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Soft Resource Slicing for Industrial Mixed Traffic in 5G Networks

IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 463-465页

作者： Jingfang Ding Meng Zheng Haibin Yu the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Chinese Academy of Sciences the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences the University of Chinese Academy of Sciences IEEE

Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.

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Joint Probabilistic Scheduling and Resource Allocation for Wireless Networked control Systems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 258-260页

作者： Meng Zheng Lei Zhang Wei Liang IEEE the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences the University of Chinese Academy of Sciences

Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.

关键词： Networked control systems

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Observer-Based Leader-Following Secure Consensus for Multi-Agent Systems with Nonlinear Dynamics and External Disturbance Under Denial of Service Attacks 5

Observer-Based Leader-Following Secure Consensus for Multi-A...

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5th International Conference on Artificial Intelligence and Computer Engineering, ICAICE 2024

作者： Hu, Liduo Zhang, Wei Hu, Zhi Cai, Yuhang Shanghai University of Engineering Science Laboratory of Intelligent Control and Robotics Shanghai China

ISBN: (纸本)9798331528911

This paper introduces an Unknown Input Observer (UIO) for nonlinear systems with One-Sided Lipschitz (OSL) and Quadratic Inner-Boundedness (QIB) properties. The UIO enables unknown input reconstruction and state estimation. Besides the UIO show resilience against Denial of Service (DoS) attacks that can disrupt multi-agent communication. To counteract these attacks, the system uses buffer units to retain real-time data, allowing agents to access the latest states during disruptions. We present a control protocol that facilitates leader-follower consensus under simultaneous DoS attacks, detailing the upper limits on their frequency and duration. Numerical simulations demonstrate the approach's effectiveness. © 2024 IEEE.

关键词： Denial-of-service attack

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Robustness to Disturbances of Ellipsoid-Shape Underwater Vehicle with Multi-Link Manipulator

Robustness to Disturbances of Ellipsoid-Shape Underwater Veh...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Lipko, Ivan Dementiev, Kirill Kramar, Vadim Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

This article is devoted to the issue of analyzing the influence of external disturbances on the underwater vehicle in the form of a flattened ellipsoid body with a multilink manipulator when performing technological operations. The relevance of the study is related to the automation of such operations as underwater welding, transfer of objects, twisting, bending, etc., performed underwater. For this purpose, we have built a mathematical model of the underwater apparatus with an ellipsoid shape, indicated the ways of influence of moments and forces arising in the manipulator on the apparatus body. It was found out that this influence leads to nonlinear effects in transients. This influence is different, depending on the axis in which the motion of the apparatus is performed. Since the body is flattened in the horizontal axis, the most unpleasant effect occurs in the vertical motion, due to the increased hydrodynamic resistance. The model is considered without a control loop in the apparatus, and it is the effect of the housing on the accuracy of movements of a multilink manipulator with a standard control system in the form of PID controllers that is important to us. © 2024 IEEE.

关键词： Underwater welding

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Efficient control of Rotary Inverted Pendulum Systems with T-S Fuzzy Descriptor Models

Efficient Control of Rotary Inverted Pendulum Systems with...

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International Conference on Intelligent Systems and Networks, ICISN 2024

作者： Dao, Quy-Thinh Pham, Duc-Binh Nguyen, Thi-Van-Anh Motion Control and Applied Robotics Laboratory Hanoi University of Science and Technology Hanoi Viet Nam

ISBN: (纸本)9789819755035

This research addresses the challenge of controlling rotary inverted pendulum systems, which are inherently unstable and nonlinear. We propose a control approach that integrates the Takagi-Sugeno (T-S) fuzzy descriptor system with Parallel Distributed Compensation (PDC) and Linear Matrix Inequalities (LMIs). The T-S fuzzy control system offers a flexible and adaptive means of managing complex dynamics by partitioning the system into multiple operating regions using fuzzy sets and linguistic rules. Stability theorems and decay rate analysis ensure robust and rapid convergence to stability performance. PDC facilitates the design of control strategies for systems with multiple subsystems, broadening the applicability of our proposed methodology. This research promises to advance the field of rotary inverted pendulum control, with potential applications in robotics, automation, and mechatronics, where precise and agile control is imperative in the face of inherent instability. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： decay rate fuzzy control linear matrix inequality parallel distributed compensation Takagi-Sugeno descriptor model

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Aggressive and robust low-level control and trajectory tracking for quadrotors with deep reinforcement learning

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Neural Computing and Applications 2025年第3期37卷 1223-1240页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Department of Control Science and Engineering Harbin Institute of Technology Shenzhen Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

