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Equilibrium-Independent control of Continuous-Time Nonlinear Systems Via the LPV Framework

IEEE Transactions on automatic control 2025年

作者： Koelewijn, Patrick J. W. Weiland, Siep Toth, Roland Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Eindhoven Netherlands Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This "equilibrium-free"concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this paper, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of Linear Parameter-Varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified experimentally on a real system. Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach. © 1963-2012 IEEE.

关键词： control system synthesis

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Making children read more and better by integrating natural language processing and gamification techniques into mobile applications

Making children read more and better by integrating natural ...

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International Conference on control Systems and computer science (CSCS)

作者： George Cătălin Voicu Sorin N. Ciolofan Monica Drăgoicea Manager eMAG Bucharest Romania Department of Computer Science Politehnica University of Bucharest Bucharest Romania Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania

It is well known that nowadays children tend to spend lot of time playing games on mobile devices at the expense of reading books. The current research aims to explore ways to design and develop a mobile application, attractive for children, that uses voice recognition technology and gamification techniques to help children read more and better and to track the progress of reading. The application is implemented with Flutter, Dart and Firebase and is addressed to children, the books being made available in encyclopedia format. By integrating technologies such as NLP and gamification the application aims to improve reading fluency among children, but also to give them the opportunity to accumulate new and exciting information in the same time.

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Research on Path Planning Algorithm Based on D∗ Search

Research on Path Planning Algorithm Based on D∗ Search

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Leng, Jiajun Fu, Li Wang, Lingling Tang, Ning Laboratory of Science and Technology on Marine Navigation and Control China State Shipbuilding Corporation Beijing100036 China Tianjin Navigation Instruments Research Institute Tianjin300131 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Bauman Moscow State Technical University Moscow Department of Automatic Control Systems 105005 Russia

ISBN: (纸本)9798350382457

Path planning algorithms are current research hotspots. Heuristic algorithms that can solve dynamic environment problems are gradually becoming the mainstream research direction. The D∗ algorithm, as one of the new heuristic algorithms, has the advantages of being more computationally efficient than the A ∗ algorithm and being able to solve dynamic problems, and has played an important role in two-dimensional path planning projects such as the NASA Mars rover. But its theoretical research and practical application in 3D environment are very rare. In this context, this paper carries out an in-depth study of the path planning problem based on the D∗ algorithm, and completes the theoretical derivation and simulation process in 2D and 3D environments. In this paper, a complex random 2D map is established by random generation, and the simulation of D∗ algorithm is realized on the map with the help of Python language, which realizes the finding of the relative optimal path. Then, in order to study the feasibility of D∗ solving in 3D environment, the simulation of D∗ algorithm under 3D map is realized with the help of Python and Unity3d. The research results show that the simulation results are good, which is valuable for the theoretical research and practical application of heuristic algorithms, and plays a role in the application of robot path planning algorithms. © 2023 IEEE.

关键词： Python

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Human-Robot Collaboration using Monte Carlo Tree Search

Human-Robot Collaboration using Monte Carlo Tree Search

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2022 International Conference on Automation, Robotics and computer engineering, ICARCE 2022

作者： Yao, Feng Zhao, Huailin Liu, Huaping Shanghai Institute of Technology University Graduate School of Control Science and Engineering Shanghai China Tsinghua University Department of Computer Department Beijing China

ISBN: (纸本)9781665475488

Human-Robot collaboration as a challenging task has received great attention in the academic research field. Many existing search models are aimed at single agent or multi-agent, but there are some defects in the search efficiency of their task targets. Therefore, we propose a human-computer cooperative search algorithm in the indoor scene, where people and agents cooperate to complete the search of related objects. We have developed a platform for human-robot collaboration, and designed a set of algorithms for agent to integrate scene prior knowledge, target recognition, and path planning. The experimental results that the H-R cooperative search model proposed by us shows good efficiency in target search tasks. © 2022 IEEE.

关键词： Motion planning

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Online convex optimization for robust control of constrained dynamical systems

arXiv

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arXiv 2024年

作者： Nonhoff, Marko Dall’Anese, Emiliano Müller, Matthias A. The Institute of Automatic Control Leibniz University Hannover Hannover Germany The Department of Electrical and Computer Engineering Boston University BostonMA02215 United States

This article investigates the problem of controlling linear time-invariant systems subject to time-varying and a priori unknown cost functions, state and input constraints, and exogenous disturbances. We combine the online convex optimization framework with tools from robust model predictive control to propose an algorithm that is able to guarantee robust constraint satisfaction. The performance of the closed loop emerging from application of our framework is studied in terms of its dynamic regret, which is proven to be bounded linearly by the variation of the cost functions and the magnitude of the disturbances. We corroborate our theoretical findings and illustrate implementational aspects of the proposed algorithm by a numerical case study on a tracking control problem of an autonomous vehicle. © 2024, CC BY-NC-ND.

关键词： Cost functions

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On the Impact of Noisy Labels on Supervised Classification Models 23rd

On the Impact of Noisy Labels on Supervised Classificatio...

