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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

Bulletin of the Polish Academy of sciences: Technical sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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Energy metrics and tradeoff of nonlinear multi-agent consensus subject to DoS attacks

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Information sciences 2025年 718卷

作者： Zhao, Lingzhi Lu, Jianquan Ruan, Qihua Huang, Tingwen School of Cyber Science and Engineering Southeast University Nanjing210096 China School of Mathematics Southeast University Nanjing210096 China School of Mathematics and Finance Putian University Putian351100 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen518055 China

This paper investigates the problem of fixed-time leader-following consensus in nonlinear multi-agent systems (NMASs) subject to malicious DoS (Denial-of-Service) attacks. From the perspectives of time cost (TC) and energy cost (EC), as well as the random impact of attacks on information interaction, we propose an innovative switching control approach that combines the strengths of both finite-time and fixed-time control strategies. We derive sufficient and verifiable mathematical criteria for achieving leader-following consensus. Specifically, we demonstrate, both theoretically and numerically, that there is a tradeoff between TC and EC: the coexistence of the control parameters k and α implies that reducing TC inevitably increases EC. Finally, we highlight that different optimal values of the steepness exponent and control gain should be selected depending on the weighting metrics used, to minimize the total cost of time and energy. © 2025 Elsevier Inc.

关键词： DoS attack Energy metrics MASs Tradeoff

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control-oriented modeling and passivity analysis of thermal dynamics in a multi-producer district heating system

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IFAC-PapersOnLine 2023年第1期56卷 175-180页

作者： Saeed Ahmed Juan E. Machado Michele Cucuzzella Jacquelien M.A. Scherpen Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen The Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Italy

Climate change and geopolitics have led to the conception of plans for reducing greenhouse gas emissions and improving the sustainability of existing fossil-based energy systems. In this respect, district heating has been identified as an indispensable player for its potential to integrate seamlessly environmentally-friendly heat sources. To improve the efficiency of these district heating systems, optimal operation schemes can be devised and enforced through control systems. To this end, we present a control-oriented nonlinear ODE-based model of temperature dynamics in a multi-producer district heating system. The model features a modular design and comprises the thermal dynamics of heat exchangers of producers and consumers interconnected by a distribution network of meshed topology. Then, we establish passivity properties and zero-state detectability for the modeled temperature dynamics that could be exploited for controller design and solving constrained optimization problems.

关键词： District heating thermal dynamics Krasovskii passivity shifted passivity zero-state detectability

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Robust control for Bidirectional Thrust Quadrotors under Instantaneously Drastic Disturbances

Robust Control for Bidirectional Thrust Quadrotors under Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zujian Chen Shaolin Mo Botao Zhang Jiyu Li Hui Cheng School of Computer Science and Engineering Sun Yat-sen University Guangzhou China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China College of Engineering South China Agricultural University Guangzhou China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Quadrotors may crash and cause severe accidents under instantaneously drastic disturbances. To mitigate the effect of such disturbances, these critical issues should be considered: efficient disturbance observation and compensation, full attitude controllability, and instant output power generation of the quadrotor. In this paper, to keep the quadrotor stable even under suddenly drastic disturbances, a novel control framework is presented to by integrating the advantages of active disturbance rejection control (ADRC) as well as geometric control for a quadrotor with bidirectional thrust capabilities. Moreover, to strengthen the adaptability under significant disturbances, a novel switching strategy is introduced into the control framework by virtue of the quadrotor’s bidirectional thrust capabilities. The ADRC scheme is performed when the disturbances are within a range; alternatively, if the disturbances surpass the preset range and the desired control is beyond the ultimate output of the quadrotor, the quadrotor compliantly responds by executing a 180° flip reverse flight to handle such drastic disturbances. Numerical and real-world experiments demonstrate that the proposed robust control strategy has superior performance adapts to instantaneously drastic disturbances.

关键词： Robust control Attitude control Switches Numerical simulation controllability computer crashes Robotics and automation

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Prediction of Heat Transfer in Smart Buildings using Internet of Things based Artificial Intelligence 3

Prediction of Heat Transfer in Smart Buildings using Interne...

