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A zeroth-order stochastic implicit method for bilevel-structured actor-critic schemes

Science China(Information Sciences) 2025年第5期68卷 53-71页

作者： Haochen TAO Shisheng CUI Zhuo LI Jian SUN School of Automation Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center

Reinforcement learning algorithms are central to the cognition and decision-making of embodied intelligent agents. A bilevel optimization(BO) modeling approach, along with a host of efficient BO algorithms, has been proven to be an effective means of addressing actor-critic(AC) policy optimization problems. In this work, based on a bilevelstructured AC problem model, an implicit zeroth-order stochastic algorithm is developed. A locally randomized spherical smoothing technique, which can be applied to nonsmooth nonconvex implicit AC formulations and avoid the closed-form lower-level mapping, is introduced. In the proposed zeroth-order scheme, the gradient of the implicit function can be approximated through inexact lower-level value estimations that are practically available. Under suitable assumptions,the algorithmic framework designed for the bilevel AC method is characterized by convergence guarantees under a fixed stepsize and smoothing parameter. Moreover, the proposed algorithm is equipped with the overall iteration complexity of O(n2L20 L20?-1). The convergence performance of the proposed algorithm is verified through numerical simulations.

关键词： actor-critic bilevel optimization zeroth-order algorithm implicit programming stochastic approximation

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A nonlinear hysteresis compensation control of hydro-viscous drive in air transport operations

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Chinese Journal of Aeronautics 2025年第2期38卷 161-174页

作者： Liang WANG Jianjian LIANG Lin ZHANG Shoukun WANG Junzheng WANG School of Automation and Software Shanxi UniversityTaiyuan 030031China Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China

The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload ***,its intrinsic hysteretic behaviors,such as the asymmetric hysteretic and dead zone,could introduce inaccuracy and delay in control applications,posing challenges to system *** paper investigates a Nonlinear Hysteresis Compensation Control(NHCC)that consists of two parts to control the HVD output speed by operating the valve under different engine operating *** the first part,the Inverse Hysteresis Compensator(IHC)based on major loop data is introduced for the asymmetric hysteresis characterization and compensation of the HVD speed control system of the power generation and distribution,which aims to reduce the hysteresis and dead zone effect and expand the effective input *** the second part,the Active Disturbance Rejection Controller(ADRC)is employed to mitigate the hysteresis effects of the compensated system and remove the steady-state error,which allows real-time compensation of the estimated perturbations as state feedback to achieve the required *** experimental laboratory station has been fabricated to evaluate the proposed *** test results show that the NHCC method can regulate the fan speed to the desired value(45 r/min at steady state)and broaden the effective input range to the full range under different engine ***,the proposed control method can reduce the non-linearity of the input and output curves(from 18%to 4%)and compensate for the asymmetric hysteresis(from 38%to 5%).

关键词： Hydro-viscous drive Nonlinear hysteresis compensation Inverse hysteresis compensation Speed regulating system ADRC

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Data-Driven Fault-Tolerant Bipartite Consensus Tracking for Multi-Agent Systems With a Non-Autonomous Leader

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 279-281页

作者： Yan Zhou Guanghui Wen Jialing Zhou Tao Yang the Department of Systems Science Southeast University the State Key Laboratory of CNS/ATM Beijing Institute of Technology the Beijing Institute of Technology (Zhuhai) the State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

Dear Editor,This letter studies the bipartite consensus tracking problem for heterogeneous multi-agent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the continuous fault-tolerant control protocol via observer design is developed. In addition, it is strictly proved that the multi-agent system driven by the designed controllers can still achieve bipartite consensus tracking after faults occur.

关键词： Time varying control systems

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Conditional Diffusion Model for Skeleton-based Gesture Recognition with Severe Occlusions

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IEEE Signal Processing Letters 2025年 32卷 1970-1974页

作者： Liu, Jinting Gan, Minggang Du, Yao Guan, keyi Guo, Jia Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing China

In the field of skeleton-based gesture recognition, occlusion remains a significant challenge, significantly degrading performance when key joints are occluded or disturbed. To tackle this issue, we propose DiffTrans, a practical conditional diffusion model for occlusion recognition, which enables skeleton-based gesture recognition under high occlusion by generating more likely samples. This study addresses the hand skeleton occlusion problem by framing it as a conditional denoising problem, where unoccluded data serve as observations and occluded data as repair targets. We employ a conditional diffusion model to impute the missing skeleton data and the DSTANet model, which is based on the transformer, to learn the skeleton feature representations. Research results show that the DiffTrans outperforms existing methods under various occlusion modes, maintaining high performance even in scenarios with a high missing rate. © 1994-2012 IEEE.

