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作者： Ramasamy, Sivasamy Banjerdpongchai, David Park, PooGyeon Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Electrical Engineering Pohang University of Science and Technology Pohang Korea Republic of

One of the most important goals of theoretical ecologists is to find a strategy for controlling the chaos in ecological models to maintain healthy ecosystems. We investigate the influence of fear and the supply of additional food to predators in a delayed tri-trophic food chain model, where interference among the species is determined by Holling type-II functional response. The proposed model incorporates the fact that the growth rates of prey and middle predators are decreased due to the fear of middle and special predators, respectively. The additional food is supplied to both predators by either nature or external agencies. Furthermore, the poisoned prey in the predator's environment is taken into account. In the proposed model, we use two time delays: one for the growth term of the middle predator and another for the gestation delay of the special predator. We determine the conditions for the existence of ecologically feasible equilibrium points and their local and global stability. In addition, we establish the conditions for the existence of Hopf bifurcation around interior equilibrium to seek periodic behavior in nondelayed and delayed models. Numerical investigations are performed to justify the proposed theoretical findings through phase portraits, time series of solutions, and bifurcation diagrams. We observe that the chaotic dynamics of a tri-trophic food chain model can be controlled by the proper choice of the fear effect and by supplying additional food parameters. As a result, our findings provide more ecological insights into the dynamics of the delayed tri-trophic food chain model with the fear effect and additional food supply. © 2023 John Wiley & Sons, Ltd.

关键词： Hopf bifurcation

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AggFollower: Aggressiveness Informed Car-Following Modeling

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-15页

作者： Chen, Xianda Yuan, Xinyi Zhu, Meixin Zheng, Xinhu Shen, Shaojie Wang, Xuesong Wang, Yinhai Wang, Fei-Yue Guangzhou China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong SAR China School of Transportation Engineering Tongji University Shanghai China Department of Civil and Environmental Engineering University of Washington Seattle WA USA State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Car-following is the most common driving scenario where a following vehicle follows a lead vehicle in the same lane. One crucial factor of car-following behavior is driving style which affects speed and gap selection, acceleration pattern, and fuel consumption. However, existing car-following research used limited categories of driving style through pre-defined patterns and failed to encode driving style into data-driven car-following models. To address these limitations, we propose the Aggressiveness Informed Car-Following (AICF) modeling approach, which embeds driving style as a dynamic input feature in data-driven car-following models. In detail, We design driving aggressiveness tokens using four physical quantities (jerk, acceleration, relative speed, and relative spacing) to capture the heterogeneity of driving aggressiveness. These tokens were then embedded into a physics-informed Long Short-Term Memory (LSTM) based car-following model for trajectory prediction. To evaluate the effectiveness of our approach, we conducted extensive experiments based on 12,540 car-following events extracted from the HighD dataset and 24,093 events from the Lyft dataset. Compared to models devoid of considerations for driving aggressiveness levels, AICF exhibits superior efficacy in mitigating the Mean Square Error (MSE) of spacing and collision rate. To the best of our knowledge, this is the first work to directly incorporate real-time driving aggressiveness tokens as input features into data-driven car-following models, enabling a more comprehensive understanding of aggressiveness in car-following behavior. IEEE

关键词： Long short-term memory

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A Magnetoelectric Permanent-Magnet Synchronous Motor with a Magnetically Asymmetric Rotor

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Russian Electrical engineering 2022年第1期93卷 6-10页

作者： Afanasyev, A.A. Department of Automation and Control in Engineering Systems Ulyanov Chuvash State University Cheboksary428015 Russia

Abstract: A permanent-magnet synchronous motor (PMSM) with permanent magnets with unequally magnetized individual poles of the rotor is considered. In this engine, the magnetic induction in the air gap contains not only the main harmonic, but also a lower-order harmonic. The inductances of the mutual induction of the rotor with the stator-winding phases are analyzed. The working properties of a PMSM with a magnetically asymmetric rotor are studied on the basis of its mathematical model in the d and q coordinates. In this model, the stator current contains only a transverse component. In this case, the PMSM delivers the maximum electromagnetic torque at a given current. It is shown that significant pulsations of the current and electromagnetic torque of the engine are generated even with a 5% decrease in the magnetization of the magnet of one pole of the rotor. © 2022.

关键词： Permanent magnets

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A Fast Finite-Time Adaptive Stabilizing Strategy of Uncertain Nonlinear System With Output Constraints and Its Application in Liquid-Level System

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IEEE Transactions on systems, Man, and Cybernetics: systems 2024年第7期54卷 4413-4424页

作者： Sun, Zong-Yao Bai, Yang Chen, Chih-Chiang Yang, Shao-Hua Institute of Automation Qufu Normal University Shandong Qufu273165 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan701 Taiwan

This article aims to solve two intricate problems in nonlinear control: 1) the zero-division of the control by requiring its differentiability and 2) the finite-time stabilization via adaptive feedback for a class of uncertain nonlinear systems with asymmetric output constraints. The issue is how to control the system states to converge to the origin quickly while not violating the output constraints. This article develops an adaptive stabilizing controller constituting a piecewise tangent-type barrier function and a series of non-negative integral functions with sign functions, which is bounded over the whole time horizon and ensures the fast convergence of the system states. The innovation is two-fold: a technical lemma is proposed for the first time to make the designed controller completely decoupled from the first state variable of the system. The proposed strategy can handle both constrained and unconstrained systems without reconstructing barrier functions associated with the output constraint. Finally, the stabilization of a liquid-level system is investigated to demonstrate the effectiveness of the control scheme. © 2013 IEEE.

