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学者姓名：王进华
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Abstract ：
The issue of non-fragile controller's designed with reachable set estimation and time-delay for multi-agent systems(MASs) is investigated in this paper. The information interaction among agents is governed by a set of switching sequence, which can be described by continue-time discrete state semi-Markov process. By tree-transformation, the MASs firstly converted into reduced-order system, and properly considered the instability of the parameters with the dynamic behavior of the controller, a non-fragile controller is designed to describe the system's performance cope with the perturbation from the con-troller. The sufficient conditions are established in forms of a series of linear matrix inequalities which are based on Lyapunov-Krasovskii method, and the agent's state of error systems is bounded by a finite closed set will be guaranteed. Finally, the availability of the derived theoretical results are verified by two numerical simulations.& COPY; 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.
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| GB/T 7714 | Huang, Wenchao , Tian, Binbin , Chen, Yunpeng et al. Reachable set estimation of multi-agent systems with semi-Markov switching topologies and time-delay [J]. | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS , 2023 , 360 (11) : 7415-7437 . |
| MLA | Huang, Wenchao et al. "Reachable set estimation of multi-agent systems with semi-Markov switching topologies and time-delay" . | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 360 . 11 (2023) : 7415-7437 . |
| APA | Huang, Wenchao , Tian, Binbin , Chen, Yunpeng , Wang, Jinhua . Reachable set estimation of multi-agent systems with semi-Markov switching topologies and time-delay . | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS , 2023 , 360 (11) , 7415-7437 . |
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This paper studies the continuous time scaled group consensus problems for linear time-invariant multi-agent systems over randomly switching topologies. The switching is controlled by a time-homogeneous Markov process, where the state in the process corresponds to a possible interaction topology among agents. It is proved that the influence of switching topology on scaled group consensus is determined by the union topology related to state in the Markov process. Using algebra theory, graph theory and Lyapunov theory as tools, sufficient conditions for scaled group consensus over the control protocol are obtained. Finally, the theoretical results are verified by simulation examples. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
Keyword ：
Continuous time systems Continuous time systems Graph theory Graph theory Markov processes Markov processes Multi agent systems Multi agent systems Switching Switching
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| GB/T 7714 | Chen, Fangye , Wang, Jinhua , Huang, Wenchao . Scaled Group Consensus of Linear Multi-agent Systems over Randomly Switching Topologies [C] . 2022 : 801-810 . |
| MLA | Chen, Fangye et al. "Scaled Group Consensus of Linear Multi-agent Systems over Randomly Switching Topologies" . (2022) : 801-810 . |
| APA | Chen, Fangye , Wang, Jinhua , Huang, Wenchao . Scaled Group Consensus of Linear Multi-agent Systems over Randomly Switching Topologies . (2022) : 801-810 . |
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An event-triggered leader-following consensus problem for multi-agent systems with nonlinear dynamics was investigated in this study. The interaction topologies among the agents that we considered are randomly switched ones, governed by a semi-Markov process with partially unknown rates. By building the state error model between the leader and followers, the consensus problem is first converted into a stability problem. Moreover, an event-triggered transmission scheme based on sampling data was proposed to reduce communication redundancy. The consensus controller and event-triggered parameters can be designed effectively. By constructing a Lyapunov-Krasovskii functional (LKF) with a triple integral, the sufficient conditions required to guarantee the event-triggered consensus can be reached with respect to the linear matrix inequalities (LMIs). Ultimately, the validity of the theoretical results is demonstrated by a numerical example.(c) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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| GB/T 7714 | Huang, Wenchao , Tian, Binbin , Liu, Tiantian et al. Event-triggered leader-following consensus of multi-agent systems under semi-Markov switching topology with partially unknown rates [J]. | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS , 2022 , 359 (7) : 3103-3125 . |
| MLA | Huang, Wenchao et al. "Event-triggered leader-following consensus of multi-agent systems under semi-Markov switching topology with partially unknown rates" . | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 359 . 7 (2022) : 3103-3125 . |
| APA | Huang, Wenchao , Tian, Binbin , Liu, Tiantian , Wang, Jinhua , Liu, Zhiqiang . Event-triggered leader-following consensus of multi-agent systems under semi-Markov switching topology with partially unknown rates . | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS , 2022 , 359 (7) , 3103-3125 . |
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This paper investigates the problem of error reachable set estimation for leader-follower systems under semi-Markov switching topology with partially unknown rates. The topology switching is controlled by a semi-Markov jump process. It is difficult to find the transition rates matrix completely in many practical systems so that we come to a conclusion that the transition rates is incompletely known. In this paper, we take the external perturbation problem and nonlinearity into account. By using the stochastic theory and the reachable set theory, we derive the sufficient conditions for the use of linear matrix inequalities to ensure that the error trajectory can be constrained in a given closed space under a given performance index. Finally, an example is given to verify the effectiveness of the theoretical results © 2021 Technical Committee on Control Theory, Chinese Association of Automation.