关键词： Musculoskeletal system

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Iron recovery and dephosphorization behaviors from high-phosphorus oolitic hematite by gas-based direct reduction and magnetic separation

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Journal of Iron and Steel Research International 2025年第3期32卷 550-563页

作者： Fang Liu Yi-chi Zhang Wang Zeng Jun Ni Yun-peng Si Heng Zhou Tian-xiang Zhang Sheng-li Wu Ming-yin Kou State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing100083China School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing100083China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China

With the depletion of high-quality iron ore resources,high-phosphorus oolitic hematite(HPOH)has attracted great attention due to its large reserve and relatively high iron ***,HPOH is very difficult to be used in ironmaking process due to its special structure.A two-step method of gas-based direct reduction and magnetic separation was thus proposed to recover iron and reduce *** results showed that the powdery reduced iron produced contained 92.31%iron and 0.1%phosphorus,and the iron recovery was 92.65%under optimum reduction condition,which is suitable for following *** apatite will be reduced under long reduction time and a large reducing gas flow rate,resulting in more phosphorus found in the metallic *** the hydrogen–carbon ratio will inhibit the formation and growth of iron particles and prevent the breakage of oolitic *** adjustment of reduction temperature is recommended as it affects the oolitic structure and reduction.

关键词： High-phosphorus oolitic hematite Iron recovery Dephosphorization Gas-based direct reduction Magnetic separation

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Fully Distributed Low-Complexity UAV Formation Control with Fixed-Time Full-State Error Performance

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IEEE Access 2025年 13卷 68224-68231页

作者： Yu, Pengfei Li, Qing Beijing Information Science and Technology University School of Automation Beijing100192 China Ministry of Education Key Laboratory of Modern Measurement and Control Technology Beijing100101 China

This paper presents a fully distributed, low-complexity UAV formation controller design with fixed-time full-state error performance, which is able to address the difficulties in obtaining global information and suppressing external disturbances without observer or adaptive law in existing solutions. The position of neighboring UAVs is the only information to be exchanged, and desired state observer is not required, thereby reducing communication costs, which is well-suited to larger-scale UAV formation systems. The proposed control scheme has the capability to handle external disturbances without observer or adaptive law, simplifying the controller's design and implementation process, reducing computational burden. Moreover, by imposing fixed-time performance constraints on tracking error and virtual error, fixed-time formation tracking error and virtual velocity tracking error can be achieved, which also improves the response speed and accuracy of UAV formation, making it more capable of meeting the time requirements of actual tasks and adapting to dynamically changing environments. Additionally, all closed-loop signals are rigorously proven to be semi-globally ultimately uniformly bounded. Finally, numerical simulation is conducted to verify the effectiveness of proposed control scheme. © 2013 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Collaborative optimization for multirobot manufacturing system reliability through integration of SysML simulation and maintenance knowledge graph

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Journal of Manufacturing Systems 2025年 80卷 749-775页

作者： Zhou, Jian Zheng, Lianyu Wang, Yiwei School of Mechanical Engineering and Automation Beihang University Beijing100191 China MIIT Key Laboratory of Intelligent Manufacturing Technology for Aeronautics Advanced Equipments Ministry of Industry and Information Technology Beijing100191 China Beijing Key Laboratory of Digital Design and Manufacturing Technology Beijing100191 China