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3rd International Conference on Electronics and Sustainable Communication Systems, ICESC 2022

作者： Rehman, TasneemBano Madiajagan, M. Ramya, D. Saratha, M. Mohan Krishna, P.B. Kumar, Prashant Sage University Department of Computer Science and Engineering Madhya Pradesh Bhopal India Vellore Institute of Technology School of Computer Science and Engineering Tamil Nadu Vellore India Sathyabama Institute of Science and Technology Department of Eee Tamil Nadu Chennai India M.Kumarasamy College of Engineering Department of Mca Tamil Nadu Karur India National Institute of Technology Department of Process Control Telangana Warangal India Lovely Professional University Department of Chemical Engineering Punjab India

ISBN: (数字)9781665479714

ISBN: (纸本)9781665479714

With rapid growth and a higher standard of living, the demand for usable energy has increased tremendously over the last few decades, with the construction industry being one of the most notable examples. The energy efficiency of a building is influenced by a variety of factors, including the weather in the area, the structure characteristics, and how people use electricity. These algorithms can be used to generate a prediction model for smart building indoor temperature forecasting using the Internet of Things and several commonly used artificial intelligence algorithms, which can then be used to generate a prediction model for smart building outdoor temperature forecasting. It was necessary to employ freely accessible software tools in order to make geometric and sensory data available in a virtual reality application and to build the PMV and PPD indices. On a low-cost edge computing device, semi-automatic analysis of streaming thermal images from a non-intrusive sensor was performed in order to offer near real-time Mean Radiant Temperature (MRT)estimations. An experimental space that had been mechanically preconditioned was filled with a dynamic temperature environment, and a prototype of the system was employed in a series of trials. Results show that the data backs up the fact that the system output and the heat sensations felt under different settings are consistent. © 2022 IEEE.

关键词： Application programs

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Service Function Chain Dynamic Scheduling in Space-Air-Ground Integrated Networks

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IEEE Transactions on Vehicular Technology 2025年

作者： Jia, Ziye Cao, Yilu He, Lijun Wu, Qihui Zhu, Qiuming Niyato, Dusit Han, Zhu Nanjing University of Aeronautics and Astronautics College of Electronic and Information Engineering Nanjing211106 China Xidian University State Key Laboratory of ISN Xian710071 China China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China Nanyang Technological University School of Computer Science and Engineering Singapore639798 Singapore University of Houston Department of Electrical and Computer Engineering HoustonTX77004 United States Kyung Hee University Department of Computer Science and Engineering Seoul446-701 Korea Republic of

As an important component of the sixth generation communication technologies, the space-air-ground integrated network (SAGIN) attracts increasing attentions in recent years. However, due to the mobility and heterogeneity of the components such as satellites and unmanned aerial vehiclesin multi-layer SAGIN, the challenges of inefficient resource allocation and management complexity are aggregated. To this end, the network function virtualization technology is introduced and can be implemented via service function chains (SFCs) deployment. However, urgent unexpected tasks may bring conflicts and resource competition during SFC deployment, and how to schedule the SFCs of multiple tasks in SAGIN is a key issue. In this paper, we address the dynamic and complexity of SAGIN by presenting a reconfigurable time extension graph and further propose the dynamic SFC scheduling model. Then, we formulate the SFC scheduling problem to maximize the number of successful deployed SFCs within limited resources and time horizons. Since the problem is in the form of integer linear programming and intractable to solve, we propose the algorithm by incorporating deep reinforcement learning. Finally, simulation results show that the proposed algorithm has better convergence and performance compared to other benchmark algorithms. © 2025 IEEE.

关键词： Network function virtualization

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Simple and Optimal Sublinear Algorithms for Mean Estimation

arXiv

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arXiv 2024年

作者： Bertolotti, Beatrice Russo, Matteo Schwiegelshohn, Chris Shyam, Sudarshan Department of Computer Science Aarhus University Åbogade 34 Aarhus N8200 Denmark Department of Computer Control Management Engineering Sapienza University of Rome Via Ariosto 25 Rome00185 Italy

We study the sublinear multivariate mean estimation problem in d-dimensional Euclidean space. Specifically, we aim to find the mean µ of a ground point set A, which minimizes the sum of squared Euclidean distances of the points in A to µ. We first show that a multiplicative (1 + Ε) approximation to µ can be found with probability 1 − δ using O(Ε−1 log δ−1) many independent uniform random samples, and provide a matching lower bound. Furthermore, we give two sublinear time algorithms with optimal sample complexity for extracting a suitable approximate mean: 1. A gradient descent approach running in time O((Ε−1 + log log δ−1) · log δ−1 · d). It optimizes the geometric median objective while being significantly faster for our specific setting than all other known algorithms for this problem. 2. An order statistics and clustering approach running in time O ((Ε−1 + logγ δ−1) · log δ−1 · d) for any constant γ > 0. Throughout our analysis, we also generalize the familiar median-of-means estimator to the multivariate case, showing that the geometric median-of-means estimator achieves an optimal sample complexity for estimating µ, which may be of independent interest. © 2024, CC BY.

