Minyue Fu

University of Newcastle, Newcastle, New South Wales, Australia

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Publications (289)329.93 Total impact

  • Source
    Guofei Chai · Che Lin · Zhiyun Lin · Minyue Fu
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    ABSTRACT: This paper considers the collaborative localization problem for a team of mobile agents. The goal is to estimate the relative coordinate of each agent with respect to a stationary landmark. Each agent is supposed to be able to measure its own velocity and the distances to nearby agents as well as the change rates of the distances. Due to limited sensing capability, movements of agents and possible interference of severe environments, the topology describing the measurements and communication information flow among the agents and the landmark is usually time-varying. Under such a scenario, this paper develops a consensus-like fusion scheme together with a continuous-time estimator for the collaborative localization problem. It is proved that the fused estimate of each agent's position globally asymptotically converges to its true value if the movements of the agents satisfy a persistent excitation condition and each agent is uniformly jointly reachable from the landmark in the time-varying topology. The effectiveness of the proposed scheme is verified through simulations without and with measurement noises.
    Full-text · Article · Jan 2016 · Systems & Control Letters
  • Source
    Damián Marelli · Brett Ninness · Minyue Fu
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    ABSTRACT: The paper presents a fully distributed scheme to optimal parameter estimation, withapplication in multi-area interconnected power systems. In this scheme, each area performs itsown local parameter estimation based on low-dimensional local and boundary measurementsas well as the estimate of boundary parameters from its neighbors. We show, under certainassumptions, that the distributed estimation scheme provides the same accurate unbiasedestimate as the centralized weighted least-squares estimate with finite time convergence. Thedistributed estimation scheme is robust to communication link failures, delays, and asynchronismof control centers in different areas. A simulation using the IEEE 118-bus system is included todemonstrate the performance.
    Preview · Article · Dec 2015
  • Source
    Tingrui Han · Ronghao Zheng · Zhiyun Lin · Minyue Fu
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    ABSTRACT: This paper studies the formation control problem for a leader-follower network in 3D. The objective is to control the agents to form a globally rigid formation, for which the sensing graph is directed and switching while the communication graph is undirected and switching. Under such a setup, a barycentric coordinate based approach is proposed for the design of formation control laws ensuring global convergence. A necessary and sufficient graphical condition is obtained to guarantee that the followers converge to form a globally rigid formation together with the leaders. By this approach, the formation of the whole group, namely, the orientation, translation and formation scale, can be reconfigured by the leaders.
    Full-text · Conference Paper · Dec 2015
  • Huanshui Zhang · Juanjuan Xu · Minyue Fu
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    ABSTRACT: This paper is concerned with the long-standing problems of linear quadratic regulation (LQR) control and stabilization for a class of discrete-time stochastic systems involving multiplicative noises and input delay. These fundamental problems have attracted resurgent interests due to development of networked control systems. An explicit analytical expression is given for the optimal LQR controller. More specifically, the optimal LQR controller is shown to be a linear function of the conditional expectation of the state, with the feedback gain based on a Riccati-ZXL difference equation. It is also shown that the system is stabilizable in the mean-square sense if and only if an algebraic Riccati-ZXL equation has a particular solution. These results are based on a new technical tool, which establishes a non-homogeneous relationship between the state and the costate of this class of systems, and the introduction of a new Lyapunov function for the finite-horizon optimal control design.
    No preview · Article · Oct 2015 · IEEE Transactions on Automatic Control
  • Damian Marelli · Minyue Fu · Brett Ninness
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    ABSTRACT: Bayesian tracking is a general technique for state estimation of nonlinear dynamic systems, but it suffers from the drawback of computational complexity. This paper is concerned with a class of Wiener systems with multiple nonlinear sensors. Such a system consists of a linear dynamic system followed by a set of static nonlinear measurements. We study a maximum-likelihood Kalman filtering (MLKF) technique which involves maximum-likelihood estimation of the nonlinear measurements followed by classical Kalman filtering. This technique permits a distributed implementation of the Bayesian tracker and guarantees the boundedness of the estimation error. The focus of this paper is to study the extent to which the MLKF technique approximates the theoretically optimal Bayesian tracker. We provide conditions to guarantee that this approximation becomes asymptotically exact as the number of sensors becomes large. Two case studies are analyzed in detail.
    No preview · Article · Sep 2015 · IEEE Transactions on Signal Processing
  • Tianju Sui · Minyue Fu · Keyou You
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    ABSTRACT: This study studies a sensor scheduling problem for the state estimation of a stochastic discrete-time system where the measurements are to be sent from multiple sensors to a centralised estimator through a lossy channel. By adopting a carrier sense multiple access/collision avoidance (CSMA/CA) protocol, the packet loss rate of the channel increases with the number of competing sensors for data communication. To increase the channel utilisation, it requires to smartly select informative sensors to transmit their measurements. Depending on the availability of the acknowledgment (ACK) messages from the estimator, both online and offline algorithms for scheduling sensor communication are proposed to optimise the expected performance of minimum mean-square error state estimator. Particularly, the online scheduling uses the ACK to trigger the sensor communication while the offline version adopts a random transmission framework and only decides the probability of sending measurements for each sensor in an offline manner. The optimal online scheduler is given by the solution of an integer programming, which is approximated by a practically solvable optimisation. Simulations are included to demonstrate the effectiveness of the proposed algorithms.
    No preview · Article · Aug 2015 · IET Control Theory and Applications
  • Source
    Tingrui Han · Zhiyun Lin · Minyue Fu
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    ABSTRACT: This paper concentrates on the formation merging control problem for a leader–follower network. The objective is to control a team of agents called followers such that they are merged with another team of agents called leaders to form a single globally rigid formation. A method based on graph Laplacian is introduced to address this problem. Each follower selects its interaction neighbors and interaction weights according to the given target configuration. The graph modeling the interaction topology of all the agents is directed and time-varying. First, by assuming that the synchronized velocity of the leaders is known to all the followers, a necessary and sufficient condition is derived to ensure uniform asymptotic formation merging. Second, we relax this assumption and consider that the velocity of the leaders is known to only a subset of followers, for which the same necessary and sufficient condition is obtained with the help of an internal model for velocity synchronization.
    Full-text · Article · Aug 2015 · Automatica
  • Zhiyun Lin · Lili Wang · Zhimin Han · Minyue Fu

