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arXiv 2023年

作者： Huo, Wei Tsang, Kam Fai Elvis Yan, Yamin Johansson, Karl Henrik Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

In this paper, we study the problem of consensus-based distributed Nash equilibrium (NE) seeking where a network of players, abstracted as a directed graph, aim to minimize their own local cost functions non-cooperatively. Considering the limited energy of players and constrained bandwidths, we propose a stochastic event-triggered algorithm by triggering each player with a probability depending on certain events, which improves communication efficiency by avoiding continuous communication. We show that the distributed algorithm with the developed event-triggered communication scheme converges to the exact NE exponentially if the underlying communication graph is strongly connected. Moreover, we prove that our proposed event-triggered algorithm is free of Zeno behavior. Finally, numerical simulations for a spectrum access game are provided to illustrate the effectiveness of the proposed mechanism by comparing it with some existing event-triggered methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Directed graphs

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Nonlinear Model Predictive control for Autonomous Sailboat with Optimization of Sail Angle

Nonlinear Model Predictive Control for Autonomous Sailboat w...

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OCEANS

作者： Junzhuo Wu Ya-Jun Pan Chao Shen Sean Smith Emmanuel Witrant Department of Mechanical Engineering Advanced Control and Mechatronics Lab Dalhousie University Halifax Canada Department of Systems and Computer Engineering Carleton University Ottawa Canada GIPSA-lab Université Grenoble Alpes-CNRS Grenoble France Departement of Mechanical Engineering Dalhousie University Halifax Nova Scotia Canada

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

This paper studies trajectory tracking control problems of sailing vessels using a nonlinear model predictive control (NMPC) approach with a novel sail angle optimization approach. The proposed sail angle optimization method accounts for physical constraints during practical implementation such as operational sail angle bound and rate of change in sail angles. This technique also emphasizes the potential to use the sail to plan a safe trajectory, while a simple proportional-derivative (PD) controller is used for rudder angle regulation. The NMPC is implemented for trajectory tracking control in the simulation. Results show that the proposed controller can achieve excellent tracking performance in the presence of environmental disturbances in terms of ocean waves.

关键词： Trajectory tracking Oceans Optimization methods Ocean waves Predictive models Regulation Trajectory PD control Predictive control

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Diagnosing and Repairing Feature Representations Under Distribution Shifts

Diagnosing and Repairing Feature Representations Under Distr...

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IEEE Conference on Decision and control

作者： Inês Lourenço Andreea Bobu Cristian R. Rojas Bo Wahlberg Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA

Robots have been increasingly better at doing tasks for humans by learning from their feedback, but still often suffer from model misalignment due to missing or incorrectly learned features. When the features the robot needs to learn to perform its task are missing or do not generalize well to new settings, the robot will not be able to learn the task the human wants and, even worse, may learn a completely different and undesired behavior. Prior work shows how the robot can detect when its representation is missing some feature and can, thus, ask the human to be taught about the new feature; however, these works do not differentiate between features that are completely missing and those that exist but do not generalize to new environments. In the latter case, the robot would detect misalignment and simply learn a new feature, leading to an arbitrarily growing feature representation that can, in turn, lead to spurious correlations and incorrect learning down the line. In this work, we propose separating the two sources of misalignment: we propose a framework for determining whether a feature the robot needs is incorrectly learned and does not generalize to new environment setups vs. is entirely missing from the robot's representation. Once we diagnose the source of error, we show how the human can initiate the realignment process for the model: if the feature is missing, we follow prior work for learning new features; however, if the feature exists but does not generalize, we use data augmentation to expand its training and, thus, complete the repair process. We demonstrate the proposed approach in experiments with a simulated 7DoF robot manipulator and physical human corrections.

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Designing a Trajectory control System for Wheelchairs with a Combination of Automatic and Manual Steering Methods

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Periodica Polytechnica Transportation engineering 2024年第4期52卷 412-422页

作者： Vu, Van Tan Nguyen, Quang Thinh Nakagawa, Chihiro Nguyen, Trung Nguyen Le, Thanh Long Nguyen, Van Vinh Hoang, Thi Lan Anh Do, Trong Tu Mihály, András Gáspár, Péter Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications Building A6 no. 3 Cau Giay Street Lang Thuong Ward Dong Da District Hanoi100000 Viet Nam Japan Technology Solution Joint Stock Company 9 Dau Ma Street Section 2 Thi Cau Ward Bac Ninh Bac Ninh222000 Viet Nam School of Engineering Osaka Metropolitan University 1-1 Gakuen-cho Nakaku Sakai Osaka599-8531 Japan Emergency abdominal surgery Department Viet Duc University Hospital no. 40 Trang Thi Street Hanoi100000 Viet Nam Mechanical and Power Engineering Faculty Electric Power University no. 235 Hoang Quoc Viet Street Co Nhue Ward Bac Tu Liem District Hanoi100000 Viet Nam Systems and Control Laboratory Institute for Computer Science and Control Hungarian Research Network Kende u. 13-17 Budapest1111 Hungary

