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第41届中国控制会议

作者： Wenjie Liu Jian Sun Gang Wang Jie Chen Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the stabilization problem of linear time-invariant systems under Denial-of-Service(DoS)***,system matrices are unknown,and only some input-output trajectories collected from off-line experiments are ***,in the model-based case,it has been proven that systems equipped with a predictor-based state feedback controller achieve resilience against DoS ***,this is difficult or even impossible to be implemented in the absence of a system model,thus leading to resilient control challenging in the data-based *** maintain resilience against DoS attacks in the data-based case,a data-driven model predictive control(MPC) scheme is proposed such that future system input-output trajectories can be obtained by solving a data-dependent optimal *** this scheme,a data-driven resilient control strategy is developed such that the system achieves the same level of resilience of the DoS attacks as the model-based ***,a numerical example is given to validate the effectiveness of the proposed method.

关键词： Denial-of-service attack data-driven control model predictive control input-to-state stability

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MADDPG: Multi-agent Deep Deterministic Policy Gradient Algorithm for Formation Elliptical Encirclement and Collision Avoidance 5th

MADDPG: Multi-agent Deep Deterministic Policy Gradient Algor...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Xu, Leixin Chen, Weibin Liu, Xiang Chen, Yang-Yang School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China Jiangsu Automation Research Institute Lianyungang222061 China China Tiesiju Civil Engineering Group Co. Ltd. Hefei230023 China

ISBN: (纸本)9789811939976

This paper considers the formation encirclement problem of multi-agent systems with collision avoidance, where the enclosing orbit is an ellipse, the target and the formation are dynamic. The novel rewards, that is the elliptical encirclement reward, the formation reward, the angular velocity reward and collision avoidance reward are designed and a reinforcement learning (RL) algorithm, that is multi-agent deep deterministic policy gradient (MADDPG), is designed based on the novel setting of rewards. Simulation results are given to show the validity of the proposed method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Energy-aware Coverage Path Planning of Multi-UAV Based on Relative Distance Scaling Cluster Method 8

Energy-aware Coverage Path Planning of Multi-UAV Based on Re...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Liu, Shen Li, Xiuxian Meng, Min Gong, Xin College of Electronics and Information Engineering The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Department of Control Science and Engineering Shanghai201800 China School of Cyber Science and Engineering Southeast University Nanjing210096 China The University of Hong Kong Department of Mechanical Engineering 999077 Hong Kong

ISBN: (纸本)9798350300178

In recent years, unmanned aerial vehicle (UAV) aerial photography becomes a new method of disaster area exploration. UAVs have been widely used in the fields for aerial photography, monitoring, transportation, communication and so on. They can expand the dimension and scale of search and rescue (SAR) work, reduce the cost of human and material resources, and improve the efficiency of SAR work. Considering the limited of a single UAV, multi-UAV and energy-aware path planning algorithms are proposed here for SAR missions, which improve the cluster algorithm. In the algorithm design, we take the energy consumption of each UAV as an important factor for optimizing the division of search area, and propose the spiral search path generation algorithm. And numerical examples corroborate the effectiveness of the theoretical results. © 2023 IEEE.

关键词： Aerial photography

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Evaluation of Landslide Susceptibility Using Machine Learning Based on Information Value Sampling Method

Evaluation of Landslide Susceptibility Using Machine Learnin...

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2023 China automation Congress, CAC 2023

作者： Liu, Lang Chen, Xin Zhao, Lingran Cao, Weihua School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Exploration Institute of Geological Engineering of Xiangyang Xiangyang441000 China

ISBN: (纸本)9798350303759

In landslide susceptibility prediction using machine learning (ML) models, the selection of appropriate negative samples significantly impacts the accuracy of the predictions. Many existing studies tend to randomly choose negative samples from the entire research area or specific attribute areas such as low slopes, leading to inaccuracies and biases that decrease the reliability of susceptibility mapping. To address this issue, this paper proposes an ML model based on the coupled information value (IV) method for susceptibility modeling. In this approach, the attribute values of environmental factors are transformed into information values, representing their contribution to landslides, using the information quantity method. Very low and low prone areas are then identified based on these information values, and random points are selected from these areas as negative samples for training and verifying subsequent machine learning models, which include the Random Forest (RF) model and Support Vector Machine (SVM) *** study focuses on the Three Gorges reservoir area in the Zigui-Badong area as an example. The comparative analysis of models trained using traditional sampling methods reveals that the RF model and SVM model, which were sampled using the information value method, achieve accuracies of 95.33% and 91.13%, respectively. In contrast, models trained using traditional sampling methods achieve accuracies of 90.43% and 88.69%, respectively. © 2023 IEEE.

