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arXiv 2024年

作者： Jha, Bhargav Bopardikar, Shaunak D. Von Moll, Alexander Casbeer, David Michigan State University East LansingMI48864 United States Air Force Research Laboratory WPAFB OH45433 United States Department of Electrical and Computer Engineering Michigan State University United States Control Science Center 2210 8th St.

This paper presents joint motion planning of a vehicle with an attachedrotating turret. The turret has a limited range as well as the field of *** objective is capture a maneuvering target such that at the terminal time itis withing the field-of-view and range limits. Catering to it, we present aminimum effort guidance law that commensurate for the turn rate abilities ofthe vehicle and the turret. The guidance law is obtained using linearizationabout the collision triangle and admits an analytical solution. Simulationresults are presented to exemplify the cooperation between the turret and thevehicle. © 2024, CC BY.

关键词： Motion planning

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Predictor-Based Constrained Fixed-Time Sliding Mode control of Multi-Uav Formation Flight

SSRN

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SSRN 2024年

作者： Khodaverdian, Maria Hajshirmohamadi, Shahram Hakobyan, Aleksandr Ijaz, Salman Center for Scientific Innovation and Education Aerial Robotics Laboratory of National Polytechnic University of Armenia Yerevan Armenia Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Key Laboratory of More Electric Aircraft and Control System Lab University of Nottingham Ningbo China

In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicles formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational ***, a constrained performance index is constructed based on the prediction of the fixed-time sliding surface, the reaching law, and the control input. Secondly, optimal control input is calculated by solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop system stability in the presence of external disturbances and ***, the comparative evaluation with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, a test is conducted to demonstrate the algorithm's potential for hardware implementation by employing Hardware-in-the-Loop (HIL) test. © 2024, The Authors. All rights reserved.

关键词： Sliding mode control

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Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

arXiv

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arXiv 2021年

作者： Ramos, Guilherme Pedro Aguiar, A. Kar, Soummya Pequito, Sérgio The Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Portugal The Department of Electrical and Computer Engineering Carnegie Mellon University United States The Delft University of Technology The Delft Center for Systems and Control Netherlands

Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is that agents exchange and reveal their state information only to their neighbors. Yet, it can raise privacy concerns in situations where the agents' states contain sensitive information. In this paper, we propose a novel (noiseless) privacy preserving distributed algorithms for multi-agent systems to reach an average consensus. The main idea of the algorithms is that each agent runs a (small) network with a crafted structure and dynamics to form a network of networks (i.e., the connection between the newly created networks and their interconnections respecting the initial network connections). Together with a re-weighting of the dynamic parameters dictating the inter-agent dynamics and the initial states, we show that it is possible to ensure that the value of each node converges to the consensus value of the original network. Furthermore, we show that, under mild assumptions, it is possible to craft the dynamics such that the design can be achieved in a distributed fashion. Finally, we illustrate the proposed algorithm with examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

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Synthesis of Energy-Conserving Quantum Circuits with XY interaction

arXiv

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arXiv 2023年

作者： Bai, Ge Marvian, Iman Centre for Quantum Technologies National University of Singapore 3 Science Drive 2 Singapore117543 Singapore QICI Quantum Information and Computation Initiative Department of Computer Science The University of Hong Kong Pokfulam Road Hong Kong HKU-Oxford Joint Laboratory for Quantum Information and Computation Hong Kong Duke Quantum Center Departments of Electrical and Computer Engineering and Physics Duke University DurhamNC27708 United States

