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Secure Synchronization control for a Class of Cyber-Physical systems With Unknown Dynamics

IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1215-1224页

作者： Ning Wang Xiaojian Li College of Information Science and Engineering Northeastern UniversityShenyang 110819China State Key Laboratory of Synthetical Automation for Process Industries Northeastern Universityand with the Key Laboratory of Vibration and Control of Aero-Propulsion SystemMinistry of EducationNortheastern Universityand also with the College of Information Science and EngineeringNortheastern UniversityShenyang 110819China IEEE

This paper investigates the secure synchronization control problem for a class of cyber-physical systems(CPSs)with unknown system matrices and intermittent denial-of-service(DoS)*** the attack free case,an optimal control law consisting of a feedback control and a compensated feedforward control is proposed to achieve the synchronization,and the feedback control gain matrix is learned by iteratively solving an algebraic Riccati equation(ARE).For considering the attack cases,it is difficult to perform the stability analysis of the synchronization errors by using the existing Lyapunov function method due to the presence of unknown system *** order to overcome this difficulty,a matrix polynomial replacement method is given and it is shown that,the proposed optimal control law can still guarantee the asymptotical convergence of synchronization errors if two inequality conditions related with the DoS attacks ***,two examples are given to illustrate the effectiveness of the proposed approaches.

关键词： Algebraic Riccati equation(ARE) complex dynamical networks(CDNs) denial-of-service(DoS) secure control

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Research on Improved Particle Swarm Optimized Fuzzy PID control for Quadrotor UAV

Research on Improved Particle Swarm Optimized Fuzzy PID Cont...

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Chinese automation Congress (CAC)

作者： Guohong Li Pengfei Wei Weiyue Yang Ran Gao Tianjin Key Laboratory of Control Theory and in Complicated System Tianjin University of Technology Tianjin China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665426480

Aiming at the problem of blindness in selecting the scale factor and quantization factor in the fuzzy PID control of quadrotor UA V based on empirical knowledge and simulation debugging, an improved particle swarm algorithm is proposed to optimize the parameter factors of the fuzzy controller, method. Using the adaptive inertia - weight method to optimize the particle swarm can avoid the dilemma of local optimality at the beginning. At the same time, the ITAE criterion is selected as the adaptability of the particle swarm algorithm to achieve better control effect. The adaptive particle swarm fuzzy PID is proved to be faster than fuzzy PID and traditional PID, with less overshoot and shorter stabilization time; the particle swarm fuzzy PID algorithm takes less time to recover the stabilization time when disturbing signals are encountered.

关键词： PI control Quantization (signal) automation Attitude control Optimal control Debugging Blindness

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Leveraging Multi-stream Information Fusion for Trajectory Prediction in Low-illumination Scenarios: A Multi-channel Graph Convolutional Approach

arXiv

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arXiv 2022年

作者： Gong, Hailong Li, Zirui Lu, Chao Du, Guodong Gong, Jianwei School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Chair of Traffic Process Automation "Friedrich List" Faculty of Transport and Traffic Sciences TU Dresden Germany Institute of Dynamic System and Control ETH Zurich Sonneggstrasse 3 Zurich8092 Switzerland

Trajectory prediction is a fundamental problem and challenge for autonomous vehicles. Early works mainly focused on designing complicated architectures for deep-learning-based prediction models in normal-illumination environments, which fail in dealing with low-light conditions. This paper proposes a novel approach for trajectory prediction in low-illumination scenarios by leveraging multi-stream information fusion, which flexibly integrates image, optical flow, and object trajectory information. The image channel employs Convolutional Neural Network (CNN) and Long Short-term Memory (LSTM) networks to extract temporal information from the camera. The optical flow channel is applied to capture the pattern of relative motion between adjacent camera frames and modelled by Spatial-Temporal Graph Convolutional Network (ST-GCN). The trajectory channel is used to recognize high-level interactions between vehicles. Finally, information from all the three channels is effectively fused in the prediction module to generate future trajectories of surrounding vehicles in low-illumination conditions. The proposed multi-channel graph convolutional approach is validated on HEV-I and newly generated Dark-HEV-I, egocentric vision datasets that primarily focus on urban intersection scenarios. The results demonstrate that our method outperforms the baselines, in standard and low-illumination scenarios. Additionally, our approach is generic and applicable to scenarios with different types of perception data. The source code of the proposed approach is available at https://***/TommyGong08/MSIF. Copyright © 2022, The Authors. All rights reserved.

