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Achieving Given Precision Within Prescribed Time yet With Guaranteed Transient Behavior via Output Based Event-Triggered control

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2059-2067页

作者： Zeqiang Li Yujuan Wang Yongduan Song International Joint Laboratory on Safety and Control of Autonomous Unmanned Systems School of AutomationChongqing UniversityChongqing 400044China IEEE

It is interesting yet nontrivial to achieve given control precision within user-assignable time for uncertain nonlinear *** underlying problem becomes even more challenging if the transient behavior also needs to be accommodated and only system output is available for *** key design innovations are proposed to circumvent the aforementioned technical difficulties,including the employment of state estimation filters with event-triggered mechanism,the construction of a novel performance scaling function and an error *** contrast to most existing performance based works where the stability is contingent on initial conditions and the maximum allowable steady-state tracking precision can only be guaranteed at some unknown(theoretically infinite)time,in this work the output of the system is ensured to synchronize with the desired trajectory with arbitrarily pre-assignable convergence rate and arbitrarily pre-specified precision within prescribed time,using output only with lower cost of sensing and *** addition,all the closed-loop signals are ensured to be globally uniformly bounded under the proposed control *** merits of the designed control scheme are confirmed by numerical simulation on a ship model.

关键词： Adaptive control nonlinear systems output feedback prescribed performance

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Analysis and control of autonomous mobility-on-demand systems

arXiv

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arXiv 2021年

作者： Zardini, Gioele Lanzetti, Nicolas Pavone, Marco Frazzoli, Emilio Institute for Dynamic Systems and Control Department of Mechanical and Process Engineering ETH Zürich Zürich Switzerland Automatic Control Laboratory Department of Information Technology and ElectricalEngineering ETH Zürich Zürich Switzerland Autonomous Systems Lab Department of Aeronautics and Astronautics Stanford University StanfordCA United States

Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research. © 2021, CC BY-NC-ND.

关键词： autonomous vehicles

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Mixed H_(∞)/Passive Exponential Synchronization for Delayed Memristive Neural Networks with Switching Event-Triggered control

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Journal of systems Science & Complexity 2024年第1期37卷 294-317页

作者： WU Wenhuang GUO Lulu CHEN Hong Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 200092China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

This paper is devoted to event-triggered synchronization of delayed memristive neural networks with H∞and passivity *** aim is to guarantee the exponential synchronization and mixed H∞and passivity control for memristive neural networks by using event-triggered ***,a switching system is constructed under the event-triggered control ***,by adopting a piece-wise Lyapunov functional,a sufficient condition is established for the exponential synchronization and mixed H_(∞)and passivity ***,an event-triggered controller design scheme is proposed using matrix decoupling ***,the effectiveness of the designed controller is exemplified by a numerical example.

关键词： Event-triggered control exponential synchronization memristive neural networks time delays.

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory autonomous systems Stability

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Toward the minimum vertex cover of complex networks using distributed potential games

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Science China(Information Sciences) 2023年第1期66卷 244-263页

作者： Jie CHEN Xiang LI Adaptive Networks and Control Lab Department of Electronic Engineering Fudan University Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji University

Vertex cover of complex networks is essentially a major combinatorial optimization problem in network science, which has wide application potentials in engineering. To optimally cover the vertices of complex networks, this paper employs a potential game for the vertex cover problem, designs a novel cost function for network vertices, and proves that the solutions to the minimum value of the potential function are the minimum vertex covering(MVC) states of a general complex network. To achieve the optimal(minimum) covering states, we propose a novel distributed time-variant binary log-linear learning algorithm,and prove that the MVC state of a general complex network is attained under the proposed optimization algorithm. Furthermore, we estimate the upper bound of the convergence rate of the proposed algorithm,and show its effectiveness and superiority using numerical examples with representative complex networks and optimization algorithms.

关键词： minimum vertex cover Nash equilibrium convergence rate scale-free network random graph

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The Unscented Kalman Filter for Nonlinear Parameter Identification of Adaptive Cruise control systems

arXiv

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arXiv 2023年第8期8卷 4094页

作者： Ampountolas, Konstantinos The Automatic Control & Autonomous Systems Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece

This paper develops and investigates a dual unscented Kalman filter (DUKF) for the joint nonlinear state and parameter identification of commercial adaptive cruise control (ACC) systems. Although the core functionality of stock ACC systems, including their proprietary control logic and parameters, is not publicly available, this work considers a car-following scenario with a human-driven vehicle (leader) and an ACC engaged ego vehicle (follower) that employs a constant timeheadway policy (CTHP). The objective of the DUKF is to determine the CTHP parameters of the ACC by using real-time observations of space-gap and relative velocity from the vehicle's onboard sensors. Real-time parameter identification of stock ACC systems is essential for assessing their string stability, large-scale deployment on motorways, and impact on traffic flow and throughput. In this regard, L2and L∞string stability conditions are considered. The observability rank condition for nonlinear systems is adopted to evaluate the ability of the proposed estimation scheme to estimate stock ACC system parameters using empirical data. The proposed filter is evaluated using empirical data collected from the onboard sensors of two 2019 SUV vehicles, namely Hyundai Nexo and SsangYong Rexton, equipped with stock ACC systems;and is compared with batch and recursive least-squares optimization. The set of ACC model parameters obtained from the proposed filter revealed that the commercially implemented ACC system of the considered vehicle (Hyundai Nexo) is neither L2nor L∞string stable. Copyright © 2023, The Authors. All rights reserved.

关键词： Adaptive cruise control

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ER‐Mapping: An extrinsic robust coloured mapping system using residual evaluation and selection

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IET Cyber-systems and Robotics 2024年第2期6卷 97-108页

作者： Changjian Jiang Zeyu Wan Ruilan Gao Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

The colour-enhanced point cloud map is increasingly being employed in fields such as robotics,3D reconstruction and virtual *** authors propose ER-Mapping(Extrinsic Robust coloured Mapping system using residual evaluation and selection).ER-Mapping consists of two components:the simultaneous localisation and mapping(SLAM)subsystem and the colouring *** SLAM subsystem reconstructs the geometric structure,where it employs a dynamic threshold-based residual selection in LiDAR-inertial odometry to improve mapping *** the other hand,the col-ouring subsystem focuses on recovering texture information from input images and innovatively utilises 3D–2D feature selection and optimisation methods,eliminating the need for strict hardware time synchronisation and highly accurate extrinsic *** were conducted in both indoor and outdoor *** results demonstrate that our system can enhance accuracy,reduce computational costs and achieve extrinsic robustness.

关键词： robot vision sensor fusion simultaneous localisation and mapping(robots)

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Distributed Nash equilibrium seeking with order-reduced dynamics based on consensus exact penalty

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control Theory and Technology 2023年第3期21卷 363-373页

作者： Shu Liang Shuyu Liu Yiguang Hong Jie Chen The Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 201210China

In this paper,we consider a networked game with coupled constraints and focus on variational Nash equilibrium *** distributed algorithm design,we eliminate the coupled constraints by employing local Lagrangian functions and construct exact penalty terms to attain multipliers'optimal consensus,which yields a set of equilibrium conditions without any coupled constraint and consensus ***,these conditions are only based on strategy and multiplier variables,without auxiliary ***,we present a distributed order-reduced dynamics that updates the strategy and multiplier variables with guaranteed *** with many other distributed algorithms,our algorithm contains no auxiliary variable,and therefore,it can save computation and communication.

关键词： Game theory Nash equilibrium seeking Distributed algorithm Coupled constraints Order-reduced dynamics

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