We study quantum circuits constructed from √iSWAP gates and, more generally, from the entangling gates that can be realized with the XX+YY interaction alone. Such gates preserve the Hamming weight of states in the computational basis, which means they respect the global U(1) symmetry corresponding to rotations around the z axis. Equivalently, assuming that the intrinsic Hamiltonian of each qubit in the system is the Pauli Z operator, they conserve the total energy of the system. We develop efficient methods for synthesizing circuits realizing any desired energy-conserving unitary using XX+YY interaction with or without single-qubit rotations around the z-axis. Interestingly, implementing generic energy-conserving unitaries, such as CCZ and Fredkin gates, with 2-local energy-conserving gates requires the use of ancilla qubits. When single-qubit rotations around the z-axis are permitted, our scheme requires only a single ancilla qubit, whereas with the XX+YY interaction alone, it requires 2 ancilla qubits. In addition to exact realizations, we also consider approximate realizations and show how a general energy-conserving unitary can be synthesized using only a sequence of √iSWAP gates and 2 ancillary qubits, with arbitrarily small error, which can be bounded via the Solovay-Kitaev theorem. Our methods are also applicable for synthesizing energy-conserving unitaries when, rather than the XX+YY interaction, one has access to any other energy-conserving 2-body interaction that is not diagonal in the computational basis, such as the Heisenberg exchange interaction. We briefly discuss the applications of these circuits in the context of quantum computing, quantum thermodynamics, and quantum clocks. Copyright © 2023, The Authors. All rights reserved.

关键词： Qubits

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Robust Reinforcement Learning for Stochastic Linear Quadratic control with Multiplicative Noise ⁎

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IFAC-PapersOnLine 2021年第7期54卷 240-243页

作者： Bo Pang Zhong-Ping Jiang Control and Networks Lab Department of Electrical and Computer Engineering Tandon School of Engineering New York University Six Metrotech Center Brooklyn NY 11201 USA

This paper studies the robustness of reinforcement learning for discrete-time linear stochastic systems with multiplicative noise evolving in continuous state and action spaces. As one of the popular methods in reinforcement learning, the robustness of policy iteration is a longstanding open issue for the stochastic linear quadratic regulator (LQR) problem with multiplicative noise. A solution in the spirit of small-disturbance input-to-state stability is given, guaranteeing that the solutions of the policy iteration algorithm are bounded and enter a small neighborhood of the optimal solution, whenever the error in each iteration is bounded and small. In addition, a novel off-policy multiple-trajectory optimistic least-squares policy iteration algorithm is proposed, to learn a near-optimal solution of the stochastic LQR problem directly from online input/state data, without explicitly identifying the system matrices. The efficacy of the proposed algorithm is supported by rigorous convergence analysis and numerical results on a second-order example.

关键词： Reinforcement learning control Stochastic optimal control problems Data-based control Robustness analysis Input-to-state stability

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MealWatcher: A New Toolset to Record Meals for the Development of Automated Energy Intake Estimation

MealWatcher: A New Toolset to Record Meals for the Developme...

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IEEE EMBS International Conference on Information Technology Applications in Biomedicine (ITAB)

作者： Faria Armin James Jolly James Nguyen Lakshmi Rangaraju Daniel Regan Zoe Brown Sharon O'Toole Hollie Raynor Leslie Brick Elissa Jelalian J. Graham Thomas Stephanie P. Goldstein Adam Hoover Department of Electrical and Computer Engineering Clemson University Clemson SC USA Weight Control and Diabetes Research Center The Miriam Hospital Providence RI USA Department of Nutrition University of Tennessee Knoxville TN USA Department of Psychiatry and Human Behavior Alpert Medical School Brown University Providence RI USA Department of Psychiatry and Human Behavior Weight Control and Diabetes Research Center The Miriam Hospital/Brown Alpert Medical School Providence RI USA

ISBN: (数字)9798350351552

ISBN: (纸本)9798350351569

Classic tools for measuring energy intake, such as food diaries and 24 hour recalls, are burdensome to use and have significant measurement error. This hinders research and interventions in obesity treatment and comorbidities such as diabetes and heart disease. New tools are being developed to automate the measurement of energy intake, such as wearable devices like smartwatches. Towards this goal, several datasets have been collected and made publicly available that include hand motion. However, these datasets have been limited to the wrist part of hand motion, and have only been collected in controlled environments such as labs or cafeterias. In this work we describe a new toolset that supports data collection from a smartwatch and smart ring simultaneously, to be used in home, cafeteria, and free-living environments, with real-time user feedback to assist with energy intake estimation. This data collection is ongoing and will eventually encompass 600 subjects. This paper describes the toolset and preliminary results for 16 subjects, including a comparison of smart ring versus smartwatch intake gesture detection. The smart ring achieved an F1 score of 0.74 compared to an F1 score of 0.8 from the smartwatch. Finally, we describe the full set of experiments we intend to perform with the complete dataset.

