Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606032
Jinming Du, Bin Wu, Long Wang
Multi-agent cooperation problem is a fundamental issue in the coordination control field. Individuals achieve a common task through association with others or division of labor. Evolutionary game dynamics offers a basic framework to investigate how agents self-adaptively switch their strategies in accordance with various targets, and also the evolution of their behaviors. In this paper, we analytically study the strategy evolution in a multiple player game model driven by self-learning. Self-learning dynamics is of importance for agent strategy updating yet seldom analytically addressed before. It is based on self-evaluation, which applies to distributed control. We focus on the abundance of different strategies (behaviors of agents) and their oscillation (frequency of behavior switching). We arrive at the condition under which a strategy is more abundant over the other under weak selection limit. Such condition holds for any finite population size of N ≥ 3, thus it fits for the systems with finite agents, which has notable advantage over that of pairwise comparison process. At certain states of evolutionary stable state, there exists “ping-pong effect” with stable frequency, which is not affected by aspirations. Our results indicate that self-learning dynamics of multi-player games has special characters. Compared with pairwise comparison dynamics and Moran process, it shows different effect on strategy evolution, such as promoting cooperation in collective risk games with large threshold.
{"title":"Evolutionary game dynamics of multi-agent cooperation driven by self-learning","authors":"Jinming Du, Bin Wu, Long Wang","doi":"10.1109/ASCC.2013.6606032","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606032","url":null,"abstract":"Multi-agent cooperation problem is a fundamental issue in the coordination control field. Individuals achieve a common task through association with others or division of labor. Evolutionary game dynamics offers a basic framework to investigate how agents self-adaptively switch their strategies in accordance with various targets, and also the evolution of their behaviors. In this paper, we analytically study the strategy evolution in a multiple player game model driven by self-learning. Self-learning dynamics is of importance for agent strategy updating yet seldom analytically addressed before. It is based on self-evaluation, which applies to distributed control. We focus on the abundance of different strategies (behaviors of agents) and their oscillation (frequency of behavior switching). We arrive at the condition under which a strategy is more abundant over the other under weak selection limit. Such condition holds for any finite population size of N ≥ 3, thus it fits for the systems with finite agents, which has notable advantage over that of pairwise comparison process. At certain states of evolutionary stable state, there exists “ping-pong effect” with stable frequency, which is not affected by aspirations. Our results indicate that self-learning dynamics of multi-player games has special characters. Compared with pairwise comparison dynamics and Moran process, it shows different effect on strategy evolution, such as promoting cooperation in collective risk games with large threshold.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"166 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73173310","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606157
Saeed Varzandian, H. Zakeri, S. Ozgoli
In this paper it is shown that the widely used lognormal path loss signal propagation model may not be a good choice for every indoor environment. Instead, a non-monotonic signal propagation model for an indoor environment is presented. This model, combined with received signal strength values, relative distance and directional information can exhibit several applications. As an example, access point position estimation is studied in this paper and an algorithm is proposed for this purpose. It is shown that using relative distance, directional information and an arbitrary reference point, it is possible to find the relative location of access points. The performance of proposed model and algorithm is tested by real data and computer simulation.
{"title":"Locating WiFi access points in indoor environments using non-monotonic signal propagation model","authors":"Saeed Varzandian, H. Zakeri, S. Ozgoli","doi":"10.1109/ASCC.2013.6606157","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606157","url":null,"abstract":"In this paper it is shown that the widely used lognormal path loss signal propagation model may not be a good choice for every indoor environment. Instead, a non-monotonic signal propagation model for an indoor environment is presented. This model, combined with received signal strength values, relative distance and directional information can exhibit several applications. As an example, access point position estimation is studied in this paper and an algorithm is proposed for this purpose. It is shown that using relative distance, directional information and an arbitrary reference point, it is possible to find the relative location of access points. The performance of proposed model and algorithm is tested by real data and computer simulation.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"37 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82379305","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606403
Fangfei Li, Yao Chen, Jinhu Lu, D. Hill
Consensus of the multi-agent systems (MASs) is ubiquitous in nature. Over the past decade, consensus of the MASs has received an increasing attention from various disciplines. Inspired by the cluster consensus of the discrete-time MAS, this paper aims at exploring the cluster consensus of the Boolean MAS and applies it to modeling the synchronous flashing of fireflies. Based on the graph theory and the Boolean matrix analysis, two cluster consensus criteria are established for the Boolean MASs with fixed and switching topologies. Furthermore, numerical simulations are also given to validate the effectiveness of these proposed criteria.
