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Data-driven output regulation control for constrained linear systems

science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Chattering-Free Fault-Tolerant Cluster Control and Fault Direction Identification for HIL UAV Swarm With Pre-Specified Performance

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 183-197页

作者： Pei-Ming Liu Xiang-Gui Guo Jian-Liang Wang Daniel Coutinho Lihua Xie the Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering University of Science and Technology Beijing the Shunde Graduate School of University of Science and Technology Beijing IEEE Autonomous Intelligent Systems Department Hangzhou Innovation Institute of Beihang University the Department of Automation and Systems Universidade Federal de Santa Catarina the School of Electrical and Electronic Engineering Nanyang Technological University

In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw *** control strategy begins with the design of a pre-specified performance event-triggered observer for each individual *** observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer *** is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.

关键词： Chattering-free cluster consensus fault direction identification human-in-the-loop (HIL) nonidentical and unknown direction faults (NUDFs) pre-specified performance swarm unmanned aerial vehicles (UAVs)

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Use that Pinky on the ‘A’ Key: A Finger-Key Identification Module for a Touch Typing Trainer 4th

Use that Pinky on the ‘A’ Key: A Finger-Key Identificati...

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4th International Conference on Advances in Computational science and Engineering, ICACSE 2023

作者： Valles, Oscar Vian L. Gom-os, Dhong Fhel K. Center for Research in Intelligent Systems Department of Computer Science University of the Philippines Cebu Cebu6000 Philippines

ISBN: (纸本)9789819729760

Typing tests list out words for the user to repeat. These tests measure metrics that quantify the user’s ability to type. However, conventional typing metrics do not measure correct finger placement. This aspect of typing may affect the user’s health. It is also a crucial aspect of keyboard typing education. As such, a method to identify which finger is used to press which key is beneficial. This paper introduces a new technique to achieve this by developing a finger-key identification module that utilizes computer vision algorithms to detect the keys in a keyboard, and a ready-made machine learning solution to track fingers while typing. This module was successful in finger-key identification with an accuracy of 99.58% in a dataset of 942 keypresses. It also had an average finger-key identification time of 0.083 s, which allows it to perform real-time finger-key identification for typing speeds up to 143.040 words per minute, well beyond the median typing speed of the population. Two metrics for correct finger placement were defined and were implemented in a proof-of-concept trainer: (1) finger placement accuracy and (2) historical finger placement accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Palmprint recognition

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Naïve Bayesian Approach to Intruder Detection in Smart Homes Using Sensor Networks 4th

Naïve Bayesian Approach to Intruder Detection in Smart Ho...

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4th International Conference on Advances in Computational science and Engineering, ICACSE 2023

作者： Bolivar, Daisy Jane S. Gom-os, Dhong Fhel K. Department of Computer Science Center for Research in Intelligent Systems University of the Philippines Cebu Cebu6000 Philippines

ISBN: (纸本)9789819729760

We used camera, light, door, and window sensors, and day of the week, duration, and activation time parameters for a Naïve Bayesian approach to intruder detection in a smart home. A nine-week normal and a two-week intruder behavior data were extracted using sensor devices. SmartThings SmartApp was used to gather the sensor data which were published to Google Sheets, then exported to Excel and Python for pre-processing, providing a dataset size of 509, consisting of 284 normal and 225 intruder data. The data had an 80/20 train-test split and was fitted to the Naïve Bayes model. By identifying behavioral patterns and increasing parameters from the state-of-the-art, the model’s accuracy improved to 94.12% and achieved an F2-score of 93.18%. This study has shown that increasing sensor size could significantly improve intruder detection. Future work could include the analysis of the contribution of each sensor to provide informed decision to system designers. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Smart homes

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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science China(Technological sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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5G Resource Allocation Using Feature Selection and Greylag Goose Optimization Algorithm

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computers, Materials & Continua 2024年第7期80卷 1179-1201页

