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Consensus of Linear Multi-agent systems with Pure Relative Output Through Fully Distributed Reduced-Order Protocols

IFAC-PapersOnLine 2023年第2期56卷 10162-10167页

作者： Yuwen Ma Xianwei Li Shaoyuan Li Department of Automation Shanghai JiaoTong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

This paper considers fully distributed adaptive control for linear multi-agent systems with pure relative output information only. Two reduced-order protocols, namely, an edge-based protocol and a node-based protocol, are derived. For the edge-based protocol, each edge is adapted by a coupling weight which depends only on relative output information of the associated two agents, while the coupling weight in the node-based protocol is based on the relative output information of all neighboring agents. Sufficient conditions for the solvability of the consensus problem under the two protocols are derived. Compared with most of the existing related protocols, the main merits of the protocols are that only relative output information is needed, which helps reduce the communication burdens and protect the multi-agent systems from network attacks, and that the protocols are fully distributed. A simulation example is finally presented to illustrate the effectiveness of the proposed protocols.

关键词： Multi-agent systems consensus pure relative output fully distributed design

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Gesture Recognition of sEMG Based on Res-LSTM 17th

Gesture Recognition of sEMG Based on Res-LSTM

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17th International Conference on intelligent Robotics and Applications, ICIRA 2024

作者： Zhao, Yujia Zou, Chunlong Yun, Juntong Jiang, Du Huang, Li Liu, Ying Jiang, Guozhang Xie, Yuanmin Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China College of Mechanical Engineering Hubei University of Automotive Technology Shiyan442000 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan430081 China College of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

sEMG (surface electromyography) signal control of bionic prostheses has been widely studied over the past few years. In particular, sparse sEMG signals are rapidly developing in the field of gesture recognition for their convenience, noninvasiveness, and ease of access. However, compared with high-density EMG signals, sparse EMG signals lack rich feature information, which in turn affects gesture recognition accuracy. In order to reduce the loss of feature information of sparse EMG signals in the spatio-temporal dimension, this paper proposes a hybrid neural network Res-LSTM combining residual network and long short-term memory network. The ordinary convolutional blocks in the CNN network are replaced with residual blocks, and the final fully connected layer is removed and a constant mapping layer is added to adequate extraction of spatial feature information of the data. The Res layer’s output is utilized as the input for the long and short-term memory (LSTM) network, which further extracts the features of the data in the temporal dimension, and finally completes the categorization output through a fully connected layer. The average accuracy of 91.11% for gesture-motion classification was verified by training on a homebrew dataset;and tested on a public dataset, NinaPro DB1, with an average accuracy of 91.03%. The experimental findings indicate that the proposed Res-LSTM network framework contributes to solving the problem of lack of feature information of sparse sEMG signals and improves the pattern recognition accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Gesture recognition

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A MPC-based Planner Applied on a Parallel Wheel-legged Robot for Obstacle Avoidance 25

A MPC-based Planner Applied on a Parallel Wheel-legged Robot...

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Proceedings of the 4th International Conference on Computer, Artificial Intelligence and control engineering

作者： Fei Guo Huan Yu Wanhong Lin Shoukun Wang National Key Laboratory of Human Factors Engineering China Astronaut Research and Training Center Beijing China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9798400712647

A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effectively improves the terrain adaptability, which concerns our planning concentration. We introduced an optimization-based whole-body trajectory planning algorithm to navigate robot in rugged terrain. The planner combines terrain data and stability, allowing lower-level motion generator and controller to operate more efficiently. The Model Predictive control(MPC)-based method updates the footholds and CoG trajectories, which builds upon the support polygon constraints on optimization. The simulations of methodology working in several structure-obstacle scene demonstrated and compared the availability of approach.

关键词： Reconfigurable robot

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Optimization of Extreme Learning Machine Based on Improved Beetle Antennae Search for Slot Die Coating Prediction

Optimization of Extreme Learning Machine Based on Improved B...

