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Stability analysis of constrained MPC with CLF applied to discrete-time nonlinear system

Science China(information Sciences) 2014年第11期57卷 186-194页

作者： RUAN XiaoGang HOU XuYang MA HangYing Department of Electronic Information and Control Engineering Beijing University of Technology Beijing Aerospace Control Instrument Research Institute

The model predictive control(MPC) strategy with a control Lyapunov function(CLF) as terminal cost is commonly used for its guaranteed stability. In most of the cases, CLF is locally designed, and the region of attraction is limited, especially when under control constraints. In this article, the stability and the region of attraction of constrained MPC that is applied to the discrete-time nonlinear system are explicitly *** region of feasibility is proposed to substitute the region of attraction, which greatly reduces the calculation burden of terminal constraints inequalities and guarantees the stability of the MPC algorithm. Also, the timevariant terminal weighted factor is proposed to improve the dynamic performance of the close-loop *** experiments verify the effectiveness and feasibility of the relative conclusions, which provide practically feasible ways to stabilize the unstable and/or fast-dynamic systems.

关键词： constrained MPC stability analysis discrete-time system control Lyapunov function region of attraction

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Modeling and Performance Analysis for Semantic Communications Based on Empirical Results

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IEEE Transactions on Communications 2025年

作者： Ma, Shuai Shen, Bin Zhang, Chuanhui Wu, Youlong Li, Hang Li, Shiyin Shi, Guangming Al-Dhahir, Naofal Peng Cheng Laboratory Shenzhen 518066 China China University of Mining and Technology School of Information and Control Engineering Xuzhou 221116 China ShanghaiTech University School of Information Science and Technology Shanghai 201210 China Shenzhen Research Institute of Big Data Guangdong Shenzhen 518172 China Xidian University School of Artificial Intelligence Shaanxi Xi’an 710071 China Department of Electrical and Computer Engineering University of Texas at Dallas Richardson 75080 TX United States

Due to the black-box characteristics of deep learning based semantic encoders and decoders, finding a tractable method for the performance analysis of semantic communications is a challenging problem. In this paper, we propose an Alpha-Beta-Gamma (ABG) formula to model the relationship between the end-to-end measurement and SNR, which can be applied for both image reconstruction tasks and inference tasks. Specifically, for image reconstruction tasks, the proposed ABG formula can well fit the commonly used DL networks, such as SCUNet, and Vision Transformer, for semantic encoding with the multi scale-structural similarity index measure (MS-SSIM) measurement. Furthermore, we find that the upper bound of the MS-SSIM depends on the number of quantized output bits of semantic encoders, and we also propose a closed-form expression to fit the relationship between the MS-SSIM and quantized output bits. To the best of our knowledge, this is the first theoretical expression between end-to-end performance metrics and SNR for semantic communications. Based on the proposed ABG formula, we investigate an adaptive power control scheme for semantic communications over random fading channels, which can effectively guarantee quality of service (QoS) for semantic communications, and then design the optimal power allocation scheme to maximize the energy efficiency of the semantic communication system. Furthermore, by exploiting the bisection algorithm, we develop the power allocation scheme to maximize the minimum QoS of multiple users for OFDMA downlink semantic communication Extensive simulations verify the effectiveness and superiority of the proposed ABG formula and power allocation schemes. © 1972-2012 IEEE.

关键词： ABG formula Adaptive power allocation Semantic communications

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Data Identification Optimal control for Quantized Linear Systems under DoS Attacks

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Wang, Xianming Li, Liwei Shen, Mouquan Zhao, Xudong Wang, Qing-Guo Zhu, Zheng Hong Nanjing Tech University School of Mechanical and Power Engineering Nanjing211816 China Nanjing Tech University College of Electrical Engineering and Control Science Nanjing211816 China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian116024 China Beijing Normal University Institute of Ai and Future Networks Zhuhai519087 China BNU-HKBU United International College Guangdong Provincial Key Laboratory Irads Department of Computer Science Zhuhai519087 China York University Department of Mechanical Engineering TorontoONM3J 1P3 Canada

This paper is devoted to data identification optimal control for quantized linear systems under denial of service (DoS) attacks. A least-squares algorithm is provided to identify the unknown system matrices using a data-based representation. An output estimation algorithm utilizing identified matrices is supplied to offset DoS attacks. Consequently, an optimal controller is built on the quantized and attacked data by adaptive dynamic programming. Sufficient conditions are presented to guarantee that the resultant closed-loop system is ultimately uniformly bounded. An example is produced to verify the validity of the proposed approach. © 1965-2011 IEEE.