In the rapidly advancing field of industrial automation, the reliability and maintenance of multirobot manufacturing systems are crucial. This paper proposes a collaborative optimization method for the reliability of multirobot system, combining SysML (System Modeling Language) model simulation with an operational and maintenance knowledge graph, aiming to ensure the reliable operation of multirobot manufacturing systems. The SysML model provides a comprehensive framework to represent the system architecture, workflows, and key parameters, identify critical components and potential bottlenecks, and perform detailed reliability analysis. Simultaneously, by embedding intelligent algorithms, the operational and maintenance knowledge graph enables automatic detection of operational anomalies and intelligent generation of maintenance strategies for industrial robots. By integrating the SysML model with the operational and maintenance knowledge graph, a collaborative optimization framework for the reliability of multirobot system is constructed. This framework not only dynamically adjusts key parameters in the simulation model, enhancing the accuracy and real-time performance of system reliability assessments, but also optimizes maintenance strategies based on system simulation indicators to ensure the reliable operation of multirobot system. Case studies validate that the proposed method improves the reliability of multirobot manufacturing systems, demonstrating that the combination of SysML simulation and the operational and maintenance knowledge graph can effectively address the complexity of modern manufacturing systems, offering significant reference value. © 2025 The Society of Manufacturing Engineers

关键词： Knowledge graph

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Adaptive control of bilateral teleoperation systems under denial-of-service attacks

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Autonomous Intelligent Systems 2025年第1期5卷 1-10页

作者： Wei, Lanyan Li, Yuling School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education Beijing100083 China Shunde Innovation School University of Science and Technology Beijing Foshan528399 China

This paper investigates resilient consensus control for teleoperation systems under denial-of-service (DoS) attacks. We design resilient controllers with auxiliary systems based on sampled positions of both master and slave robots, enhancing robustness during DoS attacks. Additionally, we establish stability conditions on DoS attack duration and frequency by applying multivariate small-gain methods to ensure closed-loop stability without the need to solve linear matrix inequalities. Finally, the effectiveness of the controllers is validated through the simulation results, demonstrating that the master-slave synchronization is achieved. © The Author(s) 2025.

关键词： Slave robots

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Orthogonal Projection-Based Fault Detection for Linear Discrete-Time Varying Systems

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IEEE Transactions on Automatic Control 2025年第5期70卷 3478-3485页

作者： Li, Linlin Ding, Steven X. Zhong, Maiying Peng, Kaixiang University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China Duisburg47057 Germany Shandong University of Science and Technology College of Electrical Engineering and Automation Qingdao266590 China

This article is devoted to one-class fault detection in linear discrete-time varying (LDTV) systems with uncertainties. Specifically, following the Hilbert Projection theorem, the residual generation problem is solved by means of an orthogonal projection of process data onto system subspaces in Hilbert space. The resulted Pythagorean equation enables establishing an adaptive threshold driven by the residual signal and using gap metric as the similarity measure. In this projection-based fault detection framework, the design and implementation of the residual generators and threshold setting can be uniformly addressed, which provides a systematic solution to the detection issues in linear discrete-time varying systems. Moreover, a comparison with the observer- and differential-algebraic equations-based fault detection schemes is studied, which highlights the improved fault detection capability of the projection-based method. © 1963-2012 IEEE.

关键词： Linear time-invariant system

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Order Forecasting Method for Large-Scale Personalized Customization Model 16th

Order Forecasting Method for Large-Scale Personalized Custom...

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Wang, Lijun Wu, Chaohang Chen, Xianzhong Li, Qing Yao, Qijia School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Knowledge Automation for Industrial Processes of Science and Technology Beijing Beijing China

ISBN: (纸本)9789819617760

Based on the personalized customization model in bearing steel enterprises, it is studied in this paper how historical data can be fully utilized to predict orders in the face of multi-variety and small-batch order models.. In order to overcome the bottleneck of information exchange that cannot be obtained from pure historical data based on diverse small batch customer needs. A demand fusion mechanism based on local rules is proposed, taking fuzzy customer demand preferences as "individuals" and introducing historical data such as order area and external environmental factors. First, based on the Hegselmann-Krause (HK) model, a personalized customized customer demand preference prediction model is proposed to simulate and predict the evolution process of large-scale customer demand preferences. Secondly, according to the fuzzy rules, the customer's demand preference in the historical data is used as the center point to introduce the fuzzy individual, and the standard deviation is determined based on the order area. Finally, the effectiveness of the proposed method was verified through simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Prediction models

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