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Network system capacity:Towards integrating sensing,communication and control

National Science Open 2024年第1期3卷 147-149页

作者： Xinping Guan Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Network systems refer to a new generation of systems with integrated information perception,transmission and utilization capabilities through communication networks,which are adopted to achieve desirable objectives under physical and information related uncertainties and/or adversary *** the information-rich era[1,2],one of the fundamental issues is to exploit the limit of feedback control on dissipating such uncertainties in the scenarios of networked sensing and communication[3].

关键词： communication integrating system

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Safety-Critical Randomized Event-Triggered Learning of Gaussian Process With Applications to Data-Driven Predictive control

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IEEE Transactions on Automatic control 2024年第6期70卷 3920-3935页

作者： Zheng, Kaikai Shi, Dawei Shi, Yang Beijing Institute of Technology MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Victoria Department of Mechanical Engineering Faculty of Engineering VictoriaBCV8N 3P6 Canada

Safety and data efficiency are important concerns in data-driven control, especially for nonlinear systems with unknown dynamics and subject to disturbances. In this work, we consider a class of control-affine nonlinear systems with partially unknown dynamics and aim to introduce an event-triggered learning-based control approach with guaranteed safety and improved data utilization efficiency. Specifically, a randomized learning approach is employed to evaluate the safety of state trajectories by defining and estimating its confidence interval, with data from a multisample of randomly generated state trajectories. Using the proposed randomized learning algorithm, a nominal trajectory with a high probability safety guarantee is designed, thus ensuring the disturbed system states to remain within a pre-specified range around the nominal trajectory with a sufficiently high probability. Through removing irrelevant data, a local prediction model around the nominal trajectory is learned with satisfactory precision, and is updated online using an event-triggered learning strategy. Based on the learned model, an efficient data-driven predictive controller is designed to force the system states to evolve within the vicinity of the designed safety nominal trajectory. The effectiveness of the proposed event-triggered learning and data-driven control approaches is validated through comprehensive simulation studies. © 1963-2012 IEEE.

关键词： Predictive control systems

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Time-varying Output Formation control Based on a Reduced-order Output-feedback Protocol 41

Time-varying Output Formation Control Based on a Reduced-ord...

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第41届中国控制会议

作者： Zhuo Chen Xianwei Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates time-varying output formation(TVOF) of homogeneous linear multi-agent systems based on a reduced-order output-feedback ***,a reduced-order output-feedback protocol using relative information of neighboring agents is *** this protocol,a necessary and sufficient condition for achieving TVOF is *** explicit expression of the time-varying formation reference function and a feasibility condition for TVOF are *** an algorithm is proposed for designing the protocol *** is shown that when the dynamics of each agent is stabilizable and detectable,the multi-agent system can achieve a desired TVOF under the protocol designed by the *** with existing results which only consider full-order protocols,the proposed protocol has a lower order and thus has lower implementation *** simulation is finally presented to demonstrate the effectiveness of the proposed protocol.

关键词： Time-varying output formation(TVOF) multi-agent systems output feedback reduced-order design

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A Counter-swarm Splitting Strategy using Receding Horizon control Algorithm 41

A Counter-swarm Splitting Strategy using Receding Horizon Co...

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第41届中国控制会议

作者： Angwei Zhang Dewei Li Haibin Shao Lulu Pan Yaonan Guan the Department of Automation and the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper proposes a model predictive control framework for the task of countering the swarm of autonomous *** on the Boids model,the neighbor selection mechanism and interaction model are further employed to characterize the formation of the target *** is assumed that individuals in the target swarm are equipped with a collision avoidance *** the perspective of the position and velocity of individuals in the target swarm,Lanchester's index and polarization index are employed to characterize the performance of the counter-swarm strategy,*** strategy of splitting the target swarm via attacking its geometric centroid is proposed and the model predictive control framework for the counter-swarm task is designed.A simulation is finally provided to illustrate the effectiveness of the proposed strategy.

关键词： counter swarm model predictive control autonomous systems Boids model collision avoidance

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Event-Triggered control of Multiple Euler-Lagrange systems with Communication Time-Delays 41

Event-Triggered Control of Multiple Euler-Lagrange Systems w...

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第41届中国控制会议

作者： Xueqi Zhang Xianwei Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we study the consensus problem of multiple Euler-Lagrange systems subject to limited communication resources and parametric ***,an event-triggered communication scheme is proposed to achieve the leaderless consensus *** the proposed event-triggered mechanism,the state of each subsystem is transmitted at event instants which are aperiodic and asynchronous with respect to other ***,we consider the time-delay effects in *** consensus analysis of the proposed scheme is based on the small-gain *** simulation results on a network of robot manipulators are given to illustrate the effectiveness of the proposed control scheme.