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23rd International Conference on Computational science, ICCS 2023

作者： Dubel, Rafal Wijata, Agata M. Nalepa, Jakub Faculty of Automatic Control Electronics and Computer Science Department of Algorithmics and Software Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Biomedical Engineering Silesian University of Technology Roosevelta 40 Zabrze41-800 Poland KP Labs Konarskiego 18C Gliwice44-100 Poland

ISBN: (纸本)9783031360206

The amount of data generated daily grows tremendously in virtually all domains of science and industry, and its efficient storage, processing and analysis pose significant practical challenges nowadays. To automate the process of extracting useful insights from raw data, numerous supervised machine learning algorithms have been researched so far. They benefit from annotated training sets which are fed to the training routine which elaborates a model that is further deployed for a specific task. The process of capturing real-world data may lead to acquring noisy observations, ultimately affecting the models trained from such data. The impact of the label noise is, however, under-researched, and the robustness of classic learners against such noise remains unclear. We tackle this research gap and not only thoroughly investigate the classification capabilities of an array of widely-adopted machine learning models over a variety of contamination scenarios, but also suggest new metrics that could be utilized to quantify such models’ robustness. Our extensive computational experiments shed more light on the impact of training set contamination on the operational behavior of supervised learners. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Digital storage

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Distributed Nash equilibrium for pursuit-evasion game with one evader and multiple pursuers

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science China(Information sciences) 2025年

作者： Libing WANG Zhixin LIU Shuo YUAN Zhiqiang PU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Wayne State University Institute of Automation Chinese Academy of Sciences

This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.

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Improvement of Random Undersampling to Avoid Excessive Removal of Points from a Given Area of the Majority Class 21st

Improvement of Random Undersampling to Avoid Excessive Remov...

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21st International Conference on Computational science, ICCS 2021

作者： Bach, Malgorzata Werner, Aleksandra Department of Applied Informatics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland

ISBN: (纸本)9783030779665

In this paper we focus on class imbalance issue which often leads to sub-optimal performance of classifiers. Despite many attempts to solve this problem, there is still a need to look for better ones, which can overcome the limitations of known methods. For this reason we developed a new algorithm that in contrast to traditional random undersampling removes maximum k nearest neighbors of the samples which belong to the majority class. In such a way, there has been achieved not only the effect of reduction in size of the majority set but also the excessive removal of too many points from the given area has been successfully prevented. The conducted experiments are provided for eighteen imbalanced datasets, and confirm the usefulness of the proposed method to improve the results of the classification task, as compared to other undersampling methods. Non-parametric statistical tests show that these differences are usually statistically significant. © 2021, Springer Nature Switzerland AG.

关键词： Classification (of information)

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Design and Implementation of a Wide-Swing CMOS Multiplier for AC Source Signal Tracking and Modulation

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Circuits, Systems, and Signal Processing 2024年第9期43卷 5377-5400页

作者： Wang, Wei Xu, Sendren Sheng-Dong Chen, Chi-Lin Chiu, Huang-Jen Department of Electronic and Computer Engineering National Taiwan University of Science and Technology Taipei 106335 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei 106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei 106335 Taiwan Himax Technologies Inc. Taipei 100507 Taiwan

The multiplier is a pervasive critical component today. However, most of them are difficult to be integrated into an integrated circuit. In this study, we proposed a novel analog multiplier for AC power application, using CMOS process to realize the analog voltage multiplication function of double-ended input and single-ended output. Under the working voltage of 3.3 V, the multiplier can operate with a wide input voltage range of 0–1.6 V (about 48.8% of the working voltage) and a wide output voltage range of 0–2.56 V (about 77.5% of the working voltage). The multiplier is implemented through the current difference between two NMOSs operating in the linear region and the saturation region, respectively. Compared with the existing technique, the proposed analog multiplier has a wider input and output range, and better linearity. It is suitable for AC power signal tracking and modulation. Finally, the United Microelectronics Corporation 0.18 μm 1P4M CMOS standard process was used for physical implementation. Moreover, there is not any BJT or special device used. It was measured that the analog multiplier circuit consumes about 0.56 mW at a working voltage of 3.3 V. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： AC power signal modulation AC source signal tracking Analog integrated circuit (IC) design Analog multipliers Circuits and systems

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Deciphering Modern Customer Loyalty: A Machine Learning Approach

Deciphering Modern Customer Loyalty: A Machine Learning Appr...

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International Conference on Internet of Things and Machine Learning, IoTML 2023

作者： Li, Kechen Xu, Chang Zhao, Zheyuan Zhu, Mengyu Cui, Xiangxuan Xu, Shurui Zou, Jichen Nantong Normal College Nantong China Ulink College of Suzhou industrial Park Suzhou China Jiangsu Lincheng Technology Co. Ltd. Nantong China School of computer science and technology China University of Mining and Technology Xuzhou China Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781510671805

In the contemporary retail sector, deciphering customer behavior is crucial for businesses vying for a competitive advantage. While customer loyalty has conventionally been gauged through parameters such as repeat purchases and promotional response, the merging of technology, media, and commerce has necessitated a reevaluation of these benchmarks. This study recognizes the inadequacy of solely relying on traditional transactional data to evaluate loyalty. Utilizing Machine Learning (ML), we crafted a novel model to predict customer loyalty, taking into account a plethora of modern factors, including online behavior and social media interactions. This research leveraged a diverse dataset and sophisticated ML algorithms to identify subtle patterns and relationships. Key findings include the significance of online behavior in loyalty prediction, the emerging role of social media interactions, and the nuanced influence of device preferences on brand loyalty. Notably, this manuscript offers a pioneering ML model that accurately reflects the complexities of the modern retail landscape, providing a valuable tool for businesses seeking to foster enduring customer relationships. © 2023 SPIE.

关键词： Forecasting

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