{"title":"Cluster consensus of Boolean multi-agent systems","authors":"Fangfei Li, Yao Chen, Jinhu Lu, D. Hill","doi":"10.1109/ASCC.2013.6606403","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606403","url":null,"abstract":"Consensus of the multi-agent systems (MASs) is ubiquitous in nature. Over the past decade, consensus of the MASs has received an increasing attention from various disciplines. Inspired by the cluster consensus of the discrete-time MAS, this paper aims at exploring the cluster consensus of the Boolean MAS and applies it to modeling the synchronous flashing of fireflies. Based on the graph theory and the Boolean matrix analysis, two cluster consensus criteria are established for the Boolean MASs with fixed and switching topologies. Furthermore, numerical simulations are also given to validate the effectiveness of these proposed criteria.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"44 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82554600","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606181
Mirhamed Mola, A. Khayatian, M. Dehghani
This paper presents a backstepping control strategy to control the load position of two-mass systems with unknown backlash. The measurable signals for applying this nonlinear control law are assumed to be available from motor and load sides. For achieving the desired control goals, a precontrol block is designed too. This block which is fed by motor and load measurable signals, drives the required signals for executing the nonlinear backstepping control law. The simulation results on a sample two-mass system illustrate the effectiveness of the proposed algorithm.
{"title":"Backstepping position control of two-mass systems with unknown backlash","authors":"Mirhamed Mola, A. Khayatian, M. Dehghani","doi":"10.1109/ASCC.2013.6606181","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606181","url":null,"abstract":"This paper presents a backstepping control strategy to control the load position of two-mass systems with unknown backlash. The measurable signals for applying this nonlinear control law are assumed to be available from motor and load sides. For achieving the desired control goals, a precontrol block is designed too. This block which is fed by motor and load measurable signals, drives the required signals for executing the nonlinear backstepping control law. The simulation results on a sample two-mass system illustrate the effectiveness of the proposed algorithm.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"17 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81690386","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606335
A. Cezayirli, F. Kerestecioğlu
We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions.
{"title":"A non-communicating multi-robot system with switchable formations","authors":"A. Cezayirli, F. Kerestecioğlu","doi":"10.1109/ASCC.2013.6606335","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606335","url":null,"abstract":"We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"22 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78970938","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606255
T. Sakanushi, Yun Zhao, Jie Hu, S. Tohnai, K. Yamada
The simple multi-period repetitive control system proposed by Yamada and Takenaga is a type of servomechanism for periodic reference inputs. This system follows a periodic reference input with a small steady-state error, even if there is periodic disturbance or uncertainty in the plant. In addition, simple multi-period repetitive control systems ensure that transfer functions from the periodic reference input to the output and from the disturbance to the output have finite numbers of poles. Yamada and Takenaga clarified the parameterization of all stabilizing simple multi-period repetitive controllers. Recently, Yamada et al. proposed the parameterization of all stabilizing two-degree-of-freedom(TDOF) simple multi-period repetitive controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately. However, when using the method of Yamada et al., it is complex to specify the low-pass filter in the internal model for the periodic reference input that specifies the frequency characteristic. This paper expands the result by Yamada et al. and proposes the parameterization of all stabilizing TDOF simple multi-period repetitive controllers with specified frequency characteristic such that the low-pass filter can be specified beforehand.
