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arXiv 2023年

作者： Wang, Chongzhi Shao, Haibin Li, Dewei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Synchronization and desynchronization are the two ends on the spectrum of emergent phenomena that somehow often coexist in biological, neuronal, and physical networks. However, previous studies essentially regard their coexistence as a partition of the network units: those that are in relative synchrony and those that are not. In real-world systems, desynchrony bears subtler divisions because the interacting units are high-dimensional, like fish schooling with varying speeds in a circle, synchrony and desynchrony may occur to the different dimensions of the population. In this work, we show with an ensemble of multidimensional Kuramoto oscillators, that this property is generalizable to arbitrary dimensions: for a d dimensional population, there exist 2d system modes where each dimension is either synchronized or desynchronized, represented by a set of almost binary order parameters. Such phenomena are induced by a matrix coupling mechanism that goes beyond the conventional scalar-valued coupling by capturing the inter-dimensional dependence amongst multidimensional individuals, which arises naturally from physical, sociological and engineering systems. As verified by our theory, the property of the coupling matrix thoroughly affects the emergent system modes and the phase transitions toward them. By numerically demonstrating that these system modes are interchangeable through matrix manipulation, we also observe explosive synchronization/desynchronization that is induced without the conditions that are previously deemed essential. Our discovery provides theoretical analogy to the cerebral activity where the resting state and the activated state coexist unihemispherically, it also evokes a new possibility of information storage in oscillatory neural networks. Copyright © 2023, The Authors. All rights reserved.

关键词： Synchronization

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DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation

DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spa...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Huixin Zhang Guangming Wang Xinrui Wu Chenfeng Xu Mingyu Ding Masayoshi Tomizuka Wei Zhan Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Department of Engineering University of Cambridge Cambridge U.K. UC Berkeley Berkeley CA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential pose initialization module, a gated hierarchical pose refinement module, and a temporal feature propagation module. First, spatial features are encoded using a point feature pyramid, with features reused in successive pose estimations to reduce computational overhead. Second, a sequential pose initialization method is introduced, leveraging the high-frequency sampling characteristic of LiDAR to initialize the LiDAR pose. Then, a gated hierarchical pose refinement mechanism refines poses from coarse to fine by selectively retaining or discarding motion information from different layers based on gate estimations. Finally, temporal feature propagation is proposed to incorporate the historical motion information from point cloud sequences, and address the spatial inconsistency issue when transmitting motion information embedded in point clouds between frames. Experimental results on the KITTI odometry dataset and Argoverse dataset demonstrate that DSLO outperforms state-of-the-art methods, achieving at least a 15.67% improvement on RTE and a 12.64% improvement on RRE, while also achieving a 34.69% reduction in runtime compared to baseline methods. Our implementation will be available at https://***/IRMVLab/DSLO.

关键词： Point cloud compression Solid modeling Laser radar Accuracy Three-dimensional displays Runtime Logic gates Robot sensing systems Real-time systems Odometry

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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map

arXiv

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arXiv 2024年

作者： Wu, Xinrui Xu, Jianbo Hu, Puyuan Wang, Guangming Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

— Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline termed LHMap-loc is proposed, which achieves accurate and efficient monocular localization in LiDAR maps. Firstly, feature encoding is carried out on the original LiDAR point cloud map by generating offline heat point clouds, by which the size of the original LiDAR map is compressed. Then, an end-to-end online pose regression network is designed based on optical flow estimation and spatial attention to achieve real-time monocular visual localization in a pre-built map. In addition, a series of experiments have been conducted to prove the effectiveness of the proposed method. Our code is available at: https://***/IRMVLab/LHMaploc. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical radar

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Synchronization Stability of Grid-Tied VSC With control Limiters: Models, Solutions, and Boundaries

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IEEE Transactions on Energy Conversion 2024年

作者： Wu, Tianhao Jiang, Qirong Liu, Feng Huang, Meng Xie, Xiaorong State Grid Corporation of China National Power Dispatch and Control Center Beijing100031 China Tsinghua University State Key Laboratory of Power System Department of Electrical Engineering Beijing100084 China Wuhan University School of Electrical Engineering and Automation Wuhan430072 China