关键词： Consensus algorithm

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Safety-Critical control and Path Following by Formations of Agents with control Barrier Functions using Distributed Model Predictive control

Safety-Critical Control and Path Following by Formations of ...

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Chinese control and Decision Conference, CCDC

作者： YiZhi Sun Di Wu Liang Gao YongFeng Gao Yan Pan Nan Ding School of Control Science and Control Engineering Dalian University of Technology Dalian China School of Naval Arch and Ocean Engineering Dalian University of Technology Dalian China School of Computer Science and Technology Dalian University of Technology Dalian China

In this paper, we propose a safety-critical formation control method based on distributed nonlinear model predictive control strategy, which controls the path following and formation maintenance of the multiple mobile robots, while ensuring the collision avoidance. Firstly, we adopt the distributed framework with high real time performance. Secondly, based on the distributed optimization framework, discrete-time control barrier function constraints are transformed into smooth differentiable constraints to complete the polytopic obstacle avoidance with a small horizon by using the strong duality of convex optimization. Finally, the simulation results of three robots are given to prove the effectiveness of the proposed algorithm, and it can realize the local path generation based on real-time optimization in the narrow environment.

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Steps Toward Industry 5.0:Building“6S”Parallel Industries With Cyber-Physical-Social Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1692-1703页

作者： Xingxia Wang Jing Yang Yutong Wang Qinghai Miao Fei-Yue Wang Aijun Zhao Jian-Ling Deng Lingxi Li Xiaoxiang Na Ljubo Vlacic School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE Macao University of Science and Technology Macao 999078China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China North Automatic Control Technology Institute Taiyuan 030006China China Huaneng Group Co. Ltd.Beijing 100031China Department of Electrical and Computer Engineering Indiana University-Purdue University Indianapolis(IUPUI)IndianapolisIN 46202 USA Department of Engineering University of CambridgeCambridgeCB21PZUK School of Engineering and Built Environment Griffith UniversityGold CoastQLD 4222Australia

Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.

关键词： ACP artificial intelligence CPS CPSS Industry 4.0 Industry 5.0 parallel industries parallel intelligence

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Image Enhancement using linear filters for Rectal Cancer Diagnosis using MR Images 11

Image Enhancement using linear filters for Rectal Cancer Dia...

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11th International Conference on Bio Signals, Images, and Instrumentation, ICBSII 2025

作者： Kamath, Surekha Rajagopal, K.V. Manjunath, K.N. Manipal Academy of Higher Education Manipal Institute of Technology Department of Instrumentation and Control Engineering Manipal India Manipal Academy of Higher Education Kasturba Medical College Department of Radiodiagnosis and Imaging Manipal India Manipal Academy of Higher Education Manipal Institute of Technology Department of Computer Science and Engineering Manipal India

ISBN: (纸本)9798331513863

computer-aided diagnosis (CAD) is an efficient tool in analyzing medical images for the diagnosis and staging of rectal cancer. Magnetic Resonance Imaging (MRI) plays a crucial role in the detection and evaluation of rectal cancer due to its high-resolution imaging capabilities. This paper discusses the pre-processing methods for MR images of rectal cancer, which facilitate further image analysis for diagnosing the stage of cancer. Pre-processing is a critical step for MR images, aiding in subsequent steps of segmentation and classification. This paper investigates the impact of widely used pre-processing techniques. Initially, pelvic DICOM images are provided as input. By combining three filters - mean, median, and adaptive median filters - the noise is removed from the image. Image enhancement techniques such as Adaptive Histogram Equalization (AHE) and Contrast Limited Adaptive Histogram Equalization (CLAHE) are used to enhance the quality of the image. Statistical parameters like Peak Signal-to-Noise Ratio (PSNR), Mean Squared Error (MSE), Root Mean Squared Error (RMSE), and Structural Similarity Index Measure (SSIM) are used to evaluate performance. Results indicate that CLAHE provides superior outcomes. © 2025 IEEE.

关键词： AHE CLAHE computer-aided diagnosis Magnetic Resonance Imaging MSE PSNR RMSE SSIM

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