{"title":"The parameterization of all stabilizing two-degree-of-freedom simple multi-period repetitive controllers with specified frequency characteristic","authors":"T. Sakanushi, Yun Zhao, Jie Hu, S. Tohnai, K. Yamada","doi":"10.1109/ASCC.2013.6606255","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606255","url":null,"abstract":"The simple multi-period repetitive control system proposed by Yamada and Takenaga is a type of servomechanism for periodic reference inputs. This system follows a periodic reference input with a small steady-state error, even if there is periodic disturbance or uncertainty in the plant. In addition, simple multi-period repetitive control systems ensure that transfer functions from the periodic reference input to the output and from the disturbance to the output have finite numbers of poles. Yamada and Takenaga clarified the parameterization of all stabilizing simple multi-period repetitive controllers. Recently, Yamada et al. proposed the parameterization of all stabilizing two-degree-of-freedom(TDOF) simple multi-period repetitive controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately. However, when using the method of Yamada et al., it is complex to specify the low-pass filter in the internal model for the periodic reference input that specifies the frequency characteristic. This paper expands the result by Yamada et al. and proposes the parameterization of all stabilizing TDOF simple multi-period repetitive controllers with specified frequency characteristic such that the low-pass filter can be specified beforehand.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"1 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75959734","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606281
Ovunc Elbir, Anil Ufuk Batmaz, C. Kasnakoğlu
In current literature, Unmanned Aerial Vehicles (UAVs), especially quadrotors, is one of the hot topics of study which has numerous applications. This paper focuses on modeling the quadrotor in order to improve the empirical results. The procedure consists of four stages: 1) Experimental determination of controller coefficients, 2) Data collection, 3) System identification, 4) Controller redesign. After these stages, it is observed that the system is capable of stabilize on the roll, pitch and yaw axes. Coefficient tuning on the identified model noticeably improves the settling time and steady state oscillation amplitude.
{"title":"Improving quadrotor 3-axes stabilization results using empirical results and system identification","authors":"Ovunc Elbir, Anil Ufuk Batmaz, C. Kasnakoğlu","doi":"10.1109/ASCC.2013.6606281","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606281","url":null,"abstract":"In current literature, Unmanned Aerial Vehicles (UAVs), especially quadrotors, is one of the hot topics of study which has numerous applications. This paper focuses on modeling the quadrotor in order to improve the empirical results. The procedure consists of four stages: 1) Experimental determination of controller coefficients, 2) Data collection, 3) System identification, 4) Controller redesign. After these stages, it is observed that the system is capable of stabilize on the roll, pitch and yaw axes. Coefficient tuning on the identified model noticeably improves the settling time and steady state oscillation amplitude.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"40 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87462801","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606316
Harun Yetkin, Ü. Özgüner
The problem of self-stabilization of a bicycle has been a research area for more than a century. However, many researchers have confined their study in self stabilization of bicycles at constant velocities. In this paper, we utilized the precession effect of the gyroscope to stabilize the bicycle both at zero forward velocity and varying velocities. Equation of motion of a bicycle with a flywheel mounted on its bottom is derived and a first order observer-based sliding mode controller is designed. The performance of the controller is simulated on different road structures. It is shown that the designed controller succeeded to stabilize the bicycle throughout the trajectory.