A wheelchair is a specialized form of Personal Mobility Vehicle (PMV) designed to help people with disabilities move safely to their desired locations. Unlike conventional PMVs, wheelchairs for people with disabilities are challenging to manually control in environments with heavy traffic. This study focuses on designing and feasibility testing of control systems for PMVs to meet safety and efficiency standards, even in complex environments. First, a control structure model for PMVs is proposed. This is followed by the application of a combination of First In First Out (FIFO) and Dijkstra traffic control methods to determine effective trajectories for PMVs. The proposed control system is then tested on the campus of the University of Transport and Communications. Simulation results show that when comparing the travel time of 10 PMVs, the order execution time for each PMV remains stable (within 10%) for up to 20 PMVs. However, when the number of PMVs increases to 25, 30, 35, and 40 vehicles, the order execution time increases by 35%, 55%, 103%, and 119%, respectively. These results demonstrate that the system can control a large number of PMVs, ensuring safety, flexibility, and efficiency. © 2024 Budapest University of Technology and Economics. All rights reserved.

关键词： Travel time

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M-CNN-RF: A hybrid deep learning model for accurate pediatric skeletal age estimation using hand bone radiographs

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Alexandria engineering Journal 2025年 129卷 289-301页

作者： Hazrat Bilal Yibin Tian Inam Ullah Sahil Garg Bong Jun Choi Mohammad Mehedi Hassan College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China College of Computer Science and Software Engineering Shenzhen University Shenzhen 518060 China Department of Computer Engineering Gachon University Seongnam 13120 Republic of Korea École de Technologie Supérieure Montreal QC H3C1K3 Canada Centre for Research Impact & Outcome Chitkara University Institute of Engineering and Technology Chitkara University Rajpura 140401 Punjab India School of Computer Science and Engineering Soongsil University Seoul Republic of Korea Department of Information Systems College of Computer and Information Sciences King Saud University Riyadh 11543 Saudi Arabia

Precise and accurate skeletal age estimation using medical imaging is a pivotal and challenging task in the healthcare sector, particularly for identifying potential bone growth issues in infants and newborns. Therefore, this study addresses the pervasive challenges associated with assessing bone abnormalities in pediatric patients, including injuries and infections. Given the importance of early and precise detection of skeletal development, a novel hybrid model is proposed that integrates a modified convolutional neural network (M-CNN) with a robust machine learning (ML) model, specifically random forest (RF), resulting in the M-CNN-RF framework. This model is designed to enhance pediatric bone health assessment by providing an effective method for skeletal age estimation. The M-CNN-RF model is tailored to accurately evaluate hand bone maturation, overcoming the inherent difficulties in skeletal age assessment. The model utilizes the bone age dataset from the Radiological Society of North America that includes 14,236 left-hand radiological images, focusing on the development of a robust model for a precise evaluation based on hand skeleton guidelines. In addition, to enhance the prediction and generalization of the model, data augmentation techniques were employed to increase the size of the dataset. The M-CNN-RF exhibits exceptional performance using numerous performance measures, achieving an accuracy of 97% and precision and recall exceeding 94%. In addition, the model reaches an F1 score of 97%, highlighting the ability of the model to ensure a balance between precision and recall. Furthermore, low mean absolute error (MAE) and mean square error (MSE) values of 0.0141 and 0.0327, respectively, were computed for the proposed model, which demonstrates its notable efficacy in predicting skeletal age. The findings of this study not only contribute valuable information for clinical applications but also underscore the potential of the adopted approach to address th

关键词： Machine learning Pediatric bone health assessment Bone X-ray images Modified-CNN model Hybrid M-CNN-RF model Skeletal age estimation

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Self-Tuning Robust Tracking control for Autonomous Underwater Vehicles

Self-Tuning Robust Tracking Control for Autonomous Underwate...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Nima Maghooli Fahimeh S. Tabatabaee-Nasab S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics … Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the control design problem for a nonlinear and nonholonomic dynamics model of an autonomous underwater vehicle. The kinematics control algorithm is a PID controller while a self-tuning control method is used for trajectory tracking. The kinetics control algorithm is based on an integral sliding mode technique that is robust against time-varying disturbances. The obtained results presented here use the Remote Environmental Monitoring UnitS (REMUS) underwater vehicle model and show the high performance of the controller. Based on the results demonstrated for the two designated trajectories, the tracking quality of self-tuning robust control, despite the significant similarity of the control input of both algorithms for x, y, and z, is much better than the sliding mode control. As a result, AUV was able to follow the desired trajectory, and tracking errors converged to zero. It is worth noting that at non-derivative points of the path (1 st trajectory), tracking errors were entirely within response quality limits (y = ±0.05[m]). The order of control efforts of the proposed control is suitable and can be implemented in the physical system.