作者： Amel Ali Alhussan S.K.Towfek Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Computer Science and Intelligent Systems Research Center BlacksburgVA 24060USA

In the contemporary world of highly efficient technological development,fifth-generation technology(5G)is seen as a vital step forward with theoretical maximum download speeds of up to twenty gigabits per second(Gbps).As far as the current implementations are concerned,they are at the level of slightly below 1 Gbps,but this allowed a great leap forward from fourth generation technology(4G),as well as enabling significantly reduced latency,making 5G an absolute necessity for applications such as gaming,virtual conferencing,and other interactive electronic *** of this change are not limited to connectivity alone;it urges operators to refine their business strategies and offers users better and improved digital *** essential factor is optimization and the application of artificial intelligence throughout the general arrangement of intricate and detailed 5G *** Binary Greylag Goose Optimization(bGGO)to achieve a significant reduction in the feature set while maintaining or improving model performance,leading to more efficient and effective 5G network management,and Greylag Goose Optimization(GGO)increases the efficiency of the machine ***,the model performs and yields more accurate *** work proposes a new method to schedule the resources in the next generation,5G,based on a feature selection using GGO and a regression model that is an ensemble of K-Nearest Neighbors(KNN),Gradient Boosting,and Extra Trees *** ensemble model shows better prediction performance with the coefficient of determination R squared value equal *** proposed framework is supported by several Statistical analyses,such as theWilcoxon signed-rank *** of the benefits of this study are the introduction of new efficient optimization algorithms,the selection of features and more reliable ensemble models which improve the efficiency of 5G technology.

关键词： Optimization ensemble learning 5G technology artificial intelligence greylag goose optimization ANOVA test

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GonioPi: Towards Developing a Scalable, Versatile, Reliable and Accurate Handheld-Wearable Digital Goniometer

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International Journal of Advanced computer science and Applications 2022年第6期13卷 321-330页

作者： Garcia, Thomas Jonathan R. Gom-os, Dhong Fhel K. Center for Research in Intelligent Systems Department of Computer Science University of the Philippines Cebu Cebu Philippines

Range of Motion (ROM) Testing is an important physical examination performed in physical therapy used in assessing the ROM of a patient’s joint. The most commonly used instrument for ROM Testing is the universal goniometer. The most common cause for unreliable and inaccurate joint angle ROM measurements is measurement errors. Multiple studies have been done to mitigate measurement errors in clinical goniometry by designing and developing wearable digital goniometers using sensor technology. This study aims to design and develop a handheld-wearable digital goniometer called the GonioPi that is versatile, scalable, reliable and accurate when using the MPU-6050 IMU sensor and Raspberry Pi Pico as the main components. The results showed that the GonioPi is versatile and scalable as it is able to support multiple ROM Tests using multiple different positions on people with varying heights, weights, and BMI categories. The results also showed that the GonioPi is reliable and accurate as it was able to record joint angle ROM measurements of less than 5 degrees and 10 degrees which are the accepted standard values for reliability and accuracy, respectively © 2022. International Journal of Advanced computer science and *** Rights Reserved.

关键词： Goniometers

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Spontaneous Recovery in Directed Dynamical Networks

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Engineering 2024年第6期37卷 208-214页

作者： Xueming Liu Xian Yan H.Eugene Stanley School of Artificial Intelligence and Automation&The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems&the Key Laboratory of Image Processing Huazhong University of Science and TechnologyWuhan 430074China Center for Polymer Studies Department of PhysicsBoston UniversityBostonMA 02215USA

Complex networked systems,which range from biological systems in the natural world to infrastructure systems in the human-made world,can exhibit spontaneous recovery after a failure;for example,a brain may spontaneously return to normal after a seizure,and traffic flow can become smooth again after a *** studies on the spontaneous recovery of dynamical networks have been limited to undirected ***,most real-world networks are *** fill this gap,we build a model in which nodes may alternately fail and recover,and we develop a theoretical tool to analyze the recovery properties of directed dynamical *** find that the tool can accurately predict the final fraction of active nodes,and the prediction accuracy decreases as the fraction of bidirectional links in the network increases,which emphasizes the importance of directionality in network *** to different initial states,directed dynamical networks may show alternative stable states under the same control parameter,exhibiting hysteresis *** addition,for networks with finite sizes,the fraction of active nodes may jump back and forth between high and low states,mimicking repetitive failure-recovery *** findings could help clarify the system recovery mechanism and enable better design of networked systems with high resilience.