关键词： Landslides

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Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints

arXiv

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arXiv 2025年

作者： Ito, Takumi Kawashima, Hayato Funada, Riku Sampei, Mitsuji Department of Systems and Control Engineering Institute of Science Tokyo Tokyo152-8550 Japan

This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs are connected to the payload through passively rotatable hinge joints. The joint angles are controlled by the differential thrust produced by the rotors, while the total force generated by all the rotors is responsible for controlling the payload. The shape of the set of the total force depends on the tilt angles of the UAVs, which allows us to shape the feasible force set by adjusting these tilt angles. This paper aims to ensure that the feasible force set encompasses the required shape, enabling the platform to generate force redundantly—meaning in various directions. We then propose a control law that takes advantage of this redundancy. Copyright © 2025, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Exploration of electron and ion thermodynamic models in laser-plasma expansion

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Science China(Physics,Mechanics & Astronomy) 2025年

作者： Yuan Hu Zilin Huang Yong Cao Quanhua Sun Heji Huang Chengyuan Ding Zhan Wang State Key Laboratory of High Temperature Gas Dynamics Institute of Mechanics Chinese Academy of Sciences School of Engineering Science University of Chinese Academy of Sciences Department of Mechanical Engineering & Automation Harbin Institute of Technology (Shenzhen) Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences Key Laboratory for Mechanics in Fluid Solid Coupling Systems Institute of Mechanics Chinese Academy of Sciences

The expansion of laser-produced plasma（LPP）, an important process to be understood to design the debris mitigation system of an extreme ultraviolet（EUV） light source, is governed by its associated electron and ion thermodynamics, the modeling of which is, however, a subject of debate. By applying the polytropic equation of state（EoS） for both electron and ion, we have derived the hydrodynamic-based self-similar solutions for an expanding plasma slab with finite ion temperature. The effects of electron and ion thermodynamics on plasma expansion and ion acceleration are investigated. We show that the unusual negative-correlation thermodynamic model for electrons in the hydrodynamic description of plasma expansion is an outcome of the interactions between the electrons following a nonequilibrium kappa distribution and the inherent plasma-induced electric field from a kinetic point of view. The comparisons between the self-similar solutions and the recent experiment data reveal that the electron is better characterized by the nonequilibrium kappa-based thermodynamic model with suprathermal population than the common equilibrium Boltzmann one. For thermal-ion expansion, it is found that the polytropic index for ion thermodynamics（γi） is about2, in contrast to γi= 3 for the adiabatic assumption made in earlier studies.

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RESEARCH ON DAMAGE LOCALIZATION TECHNIQUES FOR REUSABLE CARRIER TANK STRUCTURES

RESEARCH ON DAMAGE LOCALIZATION TECHNIQUES FOR REUSABLE CARR...

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2024 CSAA/IET International Conference on Aircraft Utility systems, AUS 2024

作者： Ben, Xu Mei, Yuan Shaopeng, Dong Jiutian, Zhang Fuel System Department Nanjing Engineering Institute of Aircraft Systems AVIC Nanjing China School of Automation Science and Electrical Engineering Beihang University Beijing China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing China Ningho Institute of Technology Beihang University Ningbo China

Lamb waves, characterized by slow attenuation, short wavelength, and sensitivity to damage, have been widely utilized in the field of composite material damage detection. In addressing the issue of damage localization in composite curved tank structures, this study proposes a composite tank localization algorithm based on convolutional neural networks (CNNs) using Lamb wave data. The approach transforms the damage localization regression problem into a classification problem through partitioning, achieving damage zone localization in composite tank structures with fewer sensors. The accuracy of the algorithm is more than 98% in the dataset constructed from physical experiments, which verifies its accuracy and applicability. © The Institution of engineering & Technology 2024.