{"title":"Stabilizing control of an autonomous bicycle","authors":"Harun Yetkin, Ü. Özgüner","doi":"10.1109/ASCC.2013.6606316","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606316","url":null,"abstract":"The problem of self-stabilization of a bicycle has been a research area for more than a century. However, many researchers have confined their study in self stabilization of bicycles at constant velocities. In this paper, we utilized the precession effect of the gyroscope to stabilize the bicycle both at zero forward velocity and varying velocities. Equation of motion of a bicycle with a flywheel mounted on its bottom is derived and a first order observer-based sliding mode controller is designed. The performance of the controller is simulated on different road structures. It is shown that the designed controller succeeded to stabilize the bicycle throughout the trajectory.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"62 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87741002","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606209
S. Das, H. Pota, I. Petersen
This paper presents the design and implementation of a double resonant controller with an integral controller in the piezoelectric tube scanner (PTS) of an atomic force microscope (AFM) to damp the resonant mode of the scanner, increase the bandwidth of the overall closed-loop system, and improve the high speed imaging performance of the AFM. The X and Y axes of the PTS is treated as an independent single-input singleoutput system and the system is identified by using the measured open-loop data. In order to measure the performance of the proposed controller a comparison of the scanned images have been made by using the proposed controller and the built-in proportional-integral (PI) controller of the AFM. The comparison of the scanned images demonstrate the performance improvement achieved by the proposed controller.
{"title":"Double resonant controller for fast atomic force microscopy","authors":"S. Das, H. Pota, I. Petersen","doi":"10.1109/ASCC.2013.6606209","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606209","url":null,"abstract":"This paper presents the design and implementation of a double resonant controller with an integral controller in the piezoelectric tube scanner (PTS) of an atomic force microscope (AFM) to damp the resonant mode of the scanner, increase the bandwidth of the overall closed-loop system, and improve the high speed imaging performance of the AFM. The X and Y axes of the PTS is treated as an independent single-input singleoutput system and the system is identified by using the measured open-loop data. In order to measure the performance of the proposed controller a comparison of the scanned images have been made by using the proposed controller and the built-in proportional-integral (PI) controller of the AFM. The comparison of the scanned images demonstrate the performance improvement achieved by the proposed controller.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"2012 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86390414","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606148
S. Khadraoui, H. Nounou, M. Nounou, A. Datta, S. Bhattacharyya
This paper deals with fixed-structure controller design for stable linear systems by using measurements. Most control design approaches developed in the literature are generally based on a mathematical model which can be obtained via identification system by using a set of measured data. However, an identified model, which is often built on the basis of some assumptions, cannot perfectly describe complex behaviors characterizing physical systems. Thus, the performance expected for the closed-loop system will be limited by the quality of such models used in the control design process. Hence, data-based controller design methods can be viewed as a possible alternative to model-based methods. In this paper, we propose to directly utilize frequency response data in the controller design. The principle is to design fixed-structure controllers for which the closed-loop frequency response fits a desired frequency response. This problem is formulated as an error minimization problem. The main feature of our proposed approach is that controller can be designed free of any mathematical model, which allows to avoid errors associated with identification process. Moreover, it enables to select low-order controllers, which are suitable for embedded systems. A simulation example is given to illustrate and validate the efficacy the proposed approach.
{"title":"A control design method for unknown systems using frequency domain data","authors":"S. Khadraoui, H. Nounou, M. Nounou, A. Datta, S. Bhattacharyya","doi":"10.1109/ASCC.2013.6606148","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606148","url":null,"abstract":"This paper deals with fixed-structure controller design for stable linear systems by using measurements. Most control design approaches developed in the literature are generally based on a mathematical model which can be obtained via identification system by using a set of measured data. However, an identified model, which is often built on the basis of some assumptions, cannot perfectly describe complex behaviors characterizing physical systems. Thus, the performance expected for the closed-loop system will be limited by the quality of such models used in the control design process. Hence, data-based controller design methods can be viewed as a possible alternative to model-based methods. In this paper, we propose to directly utilize frequency response data in the controller design. The principle is to design fixed-structure controllers for which the closed-loop frequency response fits a desired frequency response. This problem is formulated as an error minimization problem. The main feature of our proposed approach is that controller can be designed free of any mathematical model, which allows to avoid errors associated with identification process. Moreover, it enables to select low-order controllers, which are suitable for embedded systems. A simulation example is given to illustrate and validate the efficacy the proposed approach.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"136 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86439858","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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