Existing studies on large-signal synchronization stability of the grid-following voltage-source converters (VSCs) have been focused on the phase-locked loop (PLL). Saturation nonlinearities introduced by current or voltage limiters, which can emerge during large disturbances, could greatly complicate the instability mechanism of PLL-synchronized converters. However, limited attention has been paid to such saturation-induced instability issues in prior work. This paper investigates the large-signal synchronization stability of grid-tied VSCs with full consideration to two typical kinds of saturation nonlinearities in the VSC's control system: the current hard limiter and the voltage circular limiter. The conditions under which the VSC may enter a saturated state are revealed. The impacts of hard and circular limiters on the system transient dynamics are analyzed separately. A unified differential equation (UDE) model that combines both kinds of limiters is proposed for quantitative analysis of synchronization stability. Subsequently, the averaging-theory-based analysis approximately solves the UDE model and provides the analytical large-signal stability boundaries of the system. The impacts of various factors, including operating conditions, PLL parameters, limiter thresholds, and active/reactive current control strategies, on the synchronization stability are investigated based on the proposed model. The effectiveness of theoretical analyses is validated via time-domain simulation and control hardware-in-the-loop tests. © 1986-2012 IEEE.

关键词： Phase locked loops

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A Fault-Tolerant control Scheme for Civil Aircraft Based on Prescribed Performance control

A Fault-Tolerant Control Scheme for Civil Aircraft Based on ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Duan, Jingqi Wu, Yunjie Wang, Ziyu State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beijing100191 China Large Aircraft Advanced Training Center Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

In this paper, a fault-tolerant control scheme based on prescribed performance control is proposed to solve the pitch angle attitude control problem of large civil aircraft when actuator faults and external disturbances exist simultaneously. Firstly, the longitudinal motion model of civil aircraft with actuator fault is established. Among them, actuator faults and external disturbances are regarded as lumped disturbances. Then, a performance envelope is constructed based on the hyperbolic cosecant function which can adjust the transient convergence rate and the steady convergence rate respectively. In order to achieve fast online estimation of lumped disturbances, an RBF neural network observer is constructed. The introduction of tracking differentiator solves the problems of initial state constraint of prescribed performance control and "differential-explosion" in back-stepping control. After proving the stability of the system from the perspective of theoretical analysis, the simulation of pitch angle control under the condition of abrupt actuator faults and external disturbance is completed based on Boeing 747 longitudinal motion model. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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Safety-Aware Scheduling of Real-Time control systems with Burst Computing Tasks

SSRN

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SSRN 2024年

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the dropping of control computing subtasks, resulting in potential hazards. To address this issue, we propose a safety-aware task scheduling scheme. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks, ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called ADP-Opt. It decouples the complex original problem into multiple subproblems, which greatly reduces the search space and improves the solution efficiency. In the suboptimization problem, safety is maintained by limiting the upper bound of the system state's deviation to below the threshold. By introducing a penalty term in the cost function related to computing resources, we aim to balance the impact of control computing subtasks on control performance and the consumption of computing resources. Consequently, the overall cost of the control system can be minimized while releasing enough resources for burst computing tasks. Simulation results show that the scheduling decisions made by ADP-Opt can approach the optimal decision by approximately 99% efficiently. © 2024, The Authors. All rights reserved.

关键词： Cost functions

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Anti-swing Coordinated control of the UAV Wing Folding During the Aerial Recovery Process

Anti-swing Coordinated Control of the UAV Wing Folding Durin...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Liu, Yiheng Wang, Honglun Wang, Yanxiang Fan, Jiaxuan School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Beijing Institute of Astronautical System Engineering Beijing100076 China Shenyuan Honors College of Beihang University Beijing100191 China The Science and Technology On Aircraft Control Laboratory Beihang University Beijing100191 China Research and Development Center of China Academy of Launch Vehicle Technology Beijing100071 China

