruction performance of signal is improved remarkably.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127459314","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831825
Feng Yang, Keli Liu, Hao Chen, Wanying Zhang
The geographic information (air route, sea route, air corridor, prohibited area, airport and etc.) and the spatial relative relation of the aircraft formation represent the equality and inequality constraints of the targets. The establishment of association and fusion between constraint information and passive multi-sensor is an important approach to improve the performance of target detection and tracking. The algorithm implementation of the passive multi-sensor box particle Probability Hypothesis Density (PHD) based on the boundary constraint is proposed. This algorithm utilizes the priori known constraints to narrow the birth targets searching and sampling region, which in favor of reducing invalid detections and calculations. The utilization of constraints information projection can further improve the tracking performance. The simulation results show that the proposed algorithm remarkably reduce the calculation with comparative tracking performance.
{"title":"Passive multi-sensor box particle PHD based on boundary constraint","authors":"Feng Yang, Keli Liu, Hao Chen, Wanying Zhang","doi":"10.1109/ICINFA.2016.7831825","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831825","url":null,"abstract":"The geographic information (air route, sea route, air corridor, prohibited area, airport and etc.) and the spatial relative relation of the aircraft formation represent the equality and inequality constraints of the targets. The establishment of association and fusion between constraint information and passive multi-sensor is an important approach to improve the performance of target detection and tracking. The algorithm implementation of the passive multi-sensor box particle Probability Hypothesis Density (PHD) based on the boundary constraint is proposed. This algorithm utilizes the priori known constraints to narrow the birth targets searching and sampling region, which in favor of reducing invalid detections and calculations. The utilization of constraints information projection can further improve the tracking performance. The simulation results show that the proposed algorithm remarkably reduce the calculation with comparative tracking performance.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116891515","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832022
Jizhuang Zhao, Longhua Ma, Ming Xu, Feng Liu, Shaohui Huang
Considering the filter divergence problem, a STUPF (Strong Tracting Unscented Particle Filter) algorithm which combines STF (Strong Tracting Filter), UKF (Unscented Kalman Filter) and UPF (Unscented Particle Filter)[1] is proposed. The STUPF algorithm improves the tracking performance of UPF filter by introducing the fading factor K to adjust the filter gain to reduce the weight of the old data, improve the weight of the new data. The traditional re-sampling algorithm can solve the problem of degradation, it is easy to cause the particle depletion; Despite less particle depletion, the extended particle filter algorithm EKF is very weak to track the mutation state; Strong tracking particle filter algorithm STF can improve the tracking ability of the mutation state, but it can't improve the particle degradation. In this paper, the STUPF algorithm is a good solution to solve these problems, and the simulation results also verify the effectiveness of the STUPF algorithm.
{"title":"Research of STUPF filter algorithm on GPS/SINS","authors":"Jizhuang Zhao, Longhua Ma, Ming Xu, Feng Liu, Shaohui Huang","doi":"10.1109/ICINFA.2016.7832022","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832022","url":null,"abstract":"Considering the filter divergence problem, a STUPF (Strong Tracting Unscented Particle Filter) algorithm which combines STF (Strong Tracting Filter), UKF (Unscented Kalman Filter) and UPF (Unscented Particle Filter)[1] is proposed. The STUPF algorithm improves the tracking performance of UPF filter by introducing the fading factor K to adjust the filter gain to reduce the weight of the old data, improve the weight of the new data. The traditional re-sampling algorithm can solve the problem of degradation, it is easy to cause the particle depletion; Despite less particle depletion, the extended particle filter algorithm EKF is very weak to track the mutation state; Strong tracking particle filter algorithm STF can improve the tracking ability of the mutation state, but it can't improve the particle degradation. In this paper, the STUPF algorithm is a good solution to solve these problems, and the simulation results also verify the effectiveness of the STUPF algorithm.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131021593","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831927
Xinxin Li, Yihao Du, Chunhua Yang, Wenjing Qi, P. Xie
Studies have shown that the nervous system through the modular structure simplifies control the movement, however, whether such a modular structure complexity associated with muscle coupling has not been proven well. The purpose of this study was to examine the effect of synergistic muscles and intermuscular coherence predicts muscle coordination complexity. Electormyographic (EMG) activity was recorded from eight upper limb muscles of eight healthy subjects. They performed two different activities with the dominant arm, especially were not known what is the next action, they focus on indicative images. We first determine the number of motion modules was 5 through nonnegative matrix factorization with the account for variability of muscle activation. Next, we calculate the coupling relationship between muscles through approach of coherence, which are the pairs of EMG signals, both synergistic and non-synergistic muscles. We found a strong coupling muscles exist in synergistic muscles; most were observed both beta band and gamma band. Identification coupling muscles of the synergistic may lead to new insight into explored the neural control mechanism.
