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2024 China automation Congress, CAC 2024

作者： Xiang, Siwei Yang, Ziying Yu, Yao Shi, Yi Duan, Kairong Zhang, Weidong Xie, Wei Department of Automation Shanghai Jiao Tong University Shanghai200240 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing100083 China

ISBN: (纸本)9798350368604

This paper addresses the nonlinear control problem for a quadcopter. The proposed control strategy ensures effective trajectory tracking with ultimately bounded errors. A nonlinear controller employing a backstepping framework is designed to stabilize the quadcopter with damping effects. Simulation and experimental results demonstrate the controller’s capability to maintain stability and accurately follow reference trajectory, validating the effectiveness of the proposed method. © 2024 IEEE.

关键词： Trajectories

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Model Predictive Control Strategy for Three-Level Quasi-Z-Source Inverters

Model Predictive Control Strategy for Three-Level Quasi-Z-So...

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2023 Power Electronics and Power System Conference, PEPSC 2023

作者： Zhang, Ji Pan, Tung-Chin National Taiwan University of Science and Technology Department of Electronic and Computer Engineering Taipei106 Taiwan Changshu Institute of Technology Department of Electric and Automation Engineering Suzhou215000 China

ISBN: (纸本)9798350341294

Model predictive control(MPC) strategy is pay more attention in power electronics applications. Inductor current, output current and capacitor voltage are selected as the factor of cost function for the proposed MPC. The discrete-time model of the MPC is designed to calculate inductor current, output current and capacitor voltage at next sampling time in each switching state, regulate the shoot-through duty cycle, and select the following switching vector for the Quasi-Z-Source inverter (qZSI). The optimal switching vector is decided, which avoids the traditional complicated modulated process. The MPC strategy is designed to can achieve desired dynamic performance for the qZSI, is beyond the traditional proportional-integral(PI)-type method. © 2023 IEEE.

关键词： Model predictive control

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Simulation of Radiation Intensity Distribution of LED Matrices with Different Bases of Mounting Surfaces 5

Simulation of Radiation Intensity Distribution of LED Matric...

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5th IEEE International Conference on Modern Electrical and Energy System, MEES 2023

作者： Mospan, Denis Kukharenko, Dmitriy Nevliudova, Viktoriia Yurko, Alexey Sankov, Serhiy Kremenchuk Mykhailo Ostrohradskyi National University "computer Engineering and Electronics" Department Kremenchuk Ukraine Kharkiv National University of Radioelectronics Department of Computer-Integrated Technologies Automation and Mechatronics Kharkiv Ukraine

ISBN: (纸本)9798350359787

This article discusses the modeling of the working surface of the irradiation intensity, formed by LED arrays of various configurations, namely flat, cylindrical and spherical structures. The ability to change the step of the LED matrix, the size of the surface of the frame and the parameters of the spatial distribution of the luminous intensity of an individual LED allows you to choose rational parameters for the design of the matrix to create an illumination value within the specified limits in the working area. © 2023 IEEE.

关键词： Mountings

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Formation Control of Heterogeneous Multi-Agent Systems Under Fixed and Switching Hierarchies

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IEEE Access 2024年 12卷 97868-97882页

作者： Shamrooz Aslam, Muhammad Bilal, Hazrat Chang, Wen-Jer Yahya, Abid Anjum Badruddin, Irfan Kamangar, Sarfaraz Hussien, Mohamed China University of Mining and Technology Artificial Intelligence Research Institute Xuzhou221116 China University of Science and Technology of China Department of Automation Hefei230026 China Department of Marine Engineering Keelung202 Taiwan Botswana International University of Science and Technology Department of Electrical Computer and Telecommunications Engineering Palapye Botswana King Khalid University College of Engineering Department of Mechanical Engineering Abha Saudi Arabia King Khalid University Faculty of Science Department of Chemistry Abha61413 Saudi Arabia

Modern information technology is driving the rapid development of the information and automation industry through the combination of computer technology, communication technology, and control technology. Inspired by nature's cluster movement, such as birds, people proposed the concept of Multi-Agent Systems (MASs). This paper deals with the formation control problem for a class of heterogeneous multi-agent systems with time-delays. First, the formation control of heterogeneous multi-agent systems with communication delay in fixed and switching topologies is investigated. A heterogeneous multi-agent system model with input delay and communication delay is established. Furthermore, based on this model, the formation control protocol is designed and the stability of the proposed control protocol in fixed and switched topologies is analyzed. The first- and second-order multi-agent control system was formulated for both fixed and switched topology, respectively. Then, using the new LMI toolbox, the feasibility of the parameters is obtained and the example is created by MATLAB. The simulation results show that the proposed formation control protocol with delay in this paper can make the systems converge to the expected value under fixed and switched hierarchies. © 2013 IEEE.

