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Neural-based prescribed-time consensus control for multiagent systems via dynamic memory event-triggered mechanism

Science China(Technological Sciences) 2025年第3期68卷 217-227页

作者： Xiaohong ZHENG Hui MA Qi ZHOU Hongyi LI School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Controland Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative ControlGuangdong University of TechnologyGuangzhou510006China School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou510006China College of Electronic and Information Engineering and the Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest UniversityChongqing400715China

This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a composite learning technique in NN *** method leverages the prediction error within the NN update law to enhance the accuracy of the unknown nonlinearity ***,by introducing a time-varying transformation,the study establishes a distributed prescribed-time control *** notable feature of this algorithm is its ability to predetermine the convergence time independently of initial conditions or control ***,the DMETM is established to reduce the actuation frequency of the *** the conventional memoryless dynamic event-triggered mechanism,the DMETM incorporates a memory term to further increase triggering *** a distributed estimator for the leader,the DMETM-based NN prescribed-time controller is designed in a fully distributed manner,which guarantees that all signals in the closed-loop system remain bounded within the prescribed ***,simulation results are presented to validate the effectiveness of the proposed algorithm.

关键词： consensus control composite learning control dynamic memory event-triggered control prescribed-time control multiagent systems(MASs)

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MobileNet-YOLOv2 Mask Wearing Detection Method Fused With Attention Mechanism 2

MobileNet-YOLOv2 Mask Wearing Detection Method Fused With At...

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2nd International Conference on Intelligent Perception and Computer Vision, CIPCV 2024

作者： Lin, Qianmin Li, Jie Lu, Changjia Chen, Haojie Zhou, Chengxian Xiamen University of Technology School of Electrical Engineering and Automation Xiamen China Xiamen University of Technology School of Engineering and Automation Xiamen China Xiamen University of Technology School of Electrical Engineering and Automatio China Electric Power Equipment and Intelligent Control Xiamen Key Laboratory of Frontier Xiamen China

ISBN: (纸本)9798350360097

In view of the problem of slow detection speed and low accuracy in manual detection and existing mask wearing detection algorithms in special public places, this paper proposes a MobileNet-YOLOv2 mask wearing detection method fused with attention mechanism. We have adjusted the backbone network structure of the original YOLOv2 algorithm, replacing the backbone network Darknet-19 with MobileNet, and using deep separable convolution for feature extraction, greatly reducing the number of model parameters and computational complexity, and improving detection speed. Introducing the convolutional attention mechanism module CBAM enables the feature extraction network to focus more on key image regions and improve detection accuracy. Collect and establish 850 facial mask wearing images to train and test the proposed algorithm model. The experimental result shows that the average detection accuracy of wearing a mask reaches 90%, while the detection accuracy of not wearing a mask reaches 80%. Compared to the DarknetYOLOv2 and SSD algorithms, the detection speed has been improved by 6.3 and 6.5 times, and the model size has been reduced by 77.5%, 89.1%, and 89.2%, respectively, compared to Darknet-YOLOv2, R-CNN, and Faster-RCNN. © 2024 IEEE.

关键词： Feature extraction

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controllability of General Linear Discrete Multi-Agent Systems with Directed and Weighted Signed Network

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Journal of Systems Science & Complexity 2022年第6期35卷 2107-2130页

作者： ZHAO Lanhao JI Zhijian LIU Yungang LIN Chong Institute of Complexity Science College of AutomationQingdao UniversityQingdao 266071China Shandong Key Laboratory of Industrial Control Technology Qingdao UniversityQingdao 266071China School of Control Science and Engineering Shandong UniversityJinan 250061China Institute of Complecity Science College of AutomationQingdao UniversityQingdao 266071China

This paper investigates the controllability of general linear discrete-time multi-agent systems with directed and weighted signed networks by using graphic and algebraic *** nondelay and delay cases are considered *** the case of no time delay,the upper bound condition of the controllable subspace is given by using the equitable partition method,and the influence of coefficient matrix selection of individual dynamics is *** the case of single delay and multiple delays,the equitable partition method is extended to deal with time-delay systems,and some conclusions are *** particular,some simplified algebraic criteria for controllability of systems with time delay are obtained by using augmented system method and traditional algebraic controllability criteria.

关键词： controllability equitable partition multi-agent system signed network time-delays

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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

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control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Multiple Uncertainty Rejection-Based Power Lifting Adaptive Fixed-Time Tracking control 13

Multiple Uncertainty Rejection-Based Power Lifting Adaptive ...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Liu, Yang Ren, Hongru Hui, Yu Li, Hongyi College of Automation and Electronic Engineering Qingdao University of Science and Technology Qingdao266061 China School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou510006 China

ISBN: (纸本)9798350361674

This work investigates an adaptive fixed-time tracking control issue of nonlinear systems with the multiple uncertainty. A practically fixed-time lemma is established, and the singularity problem of fixed-time tracking control is handled by exploiting the power lifting technique. Moreover, a nonlinear fixed-time tracking scheme is proposed under the framework of the backstepping, and a simple design process is presented, which can simultaneously tackle uncertain parameters and disturbances. Finally, the numerical simulation is to explain the effectiveness of the proposed method. © 2024 IEEE.

