概率布尔控制网络的集可控

本文研究概率布尔控制网络的集可控性问题.首先,利用矩阵半张量积方法,得到概率布尔控制网络的代数表示.其次,借助一个新的算子构造不同的可控矩阵,进而通过可控矩阵考虑自由控制序列和网络输入控制下概率布尔控制网络的集可控性问题,得到了概率布尔控制网络集可控性的充要条件.最后,给出数值例子说明本文结果的有效性.     

On controllability and stabilizability of probabilistic Boolean control networks

The controllability of probabilistic Boolean control networks(PBCNs)is first considered.Using the input-state incidence matrices of all models,we propose a reachability matrix to characterize the joint reachability.Then we prove that the joint reachability and the controllability of PBCNs are equivalent,which leads to a necessary and sufcient condition of the controllability.Then,the result of controllability is used to investigate the stability of probabilistic Boolean networks(PBNs)and the stabilization of PBCNs.A necessary and sufcient condition for the stability of PBNs is obtained first.By introducing the control-fixed point of Boolean control networks(BCNs),the stability condition has finally been developed into a necessary and sufcient condition of the stabilization of PBCNs.Both necessary and sufcient conditions for controllability and stabilizability are based on reachability matrix,which are easily computable.Hence the two necessary and sufcient conditions are straightforward verifiable.Numerical examples are provided from case to case to demonstrate the corresponding theoretical results.     

Reachability and connectivity queries in constraint databases

It is known that standard query languages for constraint databases lack the power to express connectivity properties. Such properties are important in the context of geographical databases, where one naturally wishes to ask queries about connectivity (What are the connected components of a given set?) or reachability (Is there a path from A to B that lies entirely in a given region?). No existing constraint query languages that allow closed-form evaluation can express these properties. In the first part of the paper, we show that, in principle, there is no obstacle to getting closed languages that can express connectivity and reachability queries. In fact, we show that adding any topological property to standard languages like FO+Lin and FO+Poly results in a closed language. In the second part of the paper, we look for tractable closed languages for expressing reachability and connectivity queries. We introduce path logic, which allows one to state properties of paths with respect to given regions. We show that it is closed, has polynomial time data complexity for linear and polynomial constraints, and can express a large number of reachability properties beyond simple connectivity. Query evaluation in the logic involves obtaining a discrete abstraction of a continuous path, and model-checking of temporal formulae on the discrete structure.     

Input–output finite-time stability of discrete-time systems under finite-time boundedness

This paper deals with the input–output finite-time stability of discrete time-varying linear systems in the presence of finite-time boundedness. The state boundedness and output stability of this system are concerned simultaneously to avoid the large unacceptable values during certain transients. For two different classes of norm-bounded input signals, the sufficient conditions for the system satisfying both the state finite-time boundedness (FTB) and input–output finite-time stability (IO-FTS) are developed. Based on a set of linear matrix inequalities (LMIs), the controller design method via state feedback for the discrete-time system satisfying both FTB and IO-FTS is presented for the two classes of external norm-bounded input. The conditions proposed can simultaneously guarantee the state and output of closed-loop system do not exceed the boundary during the specified finite-time interval. Two examples are employed to verify the effectiveness of the proposed method.     

Robust Finite-time Synchronization of Non-identical Fractional-order Hyperchaotic Systems and Its Application in Secure Communication

This paper proposes a novel adaptive sliding mode control (SMC) method for synchronization of non-identical fractional-order (FO) chaotic and hyper-chaotic systems. Under the existence of system uncertainties and external disturbances, finite-time synchronization between two FO chaotic and hyperchaotic systems is achieved by introducing a novel adaptive sliding mode controller (ASMC). Here in this paper, a fractional sliding surface is proposed. A stability criterion for FO nonlinear dynamic systems is introduced. Sufficient conditions to guarantee stable synchronization are given in the sense of the Lyapunov stability theorem. To tackle the uncertainties and external disturbances, appropriate adaptation laws are introduced. Particle swarm optimization (PSO) is used for estimating the controller parameters. Finally, finite-time synchronization of the FO chaotic and hyper-chaotic systems is applied to secure communication.      

Testing protocols in Internet of Things by a formal passive technique

In recent years, Extensible Messaging and Presence Protocol （XMPP） is gaining momentum in Internet of Things （IoT）. It has been widely used in chatting, message exchanging and unique addressing. As a matter of course, it raises an interesting issue： how to formally test the conformance and performance of XMPP in IoT environment. While conformance testing of communicating protocols is a functional test that verifies whether the behaviors of the protocol satisfy defined requirements, performance testing is a qualitative and quantitative test that aims at checking whether the performance requirements of the protocol are satisfied under certain conditions. In this paper, we present a logic-based passive testing approach that can test both the conformance and the performance of XMPP protocol through real execution traces and formally specified properties. To evaluate and assess our methodology, we present a developed prototype and the experiments with a set of XMPP properties. Finally, the relevant verdicts and conclusions are provided.     