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Chinese control and Decision Conference, CCDC

作者： Haonan Yang Ding Liu Jun-Chao Ren Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China

In the actual production of slot die coating, the minimum coating thickness and the maximum substrate moving speed could only be judged by production experience, and there was no accurate prediction model due to the nonlinear characteristics of fluid motion. Therefore, building a reasonable and efficient prediction model for slot die coating is now an urgent and challenging task. In this paper, an optimized extreme learning machine (ELM) based on improved beetle antennae search (IBAS) algorithm is proposed for slot die coating prediction. The optimized ELM model can well learn the nonlinear characteristics of the system and make accurate predictions, thus solving the traditional inaccurate empirical judgment. As the prediction accuracy of ELM depends on the selection of weights and biases, the IBAS optimization algorithm is used to quickly search for the optimal value of weights and biases in the ELM network. IBAS algorithm improves the generation mechanism of antennae on the basis of the original algorithm, so that the algorithm can converge quickly. At the same time, the search strategy of the algorithm is improved to avoid falling into the local optimal solution. By predicting the production data of slit coating, the feasibility and effectiveness of IBAS-ELM model are proved.

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Dynamic Event-Triggered Consensus on Matrix-weighted Networks:Leadless Case

Dynamic Event-Triggered Consensus on Matrix-weighted Network...

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第42届中国控制会议

作者： Lintao Dou Haoyu Wei Jian Huang Lulu Pan Haibin Shao Dewei Li the College of Intelligent Science National University of Defense Technology the Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of Chinaand Shanghai Engineering Research Center of Intelligent Control and Management

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks,where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the ***,a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks,in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold,which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno *** event-triggered control protocols are proposed to guarantee leaderless consensus for multi-agent systems on matrix-weighted networks,***,the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks,generalizing those results only applicable for scalar-weighted *** proposed approach allows each agent to broadcast and receive information only at its triggering ***,simulation examples are provided to demonstrate the theoretical results.

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ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environments

arXiv

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arXiv 2025年

作者： Xin, Jinghao Liang, Zhichao Zhang, Zihuan Wang, Peng Li, Ning Department of Automation Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

Deep Reinforcement Learning (DRL) has demonstrated potential in addressing robotic local planning problems, yet its efficacy remains constrained in highly unstructured and dynamic environments. To address these challenges, this study proposes the ColorDynamic framework. First, an end-to-end DRL formulation is established, which maps raw sensor data directly to control commands, thereby ensuring compatibility with unstructured environments. Under this formulation, a novel network, Transqer, is introduced. The Transqer enables online DRL learning from temporal transitions, substantially enhancing decision-making in dynamic scenarios. To facilitate scalable training of Transqer with diverse data, an efficient simulation platform E-Sparrow, along with a data augmentation technique leveraging symmetric invariance, are developed. Comparative evaluations against state-of-the-art methods, alongside assessments of generalizability, scalability, and real-time performance, were conducted to validate the effectiveness of ColorDynamic. Results indicate that our approach achieves a success rate exceeding 90% while exhibiting real-time capacity (1.2–1.3 ms per planning). Additionally, ablation studies were performed to corroborate the contributions of individual components. Building on this, the OkayPlan-ColorDynamic (OPCD) navigation system is presented, with simulated and real-world experiments demonstrating its superiority and applicability in complex scenarios. The codebase and experimental demonstrations have been open-sourced on our website1 to facilitate reproducibility and further research. Copyright © 2025, The Authors. All rights reserved.

关键词： Decision making

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Leader-Following Entrapping control of AUVs Using Bearing Measurements in Local Coordinate Frames

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Guidance, Navigation and control 2022年第4期2卷 85-121页

作者： Yingbo Fu Ziwen Yang Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240P.R.China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240P.R.China Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240P.R.China

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is *** achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning *** bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local *** on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary *** present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time ***,the parameters tuning unit can calculate optimal parameters to improve overall ***,we extend our schemes to nonholonomic AUVs with unicycle ***,simulation results demonstrate the effectiveness of the proposed scheme.