Keyword ：
Linear matrix inequalities Linear matrix inequalities Markov processes Markov processes Multi agent systems Multi agent systems Stochastic systems Stochastic systems Switching Switching Topology Topology
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| GB/T 7714 | Tian, Binbin , Wang, Jinhua , Huang, Wenchao et al. Reachable Set Estimation of Multi-agent Systems under Semi-Markov Switching Topology with Partially Unknown Rates [C] . 2021 : 5148-5153 . |
| MLA | Tian, Binbin et al. "Reachable Set Estimation of Multi-agent Systems under Semi-Markov Switching Topology with Partially Unknown Rates" . (2021) : 5148-5153 . |
| APA | Tian, Binbin , Wang, Jinhua , Huang, Wenchao , Huang, Yanwei . Reachable Set Estimation of Multi-agent Systems under Semi-Markov Switching Topology with Partially Unknown Rates . (2021) : 5148-5153 . |
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In this paper, the Q-learning method for quadratic optimal control problem of discrete-time linear systems is reconsidered. The theoretical results prove that the quadratic optimal controller cannot be solved directly due to the linear correlation of the data sets. The following corollaries have been made: (1) The correlation of data is the key factor in the success for the calculation of quadratic optimal control laws by Q-learning method; (2) The control laws for linear systems cannot be derived directly by the existing Q-learning method; (3) For nonlinear systems, there are some doubts about the data independence of current method. Therefore, it is necessary to discuss the probability of the controllers established by the existing Q-learning method. To solve this problem, based on the ridge regression, an improved model-free Q-learning quadratic optimal control method for discrete-time linear systems is proposed in this paper. Therefore, the computation process can be implemented correctly, and the effective controller can be solved. The simulation results show that the proposed method can not only overcome the problem caused by the data correlation, but also derive proper control laws for discrete-time linear systems.
Keyword ：
least squares regression least squares regression model-free control model-free control optimal control optimal control Q-learning Q-learning reinforcement learning reinforcement learning ridge regression ridge regression
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| GB/T 7714 | Chen, Jian , Wang, Jinhua , Huang, Jie . Improved Q-Learning Method for Linear Discrete-Time Systems [J]. | PROCESSES , 2020 , 8 (3) . |
| MLA | Chen, Jian et al. "Improved Q-Learning Method for Linear Discrete-Time Systems" . | PROCESSES 8 . 3 (2020) . |
| APA | Chen, Jian , Wang, Jinhua , Huang, Jie . Improved Q-Learning Method for Linear Discrete-Time Systems . | PROCESSES , 2020 , 8 (3) . |
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针对传统遗传算法中适应度函数把最短路径作为主要遗传因素而未考虑转角及多余路径点造成的时间过多与搜索效率低的情况,文章提出一种改进遗传算法的路径规划方案,把适应度函数选取在满足最短路径的基础上加入角度控制和其余路径信息融合得到新的适应度函数.首先采用栅格法建立实验模型,然后在满足最短路径,路径可行及转弯少的情况下融合成一个新的适应度函数,并其增加插入算子与删除算子进行路径优化得到最优解.最后通过MATLAB实验进行验证,结果表明:在路径规划问题上基于该改进的适应度函数的遗传算法优于基本遗传算法,证明了方案是有效的.
Keyword ：
MATLAB仿真 MATLAB仿真 移动机器人 移动机器人 路径优化 路径优化 遗传算法 遗传算法
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| GB/T 7714 | 段立伟 , 王进华 . 改进遗传算法在移动机器人路径规划中的应用 [J]. | 信息通信 , 2020 , (7) : 5-8 . |
| MLA | 段立伟 et al. "改进遗传算法在移动机器人路径规划中的应用" . | 信息通信 7 (2020) : 5-8 . |
| APA | 段立伟 , 王进华 . 改进遗传算法在移动机器人路径规划中的应用 . | 信息通信 , 2020 , (7) , 5-8 . |
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针对视觉的无人售货冰柜,由于顾客恶意的遮挡摄像头,或者拿取物品时的行为不当,会导致摄像头不能识别物品的问题,提出了单根悬臂梁称重传感器的称重系统辅助方案.论述了冰柜温度骤变数字化补偿、重力板边缘抖动误差的肖维勒准则修正方案.