Controllability of Boolean control networks avoiding states set

In this paper, using semi-tensor product and the vector form of Boolean logical variables, the Boolean control network （BCN） is expressed as a bilinear discrete time system about state and control variables. Based on the algebraic form, the reachability and controllability avoiding undesirable states set are discussed. The reachability and controllability discussed here are under certain constraint and tile definitions of reachability and controllability avoiding undesirable states set have practical meaning. Also, the necessary and sufficient conditions for reachability and controllability are given. At last, the control sequence that steers one state to another is constructed.     

考虑扰动与输入饱和的机械臂连续非奇异快速终端滑模控制

针对机械臂控制过程中由于扰动与输入饱和造成的控制精度低的问题,提出一种连续非奇异快速终端滑模控制算法.首先,针对输入饱和问题,设计饱和补偿系统以消除输入饱和特性;其次,为避免滑模控制的抖振问题,设计二阶模型不确定与扰动估计器(UDE)对扰动项进行估计;同时,为进一步提高控制精度,采用自适应方法对扰动估计误差进行控制;在...     

Automatic motion generation exploiting the global structure of nonlinear dynamics based on finite-time reachability

In this paper, we propose a novel approach for motion generation in robotic systems based on the notion of finite-time reachability. The key idea is to segment the state space in terms of the reachability of particular target regions in finite time. The advantage of this approach is that precisely controlled joint trajectories are not necessary (as is often the case in traditional robotics). Complex movements can be generated by defining a hierarchy of controllers responsible for reaching multiple transitional regions toward the target region. Our method can simultaneously generate movements and the control for nonlinear robot systems. This method generates efficient motions exploiting the intrinsic characteristics of the mechanism and the environment. We present experimental results for two tasks: a pendulum swing-up and balancing problem and a bipedal walking problem.     

概率布尔控制网络的弱能控性

本文研究了概率布尔控制网络的弱能控性,系统的弱能控性是概率布尔网络精确能控的一个推广.首先利用矩阵的半张量积和逻辑变量的向量表示,概率布尔控制网络被表示为离散时间动态系统.接着给出概率布尔控制网络弱能控的定义,从离散时间系统的结构矩阵出发,构造了最大概率转移矩阵,矩阵中的元素表示相应状态之间可能发生转移的最大概率,在此基础上研究了概率布尔控制网络的弱能控的条件,同时给出了两个状态弱能达时控制序列的设计算法.最后通过例子进一步解释了弱能控的概念和控制序列设计算法的有效性.     

Model-based Predictive Control of Hybrid Systems: A Probabilistic Neural-network Approach to Real-time Control

This paper proposes an approach for reducing the computational complexity of a model-predictive-control strategy for discrete-time hybrid systems with discrete inputs only. Existing solutions are based on dynamic programming and multi-parametric programming approaches, while the one proposed in this paper is based on a modified version of performance-driven reachability analyses. The algorithm abstracts the behaviour of the hybrid system by building a ’tree of evolution’. The nodes of the tree represent the reachable states of a process, and the branches correspond to input combinations leading to designated states. A cost-function value is associated with each node and based on this value the exploration of the tree is driven. For any initial state, an input sequence is thus obtained, driving the system optimally over a finite horizon. According to the model predictive strategy, only the first input is actually applied to the system. The number of possible discrete input combinations is finite and the feasible set of the states of the system may be partitioned according to the optimization results. In the proposed approach, the partitioning is performed offline and a probabilistic neural network (PNN) is then trained by the set of points at the borders of the state-space partitions. The trained PNN is used as a system-state-based control-law classifier. Thus, the online computational effort is minimized and the control can be implemented in real time.     

Set reachability and set stability of Boolean networks with state-dependent asynchronous updating rule

Asynchronous behavior is significant for real biological systems. This paper explores the impact of state-dependent asynchronous updating rule (SDAUR) on the set reachability and set stability of Boolean networks (BNs). First, a set of state-dependent control variables is introduced to describe the SDAUR. Second, a new asynchronous set reachablity matrix is constructed based on an auxiliary input and semi-tensor product. Third, using the asynchronous set reachablity matrix, several necessary and sufficient conditions are obtained for the set reachablity and set stability of BNs with SDAUR. Finally, the new results proposed in this paper are verified through the immunomic network.     

Robust finite-time control for neutral systems with time-varying delays via sliding mode observer

This paper is concerned with the problem of robust finite-time sliding mode control (SMC) for a class of continuous-time uncertain neutral systems with time-varying delays. Firstly, based on the constructed sliding mode observer, an integral sliding surface is put forward on the estimation space. Secondly, the synthesized SMC law guarantees the finite-time reachability of the predefined sliding surface. Thirdly, through finite-time stability analysis, sufficient conditions are established to guarantee the required performance of the system during both reaching phase and sliding motion phase. Finally, a practical example is provided to verify the effectiveness of the proposed method.     