关键词： Backstepping

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Linear Full-Information Feedback Approach to Closed-Loop Stackelberg Strategy 42

Linear Full-Information Feedback Approach to Closed-Loop Sta...

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42nd Chinese control Conference, CCC 2023

作者： Li, Hongdan Xu, Juanjuan Zhang, Huanshui College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9789887581543

Stackelberg strategy has received great attention since the 1970s. The closed-loop solution still faces many difficulties though the open-loop problems have been well studied. An obvious fact for the difficulty is that the optimal closed-loop solution to the Stackelberg strategy is implicit nonlinear. By presenting a novel approach of full-information linear feedback strategy, substantial progress for the problem is made in this paper. We are the first to present explicit linear closed-loop Stackelberg controllers in terms of the current state and Riccatilike equations. Due to the elegance and simplicity of the solution, the proposed results will be extended to other game control problems with asymmetry status players. More importantly, the Q-Iearning algorithm for the Stackelberg strategy will become possible with the proposed optimal solution. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Feedback

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Multi-Feature Fusion Transformer for Natural Language Inference 5

Multi-Feature Fusion Transformer for Natural Language Infere...

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5th International Conference on Robotics, Intelligent control and Artificial Intelligence, RICAI 2023

作者： Sun, Lei Li, Xiangyang Yan, Hengxin School of Electrical Engineering and Automation Tianjin University of Technology Tianj in Key Laboratory for Control Theory and Complicated Industry Systems Tianjin China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (纸本)9798350357950

Natural Language Inference (NLI) is a branch of Natural Language Processing (NLP) whose main task is to determine the relationship between two sentences. Such tasks essentially use pre-trained models to ensure accuracy, and many applications are found in human-computer dialog and question-answering systems. However, in some cases where small devices are deployed offline, lightweight model implementations are often required to save computational resources. To address this problem and ensure more efficient inference capabilities, this paper describes how to improve the preexisting Transformer and proposes a Multi-Feature Fusion Transformer Network for NLI processing. The model integrates sequence features and introduces a priori information to enhance local features. It also achieves a comprehensive fusion of sequence information, local features, and non-local features, thus compensating for many potential shortcomings of Transformer. At the same time, it maintains the lightweight feature of the model and facilitates the implementation of downstream tasks. We verified the above point by experiments, our model has better inference performance compared to previous models used for the same task. The accuracy in the SNLI dataset reached 89.0%, while the matched and mismatched versions of MultiNLI reached 79.3% and 78.7%. © 2023 IEEE.

关键词： Feature Fusion Natural language inference Natural language processing Transformer

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Real Time Optimization for Operation of Water Distribution Systems to Water Leakage Reduction 14

Real Time Optimization for Operation of Water Distribution S...

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14th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2022

作者： Dai, Pham Duc Viet, Nguyen Hoang Thuyloi University Department of Control Engineering and Automation Hanoi Viet Nam

ISBN: (数字)9781665495356

ISBN: (纸本)9781665495356

Water loss occurring in water distribution systems (WDSs) can be reduced by regulating operations of Pressure Reducing Valves (PRVs) installed in WDSs. This practical problem can be casted into a nonlinear program (NLP). The quality control of WDSs depends on how fast the solution of the NLP is deduced. It is due to the fact that solving such the optimization normally requires a large computation time, the fully accurate solution of the NLP is thus not suitable for real time control. In this paper, we applied the sensitivity-based method for deriving the real time pressure settings for PRVs, which is appropriate for real time control of the WDS. One benchmark WDS is taken for optimal pressure control to demonstrate the efficacy of the sensitivity-based method. The results have shown that the real time solution by the sensitivity-based method while requiring a negligible time computation have acceptable accuracy. © 2022 IEEE.

关键词： Water distribution systems

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Feasibility Analysis of Path Planning Algorithms 16

Feasibility Analysis of Path Planning Algorithms

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16th International Conference on INnovations in Intelligent SysTems and Applications, INISTA 2022

作者： Allozi, Elbera Yilmaz, Abdurrahman Ervan, Osman Temeltas, Hakan Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (数字)9781665498104

ISBN: (纸本)9781665498104

Path planning, which aims to find the most suitable route between source and destination, is a challenging problem in mobile robotics. Although there are several study ideas on the path planning challenges of mobile robots in the literature, there is no approach that evaluates path quality qualitatively and quantitatively. It is significant to choose the optimal path by analyzing the properties of the path and the planning algorithm for effectiveness and efficiency. In this paper, we proposed a feasibility analysis to evaluate the quality of the path planning algorithm from various perspectives. This paper defines criteria for path planning algorithms and investigates traceability, smoothness, and shortness factors. Furthermore, by using these test results, a novel artificial neural network-based method has been proposed to enhance path planning algorithms without altering them. © 2022 IEEE.

关键词： Mobile robots

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