关键词： Consensus event-triggered control Euler-Lagrange system communication delays

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A Novel FL-AoI-Based control and Event-Triggered Strategy Integrating Network Characteristics for ICPS 49

A Novel FL-AoI-Based Control and Event-Triggered Strategy In...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Lu, Xuanzhao Xu, Qimin Zhang, Jinglong Lin, Meihan Chen, Cailian Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China

ISBN: (纸本)9798350331820

The joint design of control and transmission has been demonstrated to be a successful technique for enhancing the performance of industrial cyber-physical systems (ICPS). In the majority of existing works, the control cost and the transmission cost are defined independently, followed by a weighted total calculation. This approach suffers from a dimension consistency issue, leading the results to diverge from the system's actual optimal performance. Hence, it is necessary to consider the overall information of the loop and characterize the coupling relationship between control and transmission to construct the overall system performance function. This paper proposes a full loop age of information (FL-AoI) based control and transmission joint design architecture for multi-subsystem ICPS integrating multi-hop network. The state delay, input delay, and event trigger are all taken into consideration by FL-AoI to more fully portray the freshness of the information. We provide a novel control performance based on FL-AoI where the network characteristics are incorporated into the control cost, which could tackle the dimensionality mismatch brought by the form of weighted summation of the control and transmission cost. We also provide the FL-AoI-based strategy for the controller and event-triggering mechanism and derive the cost's boundary. The evaluation results demonstrate that, in comparison to the conventional joint design strategy, our solution increases the stability of the control system while decreasing the network burden. © 2023 IEEE.

关键词： Cyber Physical system

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Quantum gyroscopes based on double-mode surface-acoustic-wave cavities

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Physical Review Applied 2024年第1期22卷 014061-014061页

作者： Yuting Zhu Shibei Xue Fangfang Ju Haidong Yuan Department of Automation Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 People’s Republic of China School of Physics and Electronics Department of Mechanical and Automation Engineering

Recent progress shows that a surface-acoustic-wave (SAW) cavity can not only induce quantum acoustic dynamics, but can also form optomechanical-like systems. Its operating frequencies in the microwave band make it resistant to the thermal noise of surrounding environments, while its radiation-pressure couplings make it susceptible to weak forces. Based on these advantages, we propose a gyroscope comprising coupled microwave-SAW cavities. In this paper we systematically consider the range, signal-to-noise ratio, and sensitivity, which are the three most important indices to gyroscopes, but only partially considered in existing works. Additionally, we establish the fundamental limits of sensitivity when the quantum input is in the vacuum state and the squeezed vacuum state. We find that squeezing improves sensitivity and can surpass the standard quantum limit. However, this improvement can only reach up to 2/2 even as the squeezed parameter approaches infinity, which is rarely noted in recent works. Finally, we also offer analytical constraints for cooperativity and squeezed parameters. These constraints can be utilized to design gyroscopes based on coupled cavities in experiments.

关键词： Open quantum systems & decoherence Quantum sensing Rotation sensing Coupled oscillators Cavity resonators Homodyne & heterodyne detection Microwave techniques Surface acoustic wave

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Online Multi-Object Tracking Under Moving Unmanned Aerial Vehicle Platform Based on Object Detection and Feature Extraction Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 388-399页

作者：刘增敏王申涛姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China JD Business Growth Department Beijing 100176China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is ***,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking *** the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking *** simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.

关键词： moving unmanned aerial vehicle(UAV)platform small object feature extraction image registration multi-object tracking

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Customized Online Trajectory Planning for Planetary Pinpoint Landing

Customized Online Trajectory Planning for Planetary Pinpoint...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Dai, Fa-An Gan, Qingzhong Zhang, Ziyou Wang, Lu Chen, Xi Zhao, Qianchuan Tsinghua University Department of Automation Beijing China Shanghai Aerospace Control Technology Institute Department of Control System of Launch Vehicle Shanghai China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

Planetary pinpoint landing is a key issue in the aerospace field, and the purpose of powered-descent guidance is to make the vehicle fly to the target point according to a planned trajectory and realize vertical landing. The purpose of this article is to realize a customized and efficient powered-descent guidance solver for online trajectory planning. Considering the actual engineering needs, the powered-descent guidance model is summarized and improved, and the original model is transformed into a second-order cone programming model by lossless convexification, linearization, discretization, scaling and other methods. By analyzing the characteristics of the landing problem, the general interior point method is improved. By using historical trajectory information to realize warm start, the efficiency of the powered-descent guidance solver is greatly improved. Considering the influence of aerodynamic drag, the vacuum powered descent guidance solver and atmospheric powered descent guidance solver are realized respectively, which have good performance in different landing environments. © 2022 IEEE.

关键词： Second-order cone programming

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