    No preview · Article · Jul 2015 · IEEE Transactions on Automatic Control
  • Source
    Zhiyun Lin · Minyue Fu · Yingfei Diao
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    ABSTRACT: This paper studies the 2D localization problem of a sensor network given anchor node positions in a common global coordinate frame and relative position measurements in local coordinate frames between node pairs. It is assumed that the local coordinate frames of different sensors have different orientations and the orientation difference with respect to the global coordinate frame are not known. In terms of graph connectivity, a necessary and sufficient condition is obtained for self-localizability that leads to a fully distributed localization algorithm. Moreover, a distributed verification algorithm is developed to check the graph connectivity condition, which can terminate successfully when the sensor network is self-localizable. Finally, a fully distributed, linear, and iterative algorithm based on the complex-valued Laplacian associated with the sensor network is proposed, which converges globally and gives the correct localization result.
    Full-text · Article · Jul 2015 · IEEE Transactions on Signal Processing
  • Source
    Tianju Sui · Keyou You · Minyue Fu
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    ABSTRACT: This paper studies a networked state estimation problem for a spatially large linear system with a distributed array of sensors, each of which offers partial state measurements. A lossy communication network is used to transmit the sensor measurements to a central estimator where the minimum mean square error (MMSE) state estimate is computed. Under a Markovian packet loss model, we provide necessary and sufficient conditions for the stability of the estimator for any diagonalizable system in the sense that the mean of the state estimation error covariance matrix is uniformly bounded. In particular, the stability conditions for the second-order systems with an i.i.d. packet loss model are explicitly expressed as simple inequalities in terms of the largest open-loop pole and the packet loss rate.
    Full-text · Article · Mar 2015 · Automatica
  • Source
    Ronghao Zheng · Zhiyun Lin · Minyue Fu · Dong Sun
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    ABSTRACT: The paper studies the general circumnavigation problem for a team of unicycle-type agents, with the goal of achieving specific circular formations and circling on different orbits centered at a target of interest. A novel distributed solution is proposed, in which the control laws are heterogeneous for the agents such that some agents are repellant from the target while attractive to its unique neighbor and some agents are attractive to the target while repellant from its neighbor. A systematic procedure is developed to design the control parameters according to the specific radii of the orbits and the formations that the agents are desired to converge to. Moreover, this control scheme uses a minimum number of information flow links between the agents and local measurements of relative position only. Based on the block diagonalization of circulant matrices by a Fourier transform, asymptotic convergence properties are analyzed rigorously. The validity of the proposed control algorithm is also demonstrated through numerical simulations.
    Full-text · Article · Mar 2015 · Automatica
  • Source
    Yuting Mou · Hao Xing · Zhiyun Lin · Minyue Fu
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    ABSTRACT: Plug-in hybrid electric vehicles (PHEV) are expected to become widespread in the near future. However, high penetration of PHEVs can overload the distribution system. In smart grid, the charging of PHEVs can be controlled to reduce the peak load, known as demand-side management (DSM). In this paper, we focus on the DSM for PHEV charging at low-voltage transformers (LVTs). The objective is to flatten the load curve of LVTs, while satisfying each consumer’s requirement for their PHEV to be charged to the required level by the specified time. We first formulate this problem as a convex optimization problem and then propose a decentralized water-filling-based algorithm to solve it. A moving horizon approach is utilized to handle the random arrival of PHEVs and the inaccuracy of the forecast nonPHEV load. We focus on decentralized solutions so that computational load can be shared by individual PHEV chargers and the algorithm is scalable. Numerical simulations are given to demonstrate the effectiveness of our algorithm.
    Full-text · Article · Mar 2015 · IEEE Transactions on Smart Grid
  • Hao Xing · Yuting Mou · Minyue Fu · Zhiyun Lin
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    ABSTRACT: Economic dispatch problem (EDP) is an important optimization problem in power systems, aiming at minimizing the aggregate cost of a group of power generators, which cooperatively generate a given amount of power within their individual capacity constraints. In this paper, we present an average consensus based bisection approach for the EDP with quadratic cost functions, which is fully distributed and especially desirable in a smart grid scenario. Under the connected topology condition, we show that the proposed iterative solution converges to the globally optimal solution of EDP, without the need for a central decision maker or a leader node. Finally, numerical simulation based on the IEEE 14-bus system is given to show the performance of the approach.
    No preview · Article · Feb 2015 · Proceedings of the IEEE Conference on Decision and Control
  • Lili Wang · Zhiyun Lin · Minyue Fu
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    ABSTRACT: This paper proposes a simple, distributed control protocol for multi-agent systems with relative sensing capability over a directed network to achieve an affine formation. In contrast to the linear consensus protocol, the control protocol in this paper takes both positive and negative weights that partially encode the target formation shape and is thus able to achieve a formation pattern rather than just consensus. Having possibly negative weights in a graph, the associated Laplacian is called the generalized Laplacian. The connection between the generic rank property of the generalized Laplacian and the connectivity of a directed graph is established, based on which a necessary and sufficient graphical condition is developed to ensure the emergence of an affine formation by the proposed distributed control protocol.
    No preview · Article · Feb 2015 · Proceedings of the IEEE Conference on Decision and Control
  • Z. Han · Z. Lin · M. Fu
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    ABSTRACT: This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant over-all group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the single-integrator kinematics case and the double-integrator dynamics case.
    No preview · Article · Feb 2015 · Proceedings of the IEEE Conference on Decision and Control

