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A Tutorial on Quantized Feedback control

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 5-17页

作者： Minyue Fu IEEE the School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and TechnologySouthern University of Science and TechnologyShenzhen 518055China

In this tutorial paper, we explore the field of quantized feedback control, which has gained significant attention due to the growing prevalence of networked control systems. These systems require the transmission of feedback information, such as measurements and control signals, over digital networks, presenting novel challenges in estimation and control design. Our examination encompasses various topics, including the minimal information needed for effective feedback control, the design of quantizers, strategies for quantized control design and estimation,achieving consensus control with quantized data, and the pursuit of high-precision tracking using quantized measurements.

关键词： Consensus control high-precision control networked control quantized estimation quantized feedback control robust control

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High-Order Fully Actuated system Models for Strict-Feedback systems With Increasing Dimensions

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2451-2462页

作者： Xiang Xu Guang-Ren Duan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055 the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China

This paper mainly addresses control problems of strict-feedback systems(SFSs)with increasing *** with the commonly-considered SFSs where the subsystems have the same dimension,we aim to handle more complex cases,i.e.,the subsystems in the considered SFSs are assumed to have increasing *** transforming the systems into highorder fully-actuated system(HOFAS)models,the stabilizing controllers can be directly *** first-order SFSs,secondorder and high-order SFSs are also considered.

关键词： Increasing dimensions high-order fully-actuated system nonlinear systems strict-feedback systems

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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

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Cooperative Search Strategy of Multi-UAVs Based on Hexagonal Grid 7th

Cooperative Search Strategy of Multi-UAVs Based on Hexagonal...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhao, Hongyin Hao, Mingrui Zhang, Hang Dong, Xiaofei Liu, Yuting Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789819733316

Aiming at the cooperative search problem in a wide-area unknown region, a cooperative search strategy of multi-UAVs based on hexagonal grid is proposed for the fairness of decision-making, This strategy is trained by reinforcement learning method, and adopts centralized training and distributed execution, and deals with the dynamic environment problem by fusing pheromone models. Simulation shows that the cooperative search algorithm has the functions of unknown region cooperative search and online threat avoidance replanning. Compared with the square grid training method, the reinforcement learning search algorithm based on the hexagonal grid after training expands the feasible directions in each decision planning cycle, which is more suitable for low-slow-small UAVs, and the performance is more stable after convergence. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Reinforcement learning

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A cluster positioning architecture and relative positioning algorithm based on pigeon fock bionics

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Satellite Navigation 2023年第1期4卷 92-112,I0004页

作者： Zhongliang Deng Hang Qi Chengfeng Wu Enwen Hu Runmin Wang Beijing University of Posts and Telecommunications Beijing 100876China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing 100074China.

Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned *** positioning is important for ensuring the normal operation of unmanned *** existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over *** the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative *** on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon *** divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster *** at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation *** the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)*** cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the *** designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent *** with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of *** also has higher relative positioning accuracy

关键词： Cluster positioning architecture Cluster relative positioning Multidimensional scaling Multiple objective particle swarm optimization Unmanned aerial vehicles positioning Localizability analysis Rigid graph

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A Survey on Distributed Network Localization from a Graph Laplacian Perspective

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Journal of systems science & Complexity 2024年第1期37卷 273-293页

作者： HAN Zhimin LIN Zhiyun FU Minyue Artificial Intelligence Institute School of AutomationHangzhou Dianzi UniversityHangzhou 310018China Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent ManufacturingSouthern University of Science and TechnologyShenzhen 518055China Peng Cheng Laboratory Shenzhen 518000China

Network localization serves as a fundamental component for enabling various position based operations in multi-agent systems,facilitating tasks like target searching and formation control by providing accurate position information for all nodes in the *** localization focuses on the challenge of determining the positions of nodes within a network,relying on the known positions of anchor nodes and internode relative *** the past few decades,distributed network localization has garnered significant attention from *** paper aims to provide a review of main results and advancements in the field of distributed network localization,with a particular focus on the perspective of graph *** to its favorable characteristics,graph Laplacian unifies various network localization,even when dealing with diverse types of internode relative measurements,into a unified protocol framework,which can be constructed by a linear method and ensure the global convergence.