关键词： Topology

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EFFICIENT MULTI-AGENT REINFORCEMENT LEARNING BY PLANNING 12

EFFICIENT MULTI-AGENT REINFORCEMENT LEARNING BY PLANNING

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12th International Conference on Learning Representations, ICLR 2024

作者： Liu, Qihan Ye, Jianing Ma, Xiaoteng Yang, Jun Liang, Bin Zhang, Chongjie Department of Automation Tsinghua University China Institute for Interdisciplinary Information Sciences Tsinghua University China Department of Computer Science & Engineering Washington University St. Louis United States

Multi-agent reinforcement learning (MARL) algorithms have accomplished remarkable breakthroughs in solving large-scale decision-making tasks. Nonetheless, most existing MARL algorithms are model-free, limiting sample efficiency and hindering their applicability in more challenging scenarios. In contrast, model-based reinforcement learning (MBRL), particularly algorithms integrating planning, such as MuZero, has demonstrated superhuman performance with limited data in many tasks. Hence, we aim to boost the sample efficiency of MARL by adopting model-based approaches. However, incorporating planning and search methods into multi-agent systems poses significant challenges. The expansive action space of multi-agent systems often necessitates leveraging the nearly-independent property of agents to accelerate learning. To tackle this issue, we propose the MAZero algorithm, which combines a centralized model with Monte Carlo Tree Search (MCTS) for policy search. We design a novel network structure to facilitate distributed execution and parameter sharing. To enhance search efficiency in deterministic environments with sizable action spaces, we introduce two novel techniques: Optimistic Search Lambda (OS(λ)) and Advantage-Weighted Policy Optimization (AWPO). Extensive experiments on the SMAC benchmark demonstrate that MAZero outperforms model-free approaches in terms of sample efficiency and provides comparable or better performance than existing model-based methods in terms of both sample and computational efficiency. Our code is available at https://***/liuqh16/MAZero. © 2024 12th International Conference on Learning Representations, ICLR 2024. All rights reserved.

关键词： Multi agent systems

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Approximation Schemes for Geometric Knapsack for Packing Spheres and Fat Objects 51

Approximation Schemes for Geometric Knapsack for Packing Sph...

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51st International Colloquium on Automata, Languages, and Programming, ICALP 2024

作者： Acharya, Pritam Bhore, Sujoy Gupta, Aaryan Khan, Arindam Mondal, Bratin Wiese, Andreas Department of Mathematics Indian Institute of Science Education and Research Pune India Department of Computer Science and Engineering Indian Institute of Technology Bombay India Department of Computer Science and Automation Indian Institute of Science Bengaluru India Department of Mathematics Technical University of Munich Germany

ISBN: (纸本)9783959773225

We study the geometric knapsack problem in which we are given a set of d-dimensional objects (each with associated profits) and the goal is to find the maximum profit subset that can be packed non-overlappingly into a given d-dimensional (unit hypercube) knapsack. Even if d = 2 and all input objects are disks, this problem is known to be NP-hard [Demaine, Fekete, Lang, 2010]. In this paper, we give polynomial time (1 + Ε)-approximation algorithms for the following types of input objects in any constant dimension d: disks and hyperspheres, a class of fat convex polygons that generalizes regular k-gons for k ≥ 5 (formally, polygons with a constant number of edges, whose lengths are in a bounded range, and in which each angle is strictly larger than π/2), arbitrary fat convex objects that are sufficiently small compared to the knapsack. We remark that in our PTAS for disks and hyperspheres, we output the computed set of objects, but for a OΕ(1) of them we determine their coordinates only up to an exponentially small error. However, it is not clear whether there always exists a (1 + Ε)-approximate solution that uses only rational coordinates for the disks’ centers. We leave this as an open problem which is related to well-studied geometric questions in the realm of circle packing. © Pritam Acharya, Sujoy Bhore, Aaryan Gupta, Arindam Khan, Bratin Mondal, and Andreas Wiese.

关键词： Approximation algorithms

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Transforming the Future: An Innovative LiFi Framework to Elevate Sustainability and Security in UAE Smart Cities 10

Transforming the Future: An Innovative LiFi Framework to Ele...

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10th International Conference on engineering and Emerging Technologies, ICEET 2024

作者： Ati, Modafar Jamil, Yaqoob Qadir, Brzo Aziz Abu Dhabi University Department of Computer Science & Information Technology Abu Dhabi United Arab Emirates Erbil Polytechnic University Department of Automation Industrial Technology Engineering Erbil Iraq

