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  • 1. Deng, Juan
    et al.
    Wang, Lin
    Liu, Zhixin
    Hu, Xiaoming
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition2018Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 31, nr 1, s. 215-233Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper considers the pose synchronization problem of a group of moving rigid bodies under switching topologies where the dwell time of each topology may has no nonzero lower bound. The authors introduce an average dwell time condition to characterize the length of time intervals in which the graphs are connected. By designing distributed control laws of angular velocity and linear velocity, the closed-loop dynamics of multiple rigid bodies with switching topologies can be converted into a hybrid dynamical system. The authors employ the Lyapunov stability theorem, and show that the pose synchronization can be reached under the average dwell time condition. Moreover, the authors investigate the pose synchronization problem of the leader-following model under a similar average dwell time condition. Simulation examples are given to illustrate the results.

  • 2.
    Hu, Jiangping
    et al.
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Hu, Xiaoming
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Optimal target trajectory estimation and filtering using networked sensors2008Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 21, nr 3, s. 325-336Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Target tracking using distributed sensor network is in general a challenging problem because it always needs to deal with real-time processing of noisy information. In this paper the problem of using nonlinear sensors such as distance and direction sensors for estimating a moving target is studied. The problem is formulated as a prudent design of nonlinear filters for a linear system subject to noisy nonlinear measurements and partially unknown input, which is generated by an exogenous system. In the worst case where the input is completely unknown, the exogenous dynamics is reduced to the random walk model. It can be shown that the nonlinear filter will have optimal convergence if the number of the sensors are large enough and the convergence rate will be highly improved if the sensors are deployed appropriately. This actually raises an interesting issue on active sensing: how to optimally move the sensors if they are considered as mobile multi-agent systems? Finally, a simulation example is given to illustrate and validate the construction of our filter.

  • 3. Jiangping, Hu
    et al.
    Xiaoming, Hu
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Tielong, Shen
    Cooperative shift estimation of target trajectory using clustered sensors2014Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 27, nr 3, s. 413-429Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper, a mathematical model for target tracking using nonlinear scalar range sensors is formulated first. A time-shift sensor scheduling strategy is addressed on the basis of a k-barrier coverage protocol and all the sensors are divided into two classes of clusters, active cluster, and submissive cluster, for energy-saving. Then two types of time-shift nonlinear filters are proposed for both active and submissive clusters to estimate the trajectory of the moving target with disturbed dynamics. The stochastic stability of the two filters is analyzed. Finally, some numerical simulations are given to demonstrate the effectiveness of the new filters with a comparison of EKF.

  • 4. Jinhuan, Wang
    et al.
    Zhixin, Liu
    Xiaoming, Hu
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Consensus control design for multi-agent systems using relative output feedback2014Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 27, nr 2, s. 237-251Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.

  • 5.
    Lou, Youcheng
    et al.
    Chinese Acad Sci, Beijing, Peoples R China .
    Hong, Yiguang
    Chinese Acad Sci, Beijing, Peoples R China .
    Shi, Guodong
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Target aggregation of second-order multi-agent systems with switching interconnection2012Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 25, nr 3, s. 430-440Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper, the target aggregation is investigated for a multi-agent system consisting of second-order agents and multiple leaders. Sufficient conditions are proposed to make the agents approach the target set spanned by these moving leaders. With the condition on switching interconnection topologies, all mobile agents can asymptotically track the dynamical target set specified by multiple moving leaders with bounded error. Moreover, discussion on the case with static leaders is also given.

  • 6.
    Takeuchi, Keigo
    et al.
    University of Electro-Communications, Department of Communication Engineering and Informatics.
    Vehkaperä, Mikko
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsteori. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Tanaka, Toshiyuki
    Department of Systems Science, Kyoto University.
    Müller, Ralf R.
    Norwegian University of Science and Technology, Department of Electronics and Telecommunications.
    Performance analysis of optimal channel estimation and multiuser detection in a randomly-spread CDMA channel2010Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 23, nr 1, s. 22-34Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [sv]

    This paper analyzes performance of optimal channel estimation and multiuser detection (MUD) in a block-fading code-division multiple-access (CDMA) channel on the assumptions of random spreading and large-system limit, by using the replica method developed in statistical mechanics. The authors find that the asymptotic spectral efficiency of the linear minimum mean-squared error (LMMSE) MUD which was proposed and analyzed by Evans and Tse in 2000 is indistinguishable from that of the optimal MUD for small system loads. Our results imply that performance of MUD scarcely improves even if one spends more computational cost than that of the LMMSE MUD, i.e., at most the cube of the number of users, on the above-described conditions

  • 7. Wei, Airong
    et al.
    Wang, Yuzhen
    Hu, Xiaoming
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    PARALLEL SIMULTANEOUS STABILIZATION OF A SET OF PORT-CONTROLLED HAMILTONIAN SYSTEMS SUBJECT TO ACTUATOR SATURATION2011Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 24, nr 1, s. 120-139Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper investigates parallel simultaneous stabilization (PSS) of a set of multi-input nonlinear Port-Controlled Hamiltonian (PCH) systems subject to actuator saturation (AS), and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.

  • 8. Wenjun, Song
    et al.
    Thunberg, Johan
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Xiaoming, Hu
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Yiguang, Hong
    Distributed high-gain attitude synchronization using rotation vectors2015Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 28, nr 2, s. 289-304Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are considered. In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors, while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors. By using rotation vectors and the high gain control, the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3) for the second scenario. An illustrative example is provided to show the synchronization results for both scenarios.

  • 9.
    Yuecheng, Yang
    et al.
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.).
    Hu, Xiaoming
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.).
    Optimal Control Using Microscopic Models for a Pollutant Elimination Problem2017Inngår i: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 30, nr 1, s. 86-100Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Optimal control problem with partial derivative equation (PDE) constraint is a numericalwise difficult problem because the optimality conditions lead to PDEs with mixed types of boundary values. The authors provide a new approach to solve this type of problem by space discretization and transform it into a standard optimal control for a multi-agent system. This resulting problem is formulated from a microscopic perspective while the solution only needs limited the macroscopic measurement due to the approach of Hamilton-Jacobi-Bellman (HJB) equation approximation. For solving the problem, only an HJB equation (a PDE with only terminal boundary condition) needs to be solved, although the dimension of that PDE is increased as a drawback. A pollutant elimination problem is considered as an example and solved by this approach. A numerical method for solving the HJB equation is proposed and a simulation is carried out.

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