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	1. Rigid Formation Control of MultipleNonholonomic Unicycles
	WANG Qin,TIAN Yuping
	Electrics, Communication and Autocontrol Technology 09 January 2013
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	Abstract:In this paper, a distributed feedback control strategyis proposed which drives the multiple nonholonomic unicycles to a desiredrigid formation in terms of the relative position measurement.The proposed control law which is based on the adaptive perturbation methodcan guarantee the globally asymptotic stability of the the equilibrium setcorresponding to the desired rigid formations, and the collision avoidance between neighboring realrobots. Simulation results are provided to illustrate theeffectiveness of the control algorithm.
	TO cite this article:WANG Qin,TIAN Yuping. Rigid Formation Control of MultipleNonholonomic Unicycles[OL].[ 9 January 2013] http://en.paper.edu.cn/en_releasepaper/content/4512633


	2. Nonlinear consensus protocol design for multi-agent systems under directed topology
	XU Yaojin,TIAN Yuping
	Electrics, Communication and Autocontrol Technology 06 January 2013
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	Abstract:In this paper, the problem of consensus of multi-agent systems is investigated, and a framework for the nonlinear protocol design is proposed. First, the block cascade property of the information flow is demonstrated via the decomposition of the directed communication graph. Then, the interactions among different agent groups are described by means of the input-to-state stability theory. Within the proposed framework, multi-agent systems with single-integrator dynamics are particularly investigated with a class of nonlinear protocols. Finally, numerical examples are provided to show the effectiveness of the designed protocol.
	TO cite this article:XU Yaojin,TIAN Yuping. Nonlinear consensus protocol design for multi-agent systems under directed topology[OL].[ 6 January 2013] http://en.paper.edu.cn/en_releasepaper/content/4512614

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	3. Compensation-based consensus algorithm for discrete-time second-order multi-agent systems under communication delay
	Liu Chenglin
	Electrics, Communication and Autocontrol Technology 27 December 2012
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	Abstract:Consensus algorithm, which is constructed by introducing compensation on the neighboring agents' delayed states into the normal asynchronously-coupled consensusalgorithm, is proposed to solve the dynamical consensus problem of discrete-time second-ordermulti-agent systems with communication delay. By analyzing the consensus convergence of two coupled-agents according to frequency-domain analysis, we come to the conclusion that the compensation-based algorithm can endure higher communication delay than thesynchronously-coupled consensus algorithm. Based on linear fractional transformation and the small-gaintheorem, sufficient conditions are gained for discrete-time second-order multi-agent systems with communicationdelay under a general digraph. Simulation illustrates the correctness of the results.
	TO cite this article:Liu Chenglin. Compensation-based consensus algorithm for discrete-time second-order multi-agent systems under communication delay[OL].[27 December 2012] http://en.paper.edu.cn/en_releasepaper/content/4509554


	4. Output-Feedback Regulation ofNonlinear Systems with iISS Inverse dynamics
	ZHAO Cong-Ran,XIE Xue-Jun
	Electrics, Communication and Autocontrol Technology 14 December 2012
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	Abstract:Thispaper further discusses the problem of output-feedback regulationfor more general nonlinear systems with integral input-to-statestability (iISS) inverse dynamics and unknown control direction. Byusing the adaptive backstepping method, an output feedbackcontroller is given to drive the output to the origin whilemaintaining other closed-loop signals bounded. A simulation exampleverifies the effectiveness of the control scheme.
	TO cite this article:ZHAO Cong-Ran,XIE Xue-Jun. Output-Feedback Regulation ofNonlinear Systems with iISS Inverse dynamics[OL].[14 December 2012] http://en.paper.edu.cn/en_releasepaper/content/4502272


	5. Adaptive State-Feedback Stabilization for High-OrderStochastic Nonlinear Systems Driven by Noise of Unknown Covariance
	ZHAO Cong-Ran,XIE Xue-Jun
	Electrics, Communication and Autocontrol Technology 14 December 2012
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	Abstract:This paper further considers more general high-orderstochastic nonlinear system driven by noise of unknown covarianceand its adaptive state-feedback stabilization problem. A smoothstate-feedback controller is designed to guarantee that the originof the closed-loop system is globally stable in probability.
	TO cite this article:ZHAO Cong-Ran,XIE Xue-Jun. Adaptive State-Feedback Stabilization for High-OrderStochastic Nonlinear Systems Driven by Noise of Unknown Covariance [OL].[14 December 2012] http://en.paper.edu.cn/en_releasepaper/content/4502275