Observer-based continuous finite-time attitude control for rigid–flexible coupling satellites

In this paper, a novel finite-time attitude control law is proposed for rigid–flexible coupling satellites in large angle manoeuver. First, the rigid–flexible coupling dynamic model is set up to reflect the coupling effect between the deformation of flexible appendages and the spatial movement of the rigid hub. Then an extended state observer (ESO) is designed to estimate and compensate the total perturbation including high-order flexible coupling terms, external disturbances and uncertain inertia. Following this, a continuous finite-time attitude controller is designed based on non-singular fast terminal sliding mode (NFTSM) and fast power reaching law, which is introduced to smooth the control input and eliminate the chattering. Numerical simulation is designed to verify the finite-time stability, high accuracy, disturbance rejectionand vibration damping of the proposed control scheme and then a ground experimental system is set to further test the controller's practicability.     

基于MapReduce的H.264/AVC并行视频编码

提出一个基于MapReduce的并行视频编码架构, 将源视频切分后以任务的形式分发到不同的处理器上并行地进行编码处理, 以达到提高编码速度的目的。为使整个任务的完成时间最短并平衡负载, 系统综合考虑视频编码特点及处理器的处理能力, 给出LBMM(load balance maximal-minimal complete time)算法。仿真结果显示提出的并行视频编码架构极大地改善了大数据量视频序列的编码效率, 减少了作业的平均响应时间。LBMM与Min-Min算法和CloudSim现有的轮循调度算法相比视频编码速度更快。     

Reachability and controllability analysis of probabilistic finite automata via a novel matrix method

Probabilistic finite automata (PFAs) can exhibit a stochastic behavior, and its reachability and controllability is viewed as the first necessary step of supervisory control and stabilization. In this paper, the problems of reachability and controllability of PFAs are investigated under the framework of semi‐tensor product (STP) of matrices. First, a matrix‐based modeling approach to PFAs is proposed, and the dynamics of PFAs can be described as a discrete‐time bilinear expression. Meanwhile, the notions of reachability with a probability of one is formally defined, and F‐reachability with a probability of one is introduced. With the algebraic expression, necessary and sufficient conditions of such reachability are provided systematically. Second, F‐set controllability with a probability of one of PFAs is developed by introducing the F‐reachability with a probability of one, and the associated algebraic condition to verify such controllability are given. Finally, a simple example is illustrated to validate the proposed results.     

Behavioral Petri nets: a model for diagnostic knowledgerepresentation and reasoning

Some of the most popular approaches to model-based diagnosis consist of reasoning about a model of the behaviour of the system to be diagnosed by considering a set of observations about such a system and by explaining it in terms of a set of initial causes. This process has been widely modeled via logical formalisms essentially taking into account declarative aspects. In this paper, a new approach is proposed, where the diagnostic process is captured within a framework based on the formalism of Petri nets. We introduce a particular net model, called Behavioral Petri Net (BPN), We show how the formalization of the diagnostic process can be obtained in terms of reachability in a BPN and can be implemented by exploiting classical analysis techniques of Petri nets like reachability graph analysis and P-invariant computation. Advantages of the proposed methods, like suitability to parallel processing and exploitation of linear algebra techniques, are then pointed out.     

Polyhedral reachable set with positive controls

Given a reachable discrete-time linear system (A,b), the reachable set is a cone when a positive constraint is imposed on the input. The problem to be studied is the geometrical structure of the reachable set = cone(b, Ab, A²b,...) in terms of the spectrum ofA. In particular, conditions which ensure , or its closureR, is a polyhedral proper cone are derived. The impact of the given results on finite-time reachability and positive realizability is also discussed.     

Leader-following control of perturbed second-order integrator systems with binary relative information

In this paper, we study the leader-following control problem for second-order integrator systems with bounded input disturbances using only binary relative position and velocity information. The leader is allowed to be dynamically evolving with a bounded acceleration which is unknown to any of the followers. With the proposed distributed controller, we prove that despite the fact that only very coarse relative information is available, robust finite-time leader-following control can be achieved by properly choosing the control gains. As an extension, robust finite-time formation control can also be achieved with the proposed control strategy using only binary relative information. Two simulation examples are provided to illustrate the results.     

不确定线性系统的可达集估计

本文针对线性不确定系统,研究了系统状态可达集估计问题.在已知参考输入,未知扰动有界的条件下,提出了一种新的可达集估计方法,并把所提方法推广到系统不稳定的情况,分别估计出不稳定系统的闭环可达集和开环可达集.通过分析动态系统的李雅普诺夫函数,将求取系统可达集的问题转化为线性矩阵不等式优化问题,并将可达集范围用椭球集形式表述.最后分别通过数值仿真分析,验证了所提出方法对线性系统可达集估计的有效性.