关键词： Network resilience Directed dynamical networks Spontaneous recovery

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Extinction Chains Reveal Intermediate Phases Between the Safety and Collapse in Mutualistic Ecosystems

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Engineering 2024年第12期43卷 89-98页

作者： Guangwei Wang Xueming Liu Ying Xiao Ye Yuan Linqiang Pan Xiaohong Guan Jianxi Gao Hai-Tao Zhang The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Digital Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China Guangdong HUST Industrial Technology Research Institute Huazhong University of Science and TechnologyDongguan 523808China Guangdong Provincial Engineering Technology Center of Autonomous Unmanned Vessels Dongguan 523808China MOE Key Laboratory of Intelligent Networks and Network Security&State Key Laboratory of Manufacturing Systems Xi’an Jiaotong UniversityXi’an 710049China Tsinghua National Laboratory of Information Science and Technology Department of AutomationTsinghua UniversityBeijing 100084China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA

Ecosystems are undergoing unprecedented persistent deterioration due to unsustainable anthropogenic human activities,such as overfishing and deforestation,and the effects of such damage on ecological stability are *** recent advances in experimental and theoretical studies on regime shifts and tipping points,theoretical tools for understanding the extinction chain,which is the sequence of species extinctions resulting from overexploitation,are still lacking,especially for large-scale nonlinear networked *** this study,we developed a mathematical tool to predict regime shifts and extinction chains in ecosystems under multiple exploitation situations and verified it in 26 real-world mutualistic networks of various sizes and *** discovered five phases during the exploitation process:safe,partial extinction,bistable,tristable,and collapse,which enabled the optimal design of restoration strategies for degraded or collapsed *** validated our approach using a 20-year dataset from an eelgrass restoration ***,we also found a specific region in the diagram spanning exploitation rates and competition intensities,where exploiting more species helps increase *** computational tool provides insights into harvesting,fishing,exploitation,or deforestation plans while conserving or restoring the biodiversity of mutualistic ecosystems.

关键词： Complex system Network science Overexploitation Regime shift Metastability

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On optimal charging scheduling for electric vehicles with wind power generation

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Fundamental research 2024年第4期4卷 951-960页

作者： Junjie Wu Qing-Shan Jia Center for Intelligent and Networked Systems(CFINS) Department of AutomationBeijing National Research Center for Information Science and Technology(BNRist)TsinghuaUniversityBeijing100084China Huawei Technologies Co.Ltd Shenzhen 518129China

We consider the scheduling of battery charging of electric vehicles(EVs)integrated with renewable power *** increasing adoption of EVs and the development of renewable energies contribute importance to this *** optimization of charging scheduling is challenging because of the large action space,the multi-stage decision making,and the high *** solve this problem is time-consuming when the scale of the system is *** is urgent to develop a practical and efficient method to properly schedule the charging of *** contribution of this work is ***,we provide a sufficient condition on which the charging of EVs can be completely self-sustained by distributed *** algorithm is proposed to obtain the optimal charging policy when the sufficient condition ***,the scenario when the supply of the renewable power generation is deficient is *** prove that when the renewable generation is deterministic there exists an optimal policy which follows the modified least laxity and longer remaining processing time first(mLLLP)***,we provide an adaptive rule-based algorithm which obtains a near-optimal charging policy efficiently in general *** test the proposed algorithm by numerical *** results show that it performs better than the other existing rule-based methods.

关键词： Electric vehicle Charging scheduling Wind power Optimal policy Renewable energy

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