关键词： Asymptotic stability

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Real-Time Implementation of MEKF using VDPL Localization Alg...

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2024 Innovations in Intelligent systems and Applications Conference, ASYU 2024

作者： Altınpınar, Ozan Vahit Contarlı, Emre Can Sezer, Volkan Department of Mechatronics Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases. © 2024 IEEE.

关键词： Extended Kalman filters

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Equalizer Zero-Determinant Strategy in Discounted Repeated Stackelberg Asymmetric Game

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Journal of systems Science & Complexity 2024年第1期37卷 184-203页

作者： CHENG Zhaoyang CHEN Guanpu HONG Yiguang Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology10044 StockholmSweden. Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 210201China

This paper focuses on the performance of equalizer zero-determinant(ZD)strategies in discounted repeated Stackelberg asymmetric *** the leader-follower adversarial scenario,the strong Stackelberg equilibrium(SSE)deriving from the opponents’best response(BR),is technically the optimal strategy for the ***,computing an SSE strategy may be difficult since it needs to solve a mixed-integer program and has exponential complexity in the number of *** this end,the authors propose an equalizer ZD strategy,which can unilaterally restrict the opponent’s expected *** authors first study the existence of an equalizer ZD strategy with one-to-one situations,and analyze an upper bound of its performance with the baseline SSE *** the authors turn to multi-player models,where there exists one player adopting an equalizer ZD *** authors give bounds of the weighted sum of opponents’s utilities,and compare it with the SSE ***,the authors give simulations on unmanned aerial vehicles(UAVs)and the moving target defense(MTD)to verify the effectiveness of the proposed approach.

关键词： Discounted repeated Stackelberg asymmetric game equalizer zero-determinant strategy strong Stackelberg equilibrium strategy

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IMPROVING HYDRODYNAMIC PERFORMANCE OF AN ASYMMETRIC TOWFISH USING CFD

IMPROVING HYDRODYNAMIC PERFORMANCE OF AN ASYMMETRIC TOWFISH ...

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ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Bhosale, Yugandhara Sharma, Atul Gupta, Abhishek Vachhani, Leena Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9780791888667

A towfish is a passive underwater vehicle that is towed behind a surface vessel. The towfish is often designed to be symmetric from all directions primarily to achieve balanced hydrodynamic behaviour and foreseeable manoeuvrability under water. External attachments or extruded slots can induce asymmetry, which will have an effect on the hydrodynamic behaviour. An asymmetric towfish will experience an uneven distribution of hydrodynamic forces and moments. This will lead to unstable orientation and unpredictable hydrodynamic behaviour. So, the effect of asymmetry on hydrodynamic coefficients like drag coefficients, lift coefficients, pitching moment coefficients and overall stability are investigated in this paper and improved with design modification in towfish. We evaluated these hydrodynamic coefficients of the asymmetric towfish and proposed a redesign strategy. In this work, the significant parts of towfish, like the nose and hull are redesigned to improve hydrodynamic performance. A three-dimensional (3D) simulation is carried out using in Ansys Fluent as a CFD software. To simulate the turbulence, the k-ω shear stress transport (SST) model is employed due to its good prediction capability at a reasonable computational cost. Drag reduction and lift increment are observed with modification and redesigning of the nose and hull to counter the increase in drag due to the asymmetricity of towfish. These results will help to enhance our understanding of the hydrodynamics behavior of the asymmetric nature of towfish. Copyright © 2024 by ASME.

关键词： Computational fluid dynamics

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Distributed Nash equilibrium seeking with order-reduced dynamics based on consensus exact penalty

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control Theory and Technology 2023年第3期21卷 363-373页

作者： Shu Liang Shuyu Liu Yiguang Hong Jie Chen The Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 201210China

In this paper,we consider a networked game with coupled constraints and focus on variational Nash equilibrium *** distributed algorithm design,we eliminate the coupled constraints by employing local Lagrangian functions and construct exact penalty terms to attain multipliers'optimal consensus,which yields a set of equilibrium conditions without any coupled constraint and consensus ***,these conditions are only based on strategy and multiplier variables,without auxiliary ***,we present a distributed order-reduced dynamics that updates the strategy and multiplier variables with guaranteed *** with many other distributed algorithms,our algorithm contains no auxiliary variable,and therefore,it can save computation and communication.

关键词： Game theory Nash equilibrium seeking Distributed algorithm Coupled constraints Order-reduced dynamics

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Attention Markets of Blockchain-Based Decentralized Autonomous Organizations

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1370-1380页

作者： Juanjuan Li Rui Qin Sangtian Guan Wenwen Ding Fei Lin Fei-Yue Wang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’***,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is ***,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as *** equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention ***,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is ***,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different *** study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.

关键词： Attention decentralized autonomous organizations Harberger tax Stackelberg game.

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