ISBN: (纸本)9789811966125

In the process of UAV aerial recovery, the UAV needs to fold its wings, which will lead to a sharp drop in the lift and cause the cable to sway. Aiming at this problem, an anti-swing coordinated control method of wing folding based on quadratic programming control allocation is proposed. It can make full use of the grid rudder of the drogue to compensate the lift lost caused by wing folding and use quadratic programming to allocate the rudder deflection angle that can not only satisfy the moment balance, but also satisfy the force balance, so as to realize the coordinated control of the drogue grid rudder and the UAV rudder surface. Simulations are conducted to verify the effectiveness of the proposed control method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Infinite-Horizon Optimal Wireless control Over Shared State-Dependent Fading Channels for IIoT systems

arXiv

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arXiv 2024年

作者： Wang, Shuling Li, Peizhe Zhu, Shanying Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Heterogeneous systems consisting of a multiloop wireless control system (WCS) and a mobile agent system (MAS) are ubiquitous in Industrial Internet of Things systems. Within these systems, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise its performance, requiring joint coordination between the WCS and MAS. Such coordination introduces different time steps and hybrid state spaces consisting of logical components and continuous components. This paper focuses on the infinite-horizon optimal control of MAS to ensure the performance of WCS while minimizing an average cost for the heterogeneous system subject to safety constraints. A state-dependent fading channel is modeled to capture interference among transmission links, as well as the effects of mobile agents’ movements on successful wireless transmission. In order to address the heterogeneous system dynamics, the optimal control problem is formulated as the optimal constrained set stabilization of the MAS by establishing a necessary and sufficient condition for the Lyapunov-like performance of WCS with the expected decay rates. Using the semi-tensor product of matrices, a constrained optimal state transition graph is constructed to encode the constrained system dynamics as well as objective function, which further reduces the problem into a minimum-mean cycle problem for the graph. By studying the properties of the graph, the feasibility is proven, and an effective algorithm is proposed for the construction of optimal input sequences. An illustrative example is provided to demonstrate effectiveness of the proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Tensors

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A Model Predictive control Approach for Virtually Coupled Train Set Based on Multi-Phase Trajectory Planning

A Model Predictive Control Approach for Virtually Coupled Tr...

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IEEE International Conference on Networking, Sensing and control

作者： Bosi Li Hongjie Liu Yinghui Lang Qingdong Jia Kun Zhang Kaixuan Li School of Automation and Intelligence Beijing Jiaotong University Beijing China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Beijing China Traffic Control Technology Co. Ltd. Beijing China

ISBN: (数字)9798350365221

ISBN: (纸本)9798350365238

Virtual coupling (VC) is an emerging technology that enhances railway operations by dynamically and accurately matching line capacity with passenger demand. However, challenges arise in coordinating the virtually coupled train set (VCTS) during inter-station operations and maintaining accurate control of the VCTS. To address this issue, we propose a multi-phase trajectory planning control approach to generate the reference trajectories for VCTS to enhance the synchronicity of interstation operations. However, during speed-varying inter-station operations, it remains challenging to control VCTS accurately under disturbances while adhering to safety constraints. The control layer employs a model predictive control (MPC) approach to ensure precise reference tracking, based on the optimized reference trajectories for all train units. The effectiveness of this approach is validated through experimental results.

关键词： Accuracy Trajectory planning Trajectory tracking Predictive models Rail transportation Trajectory Safety Sensors Public transportation Predictive control

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Active Target Tracking Using Bearing-only Measurements With Gaussian Process Learning

arXiv

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arXiv 2024年

作者： Fu, Yingbo Yang, Ziwen Zhu, Shanying Guo, Yi Chen, Cailian The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

This paper studies the tracking problem of a target with the partially unknown motion model by an active agent with bearing-only measurements using Gaussian process learning. To address this problem, a learning-planning-control framework is proposed. First, to learn and predict the target motion under mild assumptions, a Gaussian-process-based scheme is proposed, and a probabilistic uniform prediction error bound can be rigorously proved. Second, by analyzing the data dependence of the posterior covariance, we obtain an optimal relative trajectory to achieve efficient sampling. Third, to realize efficient learning, a controller to track the planned path is proposed based on the learned target motion, which can provide guaranteed tracking performance. Theoretical analysis is conducted to prove the the given probabilistic error bounds. Numerical examples and comparison with other typical methods verify the feasibility and superior performance of our proposed framework. Copyright © 2024, The Authors. All rights reserved.

关键词： Target tracking

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