Executing accurate trajectory tracking tasks using a high-performance low-level controller is crucial for quadrotors to be applied in various scenarios, especially those involving uncertain disturbances. However, due to the uncertainties in disturbed environments, developing effective low-level controllers with traditional model-based control schemes is challenging. This paper presents an aggressive and robust reinforcement learning (RL)-based low-level control policy for quadrotors. The policy maps the observed quadrotor state directly to motor thrust commands, without requiring the quadrotor dynamics. Additionally, a trajectory generation pipeline is developed to improve the accuracy of trajectory tracking tasks based on differential flatness. With the learned low-level control policy, extensive simulations and real-world experiments are implemented to validate the performance of the policy. The results indicate that our RL-based low-level control policy outperforms traditional proportional–integral–derivative (PID) control methods and related learning-based policies in terms of accuracy and robustness, particularly in environments with uncertain disturbances. Furthermore, the proposed RL-based control policy exhibits an aggressive response in trajectory tracking, even when the speed of the desired trajectory is increased to 6 m/s. Moreover, the learned policy demonstrates strong vibration suppression capabilities and enables the quadrotor to recover to a hovering state from random initial conditions with shorter response time. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Deep reinforcement learning

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Analytic Inverse Kinematics Model and Trajectory Planning for an 18 DoF Quadruped Robot 27

Analytic Inverse Kinematics Model and Trajectory Planning fo...

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27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Muntean, Bogdan Zaha, Mihai Grigorescu, Sorin The Robotics Vision and Control Laboratory RovisLab Transilvania University of Brasov Romania

ISBN: (纸本)9798350337983

Kinematics modelling of robotic systems is a fundamental requirement used by the underling control system. In this paper, we introduce a complete and analytic direct and inverse kinematic model for an 18 DoF quadruped robot. The proposed solution, based on simple trigonometric functions, is analytically determined, allowing the full control of the translation and orientation of the footholds and of the body. Considering the fact that the dynamic model of the robot requires position, velocity and angular acceleration profiles as references, this article also presents the applicability of a trajectory generator with zero initial and zero final conditions for the first and second derivatives. As performance evaluation, we have determined the accuracy of the model by implementing a static gait controller on a A1 Unitree quadrupped robot, where the trajectory of each foot is calculated based on B-splines, given as reference to the inverse kinematics model. © 2023 IEEE.

关键词： Inverse kinematics

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Online Estimation Of Risk in AUV Course Keeping Problem

Online Estimation Of Risk in AUV Course Keeping Problem

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (纸本)9798350382457

The article is devoted to the problem of assessing the risk of the presence of an autonomous underwater vehicle in a position limited by a given course angle at every moment of the system's operation. These risky situations arise in the tasks of navigation, docking, tracking objects, receiving and transmitting data in the underwater environment. To perform risk assessments, the most probable trajectories of movement to the threshold values of phase states are used. The most probable trajectories are calculated by solving the minimization problems of the so-called quasipotentials with differential coupling in the form of linear differential equations describing an object and external disturbances acting on it. As a result, we have information about the trajectories of movement, time and probability of events when the object moves along the trajectory. Comparing the current state of the object with known trajectories at each moment of the system operation, an assessment is made of how close the object is to the threshold values. The evaluation results are presented in the form of numerical simulation, which are then aggregated and shown in the form of quality metrics of the forecast of the time remaining until the threshold is crossed. The forecast cannot be carried out for a sufficiently longer amount of time, since the nature of the risk situation already determines the functioning of the object in the danger zone. The estimation of the boundary of this prediction is also shown by simulation using the Monte Carlo method. © 2023 IEEE.

关键词： Trajectories

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PID Based Path Following Algorithm for the MiddleAUV

PID Based Path Following Algorithm for the MiddleAUV

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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

The baseline path following algorithm based on PID controller for horizontal movement of the MiddleAUV is constructed. The MiddleAUV is small autonomous underwater vehicle designed to study the control algorithms. This article discusses the one case of PID controllers design and results of numerical simulations. The path is constructed using waypoints. The movement of the AUV between waypoints is accomplished by controlling the distance and yaw between the current position of the AUV and the waypoint. When the AUV approaches a waypoint, a special unit generates a new waypoint and the AUV continues moving. The main difficulty was configuring the controllers for the non-linear version of the AUV model. To solve this problem, we tuned the PID controller for the linear model and chose the best one for the nonlinear model. Numerical experiments were performed on the nonlinear mathematical model, which showed that the resulting PID controllers could be used as the basis for the robot's motion along the waypoints. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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