{"title":"Merging of synergistic muscles and intermuscular coherence predict muscle coordination complexity","authors":"Xinxin Li, Yihao Du, Chunhua Yang, Wenjing Qi, P. Xie","doi":"10.1109/ICINFA.2016.7831927","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831927","url":null,"abstract":"Studies have shown that the nervous system through the modular structure simplifies control the movement, however, whether such a modular structure complexity associated with muscle coupling has not been proven well. The purpose of this study was to examine the effect of synergistic muscles and intermuscular coherence predicts muscle coordination complexity. Electormyographic (EMG) activity was recorded from eight upper limb muscles of eight healthy subjects. They performed two different activities with the dominant arm, especially were not known what is the next action, they focus on indicative images. We first determine the number of motion modules was 5 through nonnegative matrix factorization with the account for variability of muscle activation. Next, we calculate the coupling relationship between muscles through approach of coherence, which are the pairs of EMG signals, both synergistic and non-synergistic muscles. We found a strong coupling muscles exist in synergistic muscles; most were observed both beta band and gamma band. Identification coupling muscles of the synergistic may lead to new insight into explored the neural control mechanism.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131207601","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832098
Xinyi Yang, Haobin Shi, Shike Yang, Zhiqiang Lin
A load scheduling algorithm for the virtual server cluster which is suitable for the storage system is proposed to solve the problem of uniform load distribution of the current virtual server cluster, according to the characteristics of the storage system. This method, which analyzes the selection schemes of each index's weight, is based on the real server's state collection feedbacks periodically to the load balancer to make decisions. The result of experiment shows that this algorithm can make the external response performance (time to last byte) of the cluster system reach a higher level, and make the internal load performance of system (balance of disk usage) reach a more balanced state.
{"title":"Load balancing scheduling algorithm for storage system based on state acquisition and dynamic feedback","authors":"Xinyi Yang, Haobin Shi, Shike Yang, Zhiqiang Lin","doi":"10.1109/ICINFA.2016.7832098","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832098","url":null,"abstract":"A load scheduling algorithm for the virtual server cluster which is suitable for the storage system is proposed to solve the problem of uniform load distribution of the current virtual server cluster, according to the characteristics of the storage system. This method, which analyzes the selection schemes of each index's weight, is based on the real server's state collection feedbacks periodically to the load balancer to make decisions. The result of experiment shows that this algorithm can make the external response performance (time to last byte) of the cluster system reach a higher level, and make the internal load performance of system (balance of disk usage) reach a more balanced state.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131857251","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832118
S. Jia, Dishi Zeng, Tao Xu, Hui Zhang, Xiuzhi Li
Object tracking is always in the core status with the develop of robotics. In this paper, we proposed a novel tracking framework based on Spatio-Temporal Context tracking (STC) and Template-Matching algorithm(TM). STC tracking method is a fast and simplified tracking method that strongly dependent on the context region (the surrounding background of the target). Therefore, it cannot correct the tracking error by itself and even lost the target during tracking. Under this circumstance, we make a closed-loop judgment whether the movement of the target between two neighboring image sequence larger than a constant or not. If the movement larger than the constant, the template matching is employed as sample detector to correct the error or re-track the target on line. The template-matching algorithm is an efficient and fast detection algorithm that find the maximum probability point in the image that similar to the template. In order to decrease the calculating time, the search region is not the whole image but the context region of STC tracking method. What's more, after tracking and detecting we update the scale parameter to adapt the change of the target's appearance. Finally, experimental result demonstrate that our tracking method have improve the robustness of tracking.