	6. Guidance Law Design Based on Integral Sliding Mode Control
	ZHANG Zhen-Xing,LI Shihua,LUO Sheng
	Electrics, Communication and Autocontrol Technology 11 December 2012
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	Abstract:Reviews: The terminal guidance problem for missile intercepting maneuvering targets is developed. Based on integral sliding mode (ISM) control method, a novel guidance law is designed. Regarding the target acceleration as unknown bounded disturbance, a nonlinear ISM guidance law is introduced. The obtained guidance law guarantees the line-of-sight (LOS) angular rate and LOS angle a finite-time convergence characteristics. Simulation comparison results demonstrate the effectiveness of the presented method.
	TO cite this article:ZHANG Zhen-Xing,LI Shihua,LUO Sheng. Guidance Law Design Based on Integral Sliding Mode Control[OL].[11 December 2012] http://en.paper.edu.cn/en_releasepaper/content/4501107


	7. Modeling of Pendubot and Its Parameters Identification Based on HR-Multiplier Method
	WANG Lingyu,WU Chuansheng
	Electrics, Communication and Autocontrol Technology 23 October 2012
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	Abstract:This paper derive the dynamic model of the Pendubot by using Euler-Lagrange equations in detail. Then the identification equation can be easily written on. Because of the limited of nonnegative constraints, general least square method is not available. In order to solve this problem, a new method based on HR-Multiplier is proposed by this paper. It can translate the nonnegative constraints problem into unconstrained optimization problem. At last, we compare the result with that solved by the command of lsqnoneg using Matlab. The contrast result demonstrates the effective of this method with the average deviation less than 0.66×10-3.
	TO cite this article:WANG Lingyu,WU Chuansheng. Modeling of Pendubot and Its Parameters Identification Based on HR-Multiplier Method[OL].[23 October 2012] http://en.paper.edu.cn/en_releasepaper/content/4491741


	8. Research on Compressed EKF Based SLAM Algorithm for Unmanned Underwater Vehicle
	WANG Hongjian,LI Cun,LV Hongli,Chen Xinghua
	Electrics, Communication and Autocontrol Technology 11 September 2012
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	Abstract:The Extend Kalman Filter based algorithm for simultaneous localization and mapping cannot satisfy the requirement of real time map updating because of the increasing number of landmarks and the heavy calculating cost while AUV working for long time endurance. The Compressed EKF based SLAM is introduced in this paper. And the method of map management and the local map switch strategy are addressed, which divide the AUV navigating area into several local sub-maps. The navigation error calculating based on landmarks in sub-map is completed in local area by using Extend Kalman filter, and the global map updating is done only when the condition satisfied the switch rule of the sub-map. Finally the CEKF-SLAM based navigating method is tested with the trial data, and by comparing with the dead reckoning navigating result, the test results show that the navigation error of CEKF-SLAM algorithm is less than that of dead reckoning algorithm, and on the same time, the former reduces the calculation cost for AUV navigation.
	TO cite this article:WANG Hongjian,LI Cun,LV Hongli, et al. Research on Compressed EKF Based SLAM Algorithm for Unmanned Underwater Vehicle[OL].[11 September 2012] http://en.paper.edu.cn/en_releasepaper/content/4489091


	9. Task Allocation of Multiple Autonomous Underwater Vehicle System Based on Multi-objective Optimization
	WANG Hongjian,LV Hongli,WANG Linlin
	Electrics, Communication and Autocontrol Technology 07 September 2012
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	Abstract:When executing a complex mission, the multi-AUV system need to confirm a better task allocation scheme to make sure that the system is efficient. However, there are many standards which are utilized to determine the system's efficient, and there maybe confliction between them. In order to solve the task allocation of multi-AUV system based on multi-objective optimization, a multi-objective optimization based on ant system algorithm was proposed. By the single-objective optimization in single ant system and the interaction between different ants systems, this algorithm achieve the Pareto solution's set at last. On the other hand, an algorithm evaluation method was given out to evaluate the performance of the algorithm above. Based on this algorithm, the task allocation of multi-AUV system based on multi-objective optimization was studied in details and the stimulation of task allocation was provided.
	TO cite this article:WANG Hongjian,LV Hongli,WANG Linlin. Task Allocation of Multiple Autonomous Underwater Vehicle System Based on Multi-objective Optimization[OL].[ 7 September 2012] http://en.paper.edu.cn/en_releasepaper/content/4488896


	10. Adaptive Neural Control of Non-minimum Phase Switched Nonlinear System
	LONG Fei
	Electrics, Communication and Autocontrol Technology 22 August 2012
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	Abstract:In this paper, we address the adaptive Neural Network tracking control problem of switched nonlinear system with non-minimum phase subsystem based on RBF Neural Network. The proposed controller is comprised of a neural network adaptive law, an adaptive robust control term, and switching path. The approximation errors of the RBF neural networks are introduced to the design of the neural network adaptive law, while the switching path is designed by using the principle of "energy attenuation fastest". The proposed adaptive neural switching control scheme can guarantee that non-minimum phase switched nonlinear system can asymptotically track the desired reference signal.
	TO cite this article:LONG Fei. Adaptive Neural Control of Non-minimum Phase Switched Nonlinear System[OL].[22 August 2012] http://en.paper.edu.cn/en_releasepaper/content/4487509

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