ISBN: (纸本)9798331532895

The rapid advancement of smart cities calls for the implementation of cutting-edge communication solutions that are capable of effectively addressing the myriad challenges associated with sustainability and security. This comprehensive research presents the innovative concept of integrating Light-Fidelity (LiFi) technology as a pivotal element for significantly enhancing smart city infrastructures, with a strong emphasis on its application in the United Arab Emirates. By harnessing the exceptional capabilities of light-emitting diodes (LEDs), LiFi offers a significantly low-energy, high-speed alternative to traditional Wi- Fi systems by utilizing visible light as the medium for the transmission of data. This in-depth investigation delves into the various ways through which LiFi enhances security measures by restricting communication to designated areas that are illuminated while simultaneously minimizing overall energy consumption, thus strongly supporting the sustainable development goals aimed at fostering smart cities. The thorough framework assesses the practicality, economic viability, and comprehensive security measures associated with the potential implementation of LiFi in diverse urban settings. Additionally, it proposes a sustainable communication method that effectively combats escalating energy demands, strategically targets areas lacking adequate Wi-Fi coverage, and addresses the prevalent security concerns that are common in densely populated city environments. The detailed results emphasize LiFi's transformative potential to revolutionize urban communication networks, aligning seamlessly with the ambitious aspirations of the UAE towards innovative and sustainable smart city initiatives. © 2024 IEEE.

关键词： Sustainable city

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Indirect adaptive observer control (I-AOC) design for truck–trailer model based on T–S fuzzy system with unknown nonlinear function

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Complex and Intelligent Systems 2024年第5期10卷 7311-7331页

作者： Aslam, Muhammad Shamrooz Bilal, Hazrat Chang, Wer-Jer Yahya, Abid Badruddin, Irfan Anjum Kamangar, Sarfaraz Hussien, Mohamed Artificial Intelligence Research Institute China University of Mining and Technology Department of Automation University of Science and Technology of China Department of Marine Engineering of National Taiwan Ocean University (NTOU) Department of Electrical Computer and Telecommunications Engineering Botswana International University of Science and Technology Department of Mechanical Engineering College of Engineering King Khalid University Department of Chemistry Faculty of Science King Khalid University

Tracking is a crucial problem for nonlinear systems as it ensures stability and enables the system to accurately follow a desired reference signal. Using Takagi–Sugeno (T–S) fuzzy models, this paper addresses the problem of fuzzy observer and control design for a class of nonlinear systems. The Takagi–Sugeno (T–S) fuzzy models can represent nonlinear systems because it is a universal approximation. Firstly, the T–S fuzzy modeling is applied to get the dynamics of an observational system in order to estimate the unmeasurable states of an unknown nonlinear system. There are various kinds of nonlinear systems that can be modeled using T–S fuzzy systems by combining the input state variables linearly. Secondly, the T–S fuzzy systems can handle unknown states as well as parameters known to the indirect adaptive fuzzy observer. A simple feedback method is used to implement the proposed controller. As a result, the feedback linearization method allows for solving the singularity problem without using any additional algorithms. A fuzzy model representation of the observation system comprises parameters and a feedback gain. The Lyapunov function and Lipschitz conditions are used in constructing the adaptive law. This method is then illustrated by an illustrative example to prove its effectiveness with different kinds of nonlinear functions. A well-designed controller is effective and its performance index minimizes network utilization—this factor is particularly significant when applied to wireless communication systems. © The Author(s) 2024.

关键词： Adaptive observer control Feedback control design Indirect method Lyapunov–Krasovskii candidate T–S fuzzy models

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Adaptive Neural Network-Based Visual Target Tracking Control for Omnidirectional Mobile Robots 49

Adaptive Neural Network-Based Visual Target Tracking Control...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Zhang, Zhonghao Ge, Shuzhi Sam Jiang, Wanyue Institute for Future School of Automation Qingdao University Qingdao China National University of Singapore Department of Electrical and Computer Engineering Singapore

ISBN: (纸本)9798350331820

To address the problem of ensuring the target is within the field of view when robot vision tracking, this paper designs an adaptive neural network-based trajectory tracking controller for the motion control of an omnidirectional mobile robot during target tracking. First, the desired orientation angle of the omnidirectional robot is designed based on the relative positions of the human and the robot, taking into account the limitations of the camera field of view. Subsequently, a kinematic model of the robot is designed considering skidding and sliding environmental disturbances, and an adaptive neural network control scheme is proposed to cope with the uncertainty of the disturbance parameters. Theoretical and experimental proof that the solution is feasible. Simulation results show that the proposed control scheme can perform the target tracking task. Finally, the feasibility and effectiveness of the control scheme are verified through practical experiments. © 2023 IEEE.

关键词： Target tracking

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Vision-Based Fixed-Time Uncooperative Aerial Target Tracking for UAV

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1322-1324页

作者： Peng Sun Siqi Li Bing Zhu Zongyu Zuo Xiaohua Xia the Seventh Research Division Beihang UniversityBeijing 100191China the School of Automation Beijing Institute of TechnologyBeijing 100081China the Department of Electrical Electronic and Computer EngineeringUniversity of PretoriaPretoria 0002South Africa

Dear Editor,In this letter,a vision-based fixed-time control is proposed for an unmanned aerial vehicle(UAV)with actuator saturation to track an uncooperative *** fixed-time control is designed in backstepping *** rel... 详细信息

关键词： Fixed cooperative letter

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