{"title":"Improved target tracking based on spatio-temporal learning","authors":"S. Jia, Dishi Zeng, Tao Xu, Hui Zhang, Xiuzhi Li","doi":"10.1109/ICINFA.2016.7832118","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832118","url":null,"abstract":"Object tracking is always in the core status with the develop of robotics. In this paper, we proposed a novel tracking framework based on Spatio-Temporal Context tracking (STC) and Template-Matching algorithm(TM). STC tracking method is a fast and simplified tracking method that strongly dependent on the context region (the surrounding background of the target). Therefore, it cannot correct the tracking error by itself and even lost the target during tracking. Under this circumstance, we make a closed-loop judgment whether the movement of the target between two neighboring image sequence larger than a constant or not. If the movement larger than the constant, the template matching is employed as sample detector to correct the error or re-track the target on line. The template-matching algorithm is an efficient and fast detection algorithm that find the maximum probability point in the image that similar to the template. In order to decrease the calculating time, the search region is not the whole image but the context region of STC tracking method. What's more, after tracking and detecting we update the scale parameter to adapt the change of the target's appearance. Finally, experimental result demonstrate that our tracking method have improve the robustness of tracking.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132211987","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832009
Sheng Huang, Guoyuan Liang, Kang Li, Can Wang, Xinyu Wu, Yachun Feng
Many indoor navigation robots use structured light vision measurement systems (SLVMS) for mapping, localization, and obstacle avoidances. In these systems, the extraction of light stripe skeleton directly affects the accuracy of the final measurements. One of the problems in SLVMS is that when the light is projected to some rough surface it will cause strong diffuse reflection. Thus the light stripe captured by the camera contains more or less fuzzy parts. The uncertainty of diffusion pattern and distribution seems to be a great challenge for conventional skeletionization extraction methods. In this paper we proposed a skeletonization algorithm based on fuzzy distance transform (FDT)for the tricky fuzzy light stripe, which, to some extent, overcomes the disadvantage of existing methods and leads to better skeleton representation. First we introduce the principal methods for skeletonization and the theory of FDT. Then, the image preprocessing method together with the extended FDT algorithm are elaborated. Finally, some example results are shown to demonstrate the effectiveness of our algorithm, followed by the comparison with three other skeletonization methods which are based on distance transform(DT) theory, Voronoi diagram and the principle of digital morphological erosion respectively.
{"title":"Skeletonization using fuzzy distance transform for diffuse reflection structured light","authors":"Sheng Huang, Guoyuan Liang, Kang Li, Can Wang, Xinyu Wu, Yachun Feng","doi":"10.1109/ICINFA.2016.7832009","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832009","url":null,"abstract":"Many indoor navigation robots use structured light vision measurement systems (SLVMS) for mapping, localization, and obstacle avoidances. In these systems, the extraction of light stripe skeleton directly affects the accuracy of the final measurements. One of the problems in SLVMS is that when the light is projected to some rough surface it will cause strong diffuse reflection. Thus the light stripe captured by the camera contains more or less fuzzy parts. The uncertainty of diffusion pattern and distribution seems to be a great challenge for conventional skeletionization extraction methods. In this paper we proposed a skeletonization algorithm based on fuzzy distance transform (FDT)for the tricky fuzzy light stripe, which, to some extent, overcomes the disadvantage of existing methods and leads to better skeleton representation. First we introduce the principal methods for skeletonization and the theory of FDT. Then, the image preprocessing method together with the extended FDT algorithm are elaborated. Finally, some example results are shown to demonstrate the effectiveness of our algorithm, followed by the comparison with three other skeletonization methods which are based on distance transform(DT) theory, Voronoi diagram and the principle of digital morphological erosion respectively.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134591842","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831962
Han Wang, Bingjing Yan, Xiaoxia Li, Xuejing Luo, Qiang Yang, W. Yan
The unmanned aerial vehicles (UAVs) have been considered an efficient platform for monitoring critical infrastructures spanning over a large geographical area. In this paper, a novel UAV optimal path planning approach based on the combination of A∗ search algorithm (AS) and ant colony optimization (ACO) algorithm for UAV patrolling is presented. The proposed path planning solution aims to identify the optimal patrolling path in a complex 3D topography given a set of patrolling positions. This study adopts the multiple normal distribution functions to produce the complex topography for the numerical simulation experiments. A set of simulations are carried out to validate and assess the performance of the proposed path planning algorithmic solution. The numerical result demonstrates that the calculated flight path can meet the requirement of UAV patrolling task with the minimized cost.