关键词： Optical flows

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Robust adaptive neural network consensus tracking control of multi-robot systems

Robust adaptive neural network consensus tracking control of...

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第33届中国控制与决策会议

作者： Huijun Guo Jintao Liang School of Automation and Information Engineering Xi'an University of Technology Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Guilin University of Electronic Technology

This paper studies the problem of distributed consensus tracking control for multi-robot systems with different friction coefficients and external disturbances based on the multi-agent *** the case where the communication topology is a weighted directed graph and leader node is the neighbor of a small portion of the follower *** follower nodes are modeled as two second-order nonlinear dynamical system with coupling parts.A distributed robust adaptive control law based on the neural networks(NN) is designed for each follower node,where the controller requires only relative state information from its adjacent *** such control scheme,the states of all follower nodes ultimately synchronize to the leader node with bounded residual *** results are provided to validate the effectiveness of the algorithm.

关键词： Consensus control Multi-robot systems Agent systems Neural networks Sliding mode control

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ICP algorithm point cloud registration method based on a new improved Harris Hawk algorithm

ICP algorithm point cloud registration method based on a new...

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Chinese automation Congress (CAC)

作者： Chen Wang Shangbin Jiao Rui Gao Yuxing Li School of Automation and Information Engineering Xi’an University of Technology Xi’an China School of Automation and Information Engineering Xi’an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Electronic & Electrical Engineering Baoji University of Arts and Sciences Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology China

ISBN: (纸本)9781665426480

To address shortcomings of ICP algorithm, which is sensitive to the initial position and easy to fall into local optimum, we propose a Harris Hawks Optimizer (HHO) point cloud registration method combining PCA preprocessing and parallel population initialization. The PCA method is used to align the point clouds with the main axes and perform the main axes correction. Since the six input variables in the population initialization stage of HHO point cloud registration are different and independent, the initial population of HHO algorithm is initialized by the parallel initialization method. The results show that the improved algorithm is able to successfully overwhelm the fault of ICP algorithm, and its global seek performance and optimization accuracy are more advantageous, and the algorithm operates efficiently, with high registration accuracy and robustness.

关键词： Point cloud compression automation Input variables Sociology Robustness Statistics Optimization

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Adaptive Back-stepping Based control for Active Suspension systems with Prescribed Performance

Adaptive Back-stepping Based Control for Active Suspension S...

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第40届中国控制会议

This paper proposes an adaptive back-stepping tracking control with prescribed performance function for vehicle suspension systems with uncertain parameters. The prescribed performance function can lead the tracking error from a large set to an arbitrarily small residual set. Firstly, the constrained tracking error system incorporating the prescribed performance functions is transformed into unconstrained form. Then an adaptive updating scheme based on the projection algorithm is designed to estimate the uncertain parameter. Following that an adaptive nonlinear controller is designed using the back-stepping technique, and the stability of whole controlled systems is proved by the Lyapunov theory. Meanwhile, the state convergence of the internal dynamical system is also guaranteed. Finally, simulation results are provided to verify the proposed approach.

关键词： Active Suspension system Adaptive control Back-stepping technique prescribed performance

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Method of Electronic Component Location, Grasping and Inserting Based on Machine Vision 16

Method of Electronic Component Location, Grasping and Insert...

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16th IEEE International Wireless Communications and Mobile Computing Conference, IWCMC 2020

作者： Xue, Bin Sun, Chang Chu, Huihui Meng, Qingsen Jiao, Shuanben Engineering and Technology Rd Center of Mechanical and Electrical in Colleges of Shandong Qingdao Binhai University Shandong China Qingdao Zhongzhuang Vision Automation System Control Co. Ltd Shandong China

ISBN: (纸本)9781728131290

Aiming at the problems of low efficiency, high cost, missing or wrong insertion of labor in PCB production, a method of electronic component location, grabbing and inserting based on machine vision is proposed. By building the machine vision system, three industrial cameras cooperate with dome light sources to take images of the whole components, the pin features of components and the jack features of PCB board respectively. After image acquisition, image processing is carried out on VisionPro 9.0 software platform, which mainly completes feature extraction of component pins and PCB board jacks, and coordinates positioning. Then, coordinate transformation is carried out by nine-point calibration method to guide the manipulator to complete the work of location, grabbing and inserting. Through the running test, the system has a fast grabbing speed and inserting speed. The error inserting rate, missing inserting rate, bad product rate and inserting precision all reach the standard, and the working efficiency is three times that of the manual. © 2020 IEEE.