  • No preview · Article · Jan 2015 · IEEE/ASME Transactions on Mechatronics
  • Hao Xing · Minyue Fu · Zhiyun Lin · Yuting Mou

    No preview · Article · Jan 2015 · IEEE Transactions on Power Systems

  • No preview · Article · Jan 2015 · IEEE Transactions on Automatic Control

  • No preview · Article · Jan 2015 · IEEE Transactions on Control of Network Systems
  • Yuanhua Yang · Minyue Fu · Huanshui Zhang
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    ABSTRACT: This paper studies an optimal state estimation (Kalman filtering) problem under the assumption that output measurements are subject to random time delays caused by network transmissions without time stamping. We first propose a random time delay model which mimics many practical digital network systems. We then study the so-called unbiased, uniformly bounded linear state estimators and show that the estimator structure is given based on the average of all received measurements at each time for different maximum time delays. The estimator gains can be derived by solving a set of recursive discrete-time Riccati equations. The estimator is guaranteed to be optimal in the sense that it is unbiased with uniformly bounded estimation error covariance. A simulation example shows the effectiveness of the proposed algorithm.Copyright © 2013 John Wiley & Sons, Ltd.
    No preview · Article · Nov 2014 · International Journal of Robust and Nonlinear Control

Publication Stats

4k Citations
329.93 Total Impact Points


  • 1992-2015
    • University of Newcastle
      • • School of Electrical Engineering and Computer Science
      • • Centre for Complex Dynamic Systems and Control
      • • Department of Electrical Engineering
      Newcastle, New South Wales, Australia
  • 2010-2013
    • Zhejiang University
      • Department of Control Science and Engineering
      Hang-hsien, Zhejiang Sheng, China
    • Shandong University
      Chi-nan-shih, Shandong Sheng, China
  • 2004
    • National ICT Australia Ltd
      Sydney, New South Wales, Australia
  • 1994-1999
    • University of Iowa
      • Department of Electrical and Computer Engineering
      Iowa City, IA, United States
  • 1996
    • Illinois Institute of Technology
      • Department of Electrical & Computer Engineering
      Chicago, IL, United States