关键词： Entrapping control discrete-time AUVs bearing measurements local coordinate frames

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Designing Cluster Consensus on Higher-Order Interaction Networks

Designing Cluster Consensus on Higher-Order Interaction Netw...

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IEEE Conference on Decision and control

作者： Haoyu Wei Lulu Pan Haibin Shao Dewei Li Wenbin Yu Shibei Xue 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 Shanghai China

This paper examines the cluster consensus design problem on higher-order interaction networks. Specifically, the higher-order interaction mechanism is captured by matrix-weighted networks that allow the interdependency across the dimensions of the agents' states, and the matrix-valued weight matrices $A_{ij}\in \mathbb{R}^{d\times d}$ associated with specific edges are further assumed to share the same nullspace for design purposes. Under mild assumptions on network connectivity, we first examine the case that the nullspace of positive semi-definite edges is spanned by a nonzero vector $\boldsymbol{\xi}\in \mathbb{R}^{d}$ and show that the predictable cluster consensus can be achieved, which is eventually located in the 1-dimensional linear space determined by span $\{\boldsymbol{\xi}\}$ and the average of agents' initial states. Moreover, the transient state of agents in each cluster can also be explicitly characterized. Namely, the derivative of the average state of agents in each cluster is perpendicular to span $\{\boldsymbol{\xi}\}$ . To generalize the above results, we proceed to examine the case that the nullspace of positive semi-definite edges is spanned by more than one linearly independent $d$ -dimensional vector, in which case, analogous results can be obtained, and the explicit geometric interpretation is also provided.

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Design of intelligent Backflow Prevention system

Design of Intelligent Backflow Prevention System

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Chinese control Conference (CCC)

作者： Jiale Chen Tao Dong Shiyun Wang Guili Jiao Rongrong Zhang Xincheng Tian Center for Robotics Engineering Research Center of Intelligent Unmanned System Ministry of Education School of Control Science and Engineering Shandong University Jinan China Jinan China Shandong Tianyong Intelligent Technology Co. Ltd Jinan China Shandong Hydrology Center Jinan China

With the advent of the rainy season, the chances of urban flooding are increasing, to avoid the risk of flooding people and underground garages, this paper explains our reliance on video surveillance technology and 5G cloud data technology to collect the data of anti-backflow door equipment deployed in various parts of the city, and remote control and command in the management center, which can quickly give flood control measures and early warning to protect the personnel and property of underground garages, and reduced losses.

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Design and Flight Test of a Compact and Rapidly-Deployable Air-Launched Inflatable-Winged Aircraft

Design and Flight Test of a Compact and Rapidly-Deployable A...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ge, Hang Xu, Yixiang Sun, Donglei Chen, Xinmin Chen, Boyang School of Aerospace Faculty of Science and Engineering University of Nottingham Ningbo China Zhejiang Ningbo315100 China Department of Mechanical Materials and Manufacturing Engineering UNNC-NFTZ Blockchain Laboratory University of Nottingham Ningbo China Zhejiang Ningbo315100 China Advanced Intelligent Manufacturing Research Group Control System Lab University of Nottingham Ningbo China Zhejiang Ningbo315100 China Zhejiang Provincial Engineering Research Center of Special Aircraft Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Zhejiang Ningbo315100 China

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this research, a high-altitude, compact and rapidly deployable, air-launched, inflatablewinged aircraft is designed, developed, and flight-tested to investigate the flight characteristics of inflatable-winged aircraft as well as the in-flight inflation and dynamic deployment properties when launched from various carriers. To start with, two types of inflatable wings employing different materials have been designed, fabricated, and tested, the tests including structural characteristics tests, inflation properties tests, and low-Reynolds-number wind-tunnel tests. A full-scale 30-kilogram prototype unmanned aerial vehicle with inflatable wings was then designed, assembled and tested with some basic low-altitude flights to verify the feasibility of the aerodynamic layout and the trim and stability and control characteristics. Finally, low- and high-altitude in-flight launches will be conducted to study the dynamic deployment properties and high-altitude flight characteristics of this design. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Wind tunnels

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