关键词： Robust control Autonomous underwater vehicles Mechatronics Trajectory tracking Heuristic algorithms Robot kinematics Trajectory

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DECENTRALIZED DIFFUSION-BASED LEARNING UNDER NON-PARAMETRIC LIMITED PRIOR KNOWLEDGE

arXiv

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arXiv 2023年

作者： Wachel, Pawel Kowalczyk, Krzysztof Rojas, Cristian R. Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Wroclaw Poland School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

We study the problem of diffusion-based network learning of a nonlinear phenomenon, m, from local agents’ measurements collected in a noisy environment. For a decentralized network and information spreading merely between directly neighboring nodes, we propose a non-parametric learning algorithm, that avoids raw data exchange and requires only mild a priori knowledge about m. Non-asymptotic estimation error bounds are derived for the proposed method. Its potential applications are illustrated through simulation experiments. Copyright © 2023, The Authors. All rights reserved.

关键词： Electronic data interchange

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Feedback Stability Under Mixed Gain and Phase Uncertainty

arXiv

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arXiv 2024年

作者： Liang, Jiajin Zhao, Di Qiu, Li The Googol Technology Guangdong Shenzhen China The Department of Control Science and Engineering National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

In this study, we investigate the robust feedback stability problem for multiple-input-multiple-output linear time-invariant systems involving sectored-disk uncertainty, namely, dynamic uncertainty subject to simultaneous gain and phase constraints. This problem is thereby called a sectored-disk problem. Employing a frequency-wise analysis approach, we derive a fundamental static matrix problem that serves as a key component in addressing the feedback stability. The study of this matrix problem heavily relies on the Davis-Wielandt (DW) shells of matrices, providing a profound insight into matrices subjected to simultaneous gain and phase constraints. This understanding is pivotal for establishing a less conservative sufficient condition for the matrix sectored-disk problem, from which we formulate several robust feedback stability conditions against sectored-disk uncertainty. Finally, several conditions based on linear matrix inequalities are developed for efficient computation and verification of feedback robust stability against sectored-disk uncertainty. Copyright © 2024, The Authors. All rights reserved.

关键词： Linear time-invariant system

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Influence of the load variations on the PSS performance during steady state and transient state

Influence of the load variations on the PSS performance duri...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Wassan Adnan Hashim Jawad Hamad Hameed Nabil Derbel Department of Technical Computer Engineering Al-Qalam University College Kirkuk Iraq University of Sfax National Engineering School of Sfax Control & Energy Management Lab. Tunisia Department of Petroleum Systems Control Engineering College of Petroleum Processes Engineering Tikrit University Iraq University of Sfax National Engineering School of Sfax Control & Energy Management Lab. Sfax Tunisia

The load on a power station varies from time to time due to uncertain demands of the consumers and is known as variable load on the station. Also it is known to have an effect on the performance of a power system stabilizer while damping inter-area oscillation. In this paper conventional lead lag PSS and PSS2B are assessed on real case studies; Peerdawod Gas power station in north of Iraq- Erbil. The PSS utilizes the local rotor speed and power as its input. To investigate the effects of dynamic loads on power systems stability, the effectiveness of PSS is tested and compared with the variation of loads during and after sadden faults. The simulation software that used MatlabTM/Simulink; and results of this paper contribute to the understanding of how load variations influence the system damping based on PSS.

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Distributed Optimization with Efficient Communication, Event-Triggered Solution Enhancement, and Operation Stopping

arXiv

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arXiv 2025年

作者： Rikos, Apostolos I. Jiang, Wei Charalambous, Themistoklis Johansson, Karl H. Guangzhou China Department of Computer Science and Engineering The Hong Kong University of Science and Technology Clear Water Bay Hong Kong Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden Digital Futures United Kingdom

In modern large-scale systems with sensor networks and IoT devices it is essential to collaboratively solve complex problems while utilizing network resources efficiently. In our paper we present three distributed optimization algorithms that exhibit efficient communication among nodes. Our first algorithm presents a simple quantized averaged gradient procedure for distributed optimization, which is shown to converge to a neighborhood of the optimal solution. Our second algorithm incorporates a novel event-triggered refinement mechanism, which refines the utilized quantization level to enhance the precision of the estimated optimal solution. It enables nodes to terminate their operation according to predefined performance guarantees. Our third algorithm is tailored to operate in environments where each message consists of only a few bits. It incorporates a novel event-triggered mechanism for adjusting the quantizer basis and quantization level, allowing nodes to collaboratively decide operation termination based on predefined performance criteria. We analyze the three algorithms and establish their linear convergence. Finally, an application on distributed sensor fusion for target localization is used to demonstrate their favorable performance compared to existing algorithms in the literature. © 2025, CC BY.

关键词： Dynamic programming

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