关键词： Distributed network localization graph Laplaian sensor network

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A Combat Intention Reasoning Method for Warship Formation Targets Based on Deep Learning 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Xu, Hongfeng Zhao, Jiajia Zhang, Hang Jiang, Jixiang Chen, Linxiu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

With the rapid development of science and technology, modern war presents the characteristics of mathematics and information. Grasping the operational intention of battlefield targets plays a crucial role in the trend of war. The target of warship formation is an important fighting force in modern war. How to analyze and reason the target’s fighting intention accurately and timely is one of the most important parts of modern battlefield situation cognition system. Aiming at the problems of too strong subjectivity, lack of objectivity and poor model robustness existing in traditional intention reasoning methods, this paper introduces the idea of deep learning data-driven, and takes the electromagnetic, state and formation characteristic information of ship formation targets as input, designs a deep learning-based ship formation target intention reasoning model. The effectiveness of the algorithm is verified by mathematical simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Deep learning

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Low-Light Image Enhancement Method for Consistency Judgment of Multi-view Multi-target for UAV Swarm 7th

Low-Light Image Enhancement Method for Consistency Judgment ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Li, WeiXue Song, Chuang Hao, MingRui Zhang, Hang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733392

To address the challenges posed by low-light images in multi-drone detection tasks, which lead to significant differences in target image features across different perspectives and poor accuracy in target association under multiple viewpoints, this paper proposes an enhanced network architecture based on MIRNet for low-light image enhancement. The goal is to improve the stability of target features in multi-view scenarios. By incorporating Sobel convolution to capture target edges and texture features, and by designing a residual contextual block combined with an attention mechanism and a pixel loss function that emphasizes the central region, the model not only acquires richer features but also focuses more on the central region's target characteristics. Experimental results demonstrate that the proposed approach effectively enhances image brightness, contrast, and target texture, exhibiting substantial advantages in both objective and subjective evaluation metrics. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Image enhancement

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Relative Navigation of Unmanned Aerial Vehicles Based on Data Link Ranging and Partial Guidance Information 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Wang, Ziwen Song, Chuang Hao, Mingrui Liang, Xinkai Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

In GNSS-denied environments, precise relative navigation between unmanned aerial vehicles (UAVs) is a key technology for achieving cooperative tasks. The relative navigation method based on data link ranging information combines altitude, airspeed measurements, and attitude information to ensure the observability of UAVs’ relative states. However, due to the significant constraints imposed by observability conditions, a novel approach is proposed that utilizes partial guidance information from the UAV swarm towards the target as additional measurements. This approach enhances the observability capability of relative navigation and alleviates the constraints imposed by the observability conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Observability

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Dictionary-Labeled A∗: Optimal Path-and-Posture Planning for Mobile Robots with Turning Radius Constraints

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IEEE Robotics and Automation Letters 2024年第12期9卷 10740-10747页

作者： Yang, Chen Lin, Zhiyun Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China Peng Cheng Laboratory Shenzhen518066 China

In this study, we introduce an algorithm called Dictionary-Labeled A∗ (DL-A∗), which addresses the critical problem of path-and-posture planning for mobile robots with turning radius constraints. DL-A∗ utilizes a dictionary to store and process multi-element information within an enhanced topological map. The algorithm categorizes the edges in the map into forward driving and reverse driving states, and constructs sets of successive states that adhere to road segment constraints through map pre-processing. Subsequently, the A∗ algorithm is employed to find an optimal path to reach the endpoint while satisfying the end posture constraint, with the objective of minimizing the total travelling cost. Simulation results demonstrate that, in comparison to other popular algorithms, our algorithm offers the capability to adapt the robot's forward and reverse driving postures to minimize total cost, and exhibits exceptional searching efficiency. © 2016 IEEE.

关键词： Robot programming

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