关键词： Hands Wrist Performance evaluation Obesity Energy measurement Estimation Biomedical measurement Data collection Real-time systems Wearable devices

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Design and Application of a One-Stop Mobile Application Sharing Platform for Steel Enterprises

Design and Application of a One-Stop Mobile Application Shar...

引用

Chinese control Conference (CCC)

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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Distributed formation control of networked mechanical systems

arXiv

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arXiv 2022年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach. © 2022, CC BY.

关键词： Networked control systems

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Robust Voltage control in DC Networks with Uncertain Nonlinear Load Dynamics

Robust Voltage Control in DC Networks with Uncertain Nonline...

引用

IEEE Conference on Decision and control

作者： Amirreza Silani Giacomo Casadei Michele Cucuzzella Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen AG Groningen The Netherlands Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Laboratoire Ampere Dpt. EEA of the Ecole Centrale de Lyon Université de Lyon Ecully France Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this letter, we propose a control scheme for regulating the voltage in Direct Current (DC) power networks. In contrast with other works in the literature where the loads are assumed to be constant, we consider uncertain time-varying loads described as the outputs of nonlinear dynamical exosystems with uncertain parameters. Based on the output regulation methodology, the proposed control scheme ensures the robust stability of the overall network and achieves voltage regulation in presence of impedance (Z), current (I), and power (P) loads. The simulation results illustrate excellent performance of the proposed control scheme.

关键词： Robust stability Simulation Regulation Impedance Voltage control

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Efficient Self-Learning Evolutionary Neural Architecture Search

SSRN

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SSRN 2023年

作者： Qiu, Zhengzhong Bi, Wei Xu, Dong Guo, Hua Ge, Hongwei Liang, Yanchun Lee, Heow Pueh Wu, Chunguo Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education College of Computer Science and Technology Jilin University Jilin Changchun130012 China YGSOFT INC Guangdong Zhuhai519085 China Department of Electrical Engineering and Computer Science Informatics Institute Christopher S. Bond Life Sciences Center University of Missouri ColumbiaMO65211 United States College of Computer Science and Technology Dalian University of Technology Liaoning Dalian116081 China School of Computer Science Zhuhai College of Science and Technology Guangdong Zhuhai519041 China Department of Mechanical Engineering National University of Singapore 9 Engineering Drive 1 117575 Singapore

The evolutionary algorithm has become a major method for neural architecture search recently. However, the fixed probability distribution adopted by the traditional evolutionary algorithm makes the algorithm unable to control the increase or decrease of the individual architecture size and thus cannot guarantee the lightweight and inference efficiency of the candidate architecture. In addition, the existing approaches cannot learn the optimal sampling probability distribution relevant to the specific problem from the empirical information accumulated through the search process. What’s more, the algorithm needs to evaluate the performance of all the individual architectures, which requires huge computing resources and time overhead. To overcome these problems and challenges, an Efficient Self-learning Evolutionary Neural Architecture Search method, called ESE-NAS, is presented in this paper. Firstly, we propose a Model Size control module, which generates the probability distribution for sampling the type of mutation operators according to the current model size, so as to control both the node number of network architecture and the sparsity of links, therefore ensuring that neural architectures can remain compact and efficient as they evolve. Thereafter, a Mutation Candidate Credit Assignment method is proposed, which enables the algorithm to dynamically adjust the probability distribution for available types of node operations and directed links according to the empirical information from individuals’ performance evaluation, which can guide the evolutionary direction of neural architecture and shorten the first hitting time of the optimal architecture. Finally, a neural architecture performance predictor is formulated, and the accuracy of each individual architecture is predicted by using the simplified input features, to further improve the efficiency of neural architecture search. Experiments show that the ESE-NAS method proposed in this paper can learn a highly i

关键词： Evolutionary algorithms

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