{"title":"On optimal path planning for UAV based patrolling in complex 3D topographies","authors":"Han Wang, Bingjing Yan, Xiaoxia Li, Xuejing Luo, Qiang Yang, W. Yan","doi":"10.1109/ICINFA.2016.7831962","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831962","url":null,"abstract":"The unmanned aerial vehicles (UAVs) have been considered an efficient platform for monitoring critical infrastructures spanning over a large geographical area. In this paper, a novel UAV optimal path planning approach based on the combination of A∗ search algorithm (AS) and ant colony optimization (ACO) algorithm for UAV patrolling is presented. The proposed path planning solution aims to identify the optimal patrolling path in a complex 3D topography given a set of patrolling positions. This study adopts the multiple normal distribution functions to produce the complex topography for the numerical simulation experiments. A set of simulations are carried out to validate and assess the performance of the proposed path planning algorithmic solution. The numerical result demonstrates that the calculated flight path can meet the requirement of UAV patrolling task with the minimized cost.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"15 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133193149","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832090
Shichao Liu, P. X. Liu, Xiaoyu Wang
In this paper, the modeling and H∞, control problems for the Networked Control System (NCS) with random data-packet losses in sensor-controller channel and disturbances are investigated. In specific, the networked system with sensor measurement losses is modeled as a Markovian jump linear system(MJLS) by using a multi-rate sampling approach, while the characteristics of network-induced packet losses are assumed to follow multiple-state Markov chain process. The sufficient conditions for the robustly stochastic stability of the NCS are obtained via the piecewise Lyapunov function method. Instead of designing a general robust controller, we take the dynamic network conditions into consideration when designing a statefeedback controller for the NCS. The stochastic packet-loss-dependant controller for the closed-loop networked system is presented in the formulation of linear matrix inequalities(LMIs), under the given H∞ disturbance-rejection-attenuation level. Simulation results of a simple networked robotic arm show that the developed packet-loss-dependant controller can stabilize the networked system with both random sensor-measurement losses and disturbances robustly.
{"title":"H∞ control of networked control systems with stochastic measurement losses","authors":"Shichao Liu, P. X. Liu, Xiaoyu Wang","doi":"10.1109/ICINFA.2016.7832090","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832090","url":null,"abstract":"In this paper, the modeling and H∞, control problems for the Networked Control System (NCS) with random data-packet losses in sensor-controller channel and disturbances are investigated. In specific, the networked system with sensor measurement losses is modeled as a Markovian jump linear system(MJLS) by using a multi-rate sampling approach, while the characteristics of network-induced packet losses are assumed to follow multiple-state Markov chain process. The sufficient conditions for the robustly stochastic stability of the NCS are obtained via the piecewise Lyapunov function method. Instead of designing a general robust controller, we take the dynamic network conditions into consideration when designing a statefeedback controller for the NCS. The stochastic packet-loss-dependant controller for the closed-loop networked system is presented in the formulation of linear matrix inequalities(LMIs), under the given H∞ disturbance-rejection-attenuation level. Simulation results of a simple networked robotic arm show that the developed packet-loss-dependant controller can stabilize the networked system with both random sensor-measurement losses and disturbances robustly.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124076651","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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