Keyword ：
数字化补偿 数字化补偿 无人售货冰柜 无人售货冰柜 称重系统 称重系统 肖维勒准则 肖维勒准则
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| GB/T 7714 | 蔡合瑶 , 王进华 , 田明亮 et al. 基于视觉的无人售货冰柜的称重系统辅助方案 [J]. | 自动化技术与应用 , 2020 , 39 (1) : 6-8 . |
| MLA | 蔡合瑶 et al. "基于视觉的无人售货冰柜的称重系统辅助方案" . | 自动化技术与应用 39 . 1 (2020) : 6-8 . |
| APA | 蔡合瑶 , 王进华 , 田明亮 , 王广玥 . 基于视觉的无人售货冰柜的称重系统辅助方案 . | 自动化技术与应用 , 2020 , 39 (1) , 6-8 . |
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为了改善开关磁阻电机的性能分析和控制效果,建立精确的开关磁阻电机模型是极其重要的.在获得准确的电机电磁特性基础上,利用神经网络所具有的非线性映射能力,建立开关磁阻电机非线性模型.本文采用基于附加动量法的BP神经网络建立开关磁阻电机磁链模型和转矩模型,同时在Matlab/Simulink平台上搭建电机控制系统模型.实验表明,该建模方法能满足开关磁阻电机驱动系统的高性能要求.
Keyword ：
BP神经网络 BP神经网络 建模 建模 开关磁阻电机 开关磁阻电机
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| GB/T 7714 | 饶哲宇 , 王进华 . 基于BP神经网络的开关磁阻电机建模及仿真 [J]. | 电气开关 , 2019 , 57 (1) : 37-40,44 . |
| MLA | 饶哲宇 et al. "基于BP神经网络的开关磁阻电机建模及仿真" . | 电气开关 57 . 1 (2019) : 37-40,44 . |
| APA | 饶哲宇 , 王进华 . 基于BP神经网络的开关磁阻电机建模及仿真 . | 电气开关 , 2019 , 57 (1) , 37-40,44 . |
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提出了一种双输入双输出的状态空间描述,用于表达PID控制系统.这种描述方法,忠实地反映了PID控制的结构、信号关系,避免了现有PID控制系统状态空间描述过程中的近似或冗余.可以在此描述的基础上,用状态空间的方法,讨论跟踪控制、优化控制等各种PID的控制问题.在PID控制系统的状态空间描述的基础上,讨论了满足二次型性能的PID控制器优化设计,并给出例子说明本文提出方法的有效性.这些例子说明,与现有的二次型优化PID控制器设计方法比较,本文方法更加灵活、控制器更加实用,且适用于各种阶次的被控对象.
Keyword ：
PID控制 PID控制 二次型控制 二次型控制 输出反馈 输出反馈
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| GB/T 7714 | 王进华 , 陈剑 . PID控制器的状态空间描述和二次型优化设计 [J]. | 控制理论与应用 , 2018 , 35 (02) : 267-271 . |
| MLA | 王进华 et al. "PID控制器的状态空间描述和二次型优化设计" . | 控制理论与应用 35 . 02 (2018) : 267-271 . |
| APA | 王进华 , 陈剑 . PID控制器的状态空间描述和二次型优化设计 . | 控制理论与应用 , 2018 , 35 (02) , 267-271 . |
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To achieve a desired quadrotor formation, a formation control scheme based on leader-follower method is introduced. A geometric method is used for maintaining formation shape in the outer loop, the desired velocity and position are calculated in this method by acquiring position and yaw of the leader. The proportional integral derivative (PID) controller is used for inner loop control of quadrotor. Additionally, a proportional derivative (PD) outer loop controller is used to compared with the proposed method. The simulation of three quadrotors in the three dimensional environment shows that the proposed method is useful and more efficient than the PD control.
Keyword ：
formation formation geometric method geometric method quadrotor quadrotor three dimensional three dimensional
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| GB/T 7714 | Lv, Qiang , Wang, Jinhua , Wang, Jun et al. Quadrotor Formation Control Based on Geometric Method [C] . 2018 : 905-909 . |
| MLA | Lv, Qiang et al. "Quadrotor Formation Control Based on Geometric Method" . (2018) : 905-909 . |
| APA | Lv, Qiang , Wang, Jinhua , Wang, Jun , Wu, Liangpin . Quadrotor Formation Control Based on Geometric Method . (2018) : 905-909 . |
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