IEEE Access Special Section Editorial: Recent Advances on Hybrid Complex Networks: Analysis and Control

Complex networks typically involve multiple disciplines due to network dynamics and their statistical nature. When modeling practical networks, both impulsive effects and logical dynamics have recently attracted increasing attention. Hence, it is of interest and importance to consider hybrid complex networks with impulsive effects and logical dynamics. Relevant research is prevalent in cells, ecology, social systems, and communication engineering. In hybrid complex networks, numerous nodes are coupled through networks and their properties usually lead to complex dynamic behaviors, including discrete and continuous dynamics with finite values of time and state space. Generally, continuous and discrete sections of the systems are described by differential and difference equations, respectively. Logical networks are used to model the systems where time and state space take finite values. Although interesting results have been reported regarding hybrid complex networks, the analysis methods and relevant results could be further improved with respect to conservative impulsive delay inequalities and reproducibility of corresponding stability or synchronization criteria. Therefore, it is necessary to devise effective approaches to improve the analysis method and results dealing with hybrid complex networks

Global synchronization for delayed complex networks with randomly occurring nonlinearities and multiple stochastic disturbances

This is the post print version of the article. The official published version can be obained from the link - Copyright 2009 IOP Publishing LtdThis paper is concerned with the synchronization problem for a new class of continuous time delayed complex networks with stochastic nonlinearities (randomly occurring nonlinearities), interval time-varying delays, unbounded distributed delays as well as multiple stochastic disturbances. The stochastic nonlinearities and multiple stochastic disturbances are investigated here in order to reflect more realistic dynamical behaviors of the complex networks that are affected by the noisy environment. By utilizing a new matrix functional with the idea of partitioning the lower bound h1 of the time-varying delay, we employ the stochastic analysis techniques and the properties of the Kronecker product to establish delay-dependent synchronization criteria that ensure the globally asymptotically mean-square synchronization of the addressed stochastic delayed complex networks. The sufficient conditions obtained are in the form of linear matrix inequalities (LMIs) whose solutions can be readily solved by using the standard numerical software. A numerical example is exploited to show the applicability of the proposed results.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, an International Joint Project sponsored by the Royal Society of the UK, the National 973 Program of China under Grant 2009CB320600, the National Natural Science Foundation of China under Grant 60804028, the Specialized Research Fund for the Doctoral Program of Higher Education for New Teachers under Grant 200802861044, the Teaching and Research Fund for Excellent Young Teachers at Southeast University of China, and the Alexander von Humboldt Foundation of Germany

Decomposition and Mean-Field Approach to Mixed Integer Optimal Compensation Problems

Mixed integer optimal compensation deals with optimization problems with integer- and real-valued control variables to compensate disturbances in dynamic systems. The mixed integer nature of controls could lead to intractability in problems of large dimensions. To address this challenge, we introduce a decomposition method which turns the original n-dimensional optimization problem into n independent scalar problems of lot sizing form. Each of these problems can be viewed as a two-player zero-sum game, which introduces some element of conservatism. Each scalar problem is then reformulated as a shortest path one and solved through linear programming over a receding horizon, a step that mirrors a standard procedure in mixed integer programming. We apply the decomposition method to a mean-field coupled multi-agent system problem, where each agent seeks to compensate a combination of an exogenous signal and the local state average. We discuss a large population mean-field type of approximation and extend our study to opinion dynamics in social networks as a special case of interest

Synchronization in output-coupled temporal Boolean networks

This paper presents an analytical study of synchronization in an array of output-coupled temporal Boolean networks. A temporal Boolean network (TBN) is a logical dynamic system developed to model Boolean networks with regulatory delays. Both state delay and output delay are considered, and these two delays are assumed to be different. By referring to the algebraic representations of logical dynamics and using the semi-tensor product of matrices, the output-coupled TBNs are firstly converted into a discrete-time algebraic evolution system, and then the relationship between the states of coupled TBNs and the initial state sequence is obtained. Then, some necessary and sufficient conditions are derived for the synchronization of an array of TBNs with an arbitrary given initial state sequence. Two numerical examples including one epigenetic model are finally given to illustrate the obtained results

Admittance-based controller design for physical human-robot interaction in the constrained task space

In this article, an admittance-based controller for physical human-robot interaction (pHRI) is presented to perform the coordinated operation in the constrained task space. An admittance model and a soft saturation function are employed to generate a differentiable reference trajectory to ensure that the end-effector motion of the manipulator complies with the human operation and avoids collision with surroundings. Then, an adaptive neural network (NN) controller involving integral barrier Lyapunov function (IBLF) is designed to deal with tracking issues. Meanwhile, the controller can guarantee the end-effector of the manipulator limited in the constrained task space. A learning method based on the radial basis function NN (RBFNN) is involved in controller design to compensate for the dynamic uncertainties and improve tracking performance. The IBLF method is provided to prevent violations of the constrained task space. We prove that all states of the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB) by utilizing the Lyapunov stability principles. At last, the effectiveness of the proposed algorithm is verified on a Baxter robot experiment platform. Note to Practitioners-This work is motivated by the neglect of safety in existing controller design in physical human-robot interaction (pHRI), which exists in industry and services, such as assembly and medical care. It is considerably required in the controller design for rigorously handling constraints. Therefore, in this article, we propose a novel admittance-based human-robot interaction controller. The developed controller has the following functionalities: 1) ensuring reference trajectory remaining in the constrained task space: A differentiable reference trajectory is shaped by the desired admittance model and a soft saturation function; 2) solving uncertainties of robotic dynamics: A learning approach based on radial basis function neural network (RBFNN) is involved in controller design; and 3) ensuring the end-effector of the manipulator remaining in the constrained task space: different from other barrier Lyapunov function (BLF), integral BLF (IBLF) is proposed to constrain system output directly rather than tracking error, which may be more convenient for controller designers. The controller can be potentially applied in many areas. First, it can be used in the rehabilitation robot to avoid injuring the patient by limiting the motion. Second, it can ensure the end-effector of the industrial manipulator in a prescribed task region. In some industrial tasks, dangerous or damageable tools are mounted on the end-effector, and it will hurt humans and bring damage to the robot when the end-effector is out of the prescribed task region. Third, it may bring a new idea to the designed controller for avoiding collisions in pHRI when collisions occur in the prescribed trajectory of end-effector

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFBICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance

Soft Computing Techniques and Their Applications in Intel-ligent Industrial Control Systems: A Survey

Soft computing involves a series of methods that are compatible with imprecise information and complex human cognition. In the face of industrial control problems, soft computing techniques show strong intelligence, robustness and cost-effectiveness. This study dedicates to providing a survey on soft computing techniques and their applications in industrial control systems. The methodologies of soft computing are mainly classified in terms of fuzzy logic, neural computing, and genetic algorithms. The challenges surrounding modern industrial control systems are summarized based on the difficulties in information acquisition, the difficulties in modeling control rules, the difficulties in control system optimization, and the requirements for robustness. Then, this study reviews soft-computing-related achievements that have been developed to tackle these challenges. Afterwards, we present a retrospect of practical industrial control applications in the fields including transportation, intelligent machines, process industry as well as energy engineering. Finally, future research directions are discussed from different perspectives. This study demonstrates that soft computing methods can endow industry control processes with many merits, thus having great application potential. It is hoped that this survey can serve as a reference and provide convenience for scholars and practitioners in the fields of industrial control and computer science