关键词： Tanks (containers)

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3D Vision Based Lamination Gap Detection of Carbon Fiber Composite

3D Vision Based Lamination Gap Detection of Carbon Fiber Com...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Xu, Yuanye Yuan, Libiao Liang, Wei Yang, Yutuo Liu, Shuai Zeng, Ziming Zhang, Yinlong Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Shenyang University of Chemical Technology College of Information Engineering Shenyang110142 China Shenzhen Polytechnic School of Automotive and Transportation Engineering Shenzhen518055 China

ISBN: (纸本)9798350327182

The paper presents a machine learning approach to detect laminate gaps and to classify them as open or closed. Compared with the traditional detection methods, which suffer from low precision of point cloud segmentation and poor effect of gap extraction in traditional gap detection, this paper proposes a gap detection algorithm based on 3D Vision. First, an improved undirected graph point cloud segmentation algorithm is used to overcome the under-segmentation of the target region. Second, an adaptive vector for angle discriminant model is proposed to solve the problem of poor extraction effect of the gap edge points. Finally, the B-spline curve-fitting model is used to describe the 3D points on the lamination edges. The proposed algorithm has been evaluated in a visual quality detection platform for carbon fiber composite laminates. The results show that the proposed approach is able to accurately detect and classify laminate gaps in carbon fiber composite structures, providing a reliable tool for quality control in industrial manufacturing processes. © 2023 IEEE.

关键词： Extraction

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Fuzzy Comprehensive Evaluation based NLOS Identification for UWB Indoor Positioning

Fuzzy Comprehensive Evaluation based NLOS Identification for...

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2024 Mid-term Symposium on Spatial Information to Empower the Metaverse

作者： Li, Jinkun Xiu, Chundi Wang, Feng Selezneva, Maria S. Yang, Dongkai Department of Electronic and Information Engineering Beihang University Beijing100191 China International Innovation Institute Beihang University Hangzhou311115 China Department of Automatic Control Systems Bauman Moscow State Technical University Russia

Ultra-wideband (UWB) positioning technology stands out from many indoor positioning technologies with its advantages of high precision. However, non-line-of-sight (NLOS) propagate leads to heavy range error and reduces position accuracy, this paper proposes a NLOS identification method based on channel impulse response (CIR), which includes three stages. Firstly, CIR based feature selection is carried out, which includes correlation analysis of calculated features. Secondly, fuzzy comprehensive evaluation model is introduced to NLOS identification. Finally, time of arrival (TOA) based location estimation is realized after NLOS ranging error mitigation. Simulation results show that the average identification rate of NLOS can exceed 86%, and the average positioning error can be reduced by about 0.5m. © Author(s) 2024.

关键词： Ultra-wideband (UWB)

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Choreographing Safety: Planning via Ice-cone-Inspired Motion Sets of Feedback controllers for Car-Like Robots

Choreographing Safety: Planning via Ice-cone-Inspired Motion...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Veejay Karthik J Anushka Verma Leena Vachhani ARMS Lab Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Safe navigation of car-like robots operating via onboard sensing on crowded roads is a challenging task in general. Our primary objective in this work is the development of a novel sensor-based control structure that directly computes safe control inputs for navigation based on the motion sets of pre-designed feedback controllers. We demonstrate an input-constrained feedback controller to induce motion sets whose geometric structure is an ice-cone. The key implication of this is that the naturally induced system trajectories evolve within this motion set during stabilization. We then propose an instantaneous planning strategy for safe navigation that choreographs a sequence of ice-cones within the bounds of safety. This enables the robot to navigate safely without the explicit requirement of adhering to pre-computed paths/trajectories. We demonstrate the proposed methodology via ROS simulations on test scenarios using the CAT vehicle testbed. Further, we demonstrate its application in a traffic intersection scenario using the trajec-tory information collected from the interaction dataset. The proposed approach especially finds applications in scenarios where pre-computing safe trajectories based on the predicted trajectories of neighboring agents is difficult/unreliable during run-time.

关键词： Navigation Dynamics Robot sensing systems Trajectory Safety Planning Mobile robots

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