关键词： Feature extraction

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Reliability of organic light-emitting diodes in low-temperature environment

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Chinese Physics B 2020年第12期29卷 112-118页

作者： Saihu Pan Zhiqiang Zhu Kangping Liu Hang Yu Yingjie Liao Bin Wei Redouane Borsali Kunping Guo School of Microelectronics and Control Engineering Changzhou UniversityChangzhou 213164China School of Mechatronic Engineering and Automation Key Laboratory of Advanced Display and System ApplicationsMinistry of EducationShanghai UniversityShanghai 200072China Universdity of Grenoble Alpes CNRSCERMAVF-38000 GrenobleFrance London Centre for Nanotechnology University College LondonLondon WC1H 0AHUK

Organic light-emitting diode(OLED)is an electroluminescent technology that relies on charge-carrier dynamics and is a potential light source for variable environmental ***,by exploiting a self-developed low-temperature testing system,we investigated the characteristics of hole/electron transport,electro-optic conversion efficiency,and operation lifetime of OLEDs at low-temperature ranging from-40℃to 0℃and room temperature(25℃).Compared to devices operating at room temperature,the carrier transport capability is significantly decreased with reducing temperature,and especially the mobility of the hole-transporting material(HTM)and electron-transporting material(ETM)at-40℃decreases from 1.16×10-6 cm2/V·s and 2.60×10-4 cm2/V·s to 6.91×10-9 cm2/V·s and 1.44×10-5 cm2/V·s,***,the temperature affects differently on the mobilities of HTM and ETM,which favors unbalanced charge-carrier transport and recombination in OLEDs,thereby leading to the maximum current efficiency decreased from 6.46 cd·A-1 at 25℃to 2.74 cd·A-1 at-40℃.In addition,blue fluorescent OLED at-20℃has an above 56%lifetime improvement(time to 80%of the initial luminance)over the reference device at room temperature,which is attributed to efficiently dissipating heat generated inside the device by the low-temperature environment.

关键词： organic light-emitting diodes(OLEDs) low temperature reliability operation lifetime

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Data-Driven Distributionally Robust Mixed-Integer control through Lifted control Policy

arXiv

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arXiv 2025年

作者： Ma, Xutao Ning, Chao Du, Wenli Shi, Yang Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China the Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China the Department of Mechanical Engineering University of Victoria VictoriaBCV8W 3P6 Canada

This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is computationally formidable for most ambiguity sets. To address the computational challenge, we propose a novel distributionally robust lifted control policy (DR-LCP) method to derive a high-quality approximate solution to this DRMIC problem for a rich class of Wasserstein metric-based ambiguity sets, including the Wasserstein ambiguity set and its variants. In theory, we analyze the asymptotic performance and establish a tight non-asymptotic bound of the proposed method. In numerical experiments, the proposed DR-LCP method empirically demonstrates superior performance compared with existing methods in the literature. © 2025, CC BY.

关键词： Mixed-integer linear programming

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Learning Latent Causal Factors from the Intricate Sensor Feedback of Contact-Rich Robotic Assembly Tasks

SSRN

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SSRN 2023年

作者： Chen, Yurou Yu, Jiyang Lin, Zhenyang Shen, Liancheng Liu, Zhiyong The State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai China Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

Achieving precise robotic assembly is paramount for safety and performance in industrial settings. Conventional assembly methods require tedious manual adjustment of many parameters, and it is challenging to meet the assembly requirements with tight clearance. Robot learning has been at the forefront of research, showing potential for automation and intelligence in robotic operations. However, intricate information such as force feedback is indispensable for high-precision robot assembly tasks, and current learning methods grapple with processing this complex observation data due to discontinuous force changes during operation and the inherent noise from the force sensor. To alleviate the low learning efficiency from the problematic observations, we propose introducing the concept of latent causal factors that cause the sensor observations and truly matter in assembly tasks. This paper analyses the impact of discontinuous and noisy observations and offers two ways to infer causal factors. Based on the implied latent factors, we propose a method that learns high-precision assembly policies from interacting with the environment. The algorithm's performance is evaluated in simulated and real-world nut assembly environments, demonstrating significant improvements over the previous methods. This research also underscores the promise of causal inference in addressing intricate industrial challenges%. © 2023, The Authors. All rights reserved.

关键词： Robotic assembly

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