关键词： Optimal control systems

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Numerical investigation on prestressed shear key splice connections for onshore wind turbine foundations

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engineering Structures 2025年 339卷

作者： Zhang, Dongliang Liu, Wantong Wang, Fei Yu, Zhe Wu, Xiangguo Li, Tianhao Fu, Kun Magar, Anish Thapa Hwang, Hyeon-Jong Xian, Xiangping PowerChina Huadong Engineering Corporation Limited Hangzhou311122 China School of Civil Engineering Harbin Institute of Technology Harbin150090 China Department of Architecture and Civil Engineering City University of Hong Kong 83 Tat Chee Avenue Kowloon Tong999077 Hong Kong College of Civil Engineering Fuzhou University Fuzhou350108 China Key Lab of Structures Dynamic Behavior and Control of the Ministry of Education Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of the Ministry of the Industry and Information Technology Harbin Institute of Technology Harbin150090 China School of Architecture Konkuk University Seoul05029 Korea Republic of

Prestressed shear key splice connections are used for the assembly of prefabricated foundation modules in wind turbine towers. This study proposed a simplified section analysis to estimate the flexural moment strength of the shear key splice connections. The proposed method considered the structural deformation and unbonded prestressing tendon effect. Further, to investigate the effects of loading type, initial prestressing force, and shear span-to-depth ratio on the structural performance of the shear key splice connections, finite element analysis was performed on the precast segmental beams using the shear key splice connections. The section analysis results were compared to the finite element analysis results of the precast segmental beams under various initial prestressing forces, and the section analysis results agreed with the finite element analysis results. The shear span-to-depth ratio significantly affected the structural performance of the shear key splice connections. As the shear span-to-depth ratio decreased, the shear resistance increased because the failure mode changed from flexural failure due to the separated shear keys to direct shear failure of the shear keys. © 2025 Elsevier Ltd

关键词： Structural dynamics

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Fast motion and disparity estimation for multiview video coding

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中国计算机科学前沿 2010年第4期4卷 571-579页

作者： Zhipin DENG Kebin JIA Yui-Lam CHAN Chang-Hong FU Wan-Chi SIU Department of Electronic Information and Control Engineering Beijing University of TechnologyBeijing 100124China Department of Electronic Information Engineering The Hong Kong Polytechnic UniversityHong KongChina

Multiview video involves a huge amount of data, and as such, efficiently encoding each view is a critical issue for its wider application. In this paper, a fast motion and disparity estimation algorithm is proposed,utilizing the close correlation between temporal and interview reference frames. First, a reliable predictor is found according to the correlation of motion and disparity vectors. Second, an iterative search process is carried out to find the optimal motion and disparity vectors. The proposed algorithm makes use of the prediction vector obtained in the previous motion estimation for the next disparity estimation and achieves both optimal motion and disparity vectors jointly. Experimental results demonstrate that the proposed algorithm can successfully save an average of 86% of computational time with a negligible quality drop when compared to the joint multiview video model (JMVM) full search algorithm. Furthermore, in comparison with the conventional simulcast coding, the proposed algorithm enhances the video quality and also greatly increases coding speed.

关键词： H.264 multiview video coding (MVC) disparity estimation motion estimation joint multiview video model (JMVM)

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Robust exact linearization of a 2D overhead crane

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IFAC-PapersOnLine 2018年第22期51卷 354-359页

作者： Kiss, Bálint Wang, Na Department of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary

Cranes are widely used to transport loads. The dynamical models of most crane systems are differentially flat. The motion planning and the closed-loop tracking of a load reference trajectory can be addressed thanks to this flatness property. The tracking feedback law can be functionally separated into a linearizing inner feedback and into an outer feedback ensuring the exponential decay of the tracking error. The expressions of both feedbacks involve model parameters, including typically the mass of the load, which are known with uncertainty. Since the exact values of such uncertain parameters are unknown, their nominal values are used in the feedback expressions. If the nominal values differ from the real ones, the closed-loop performance and the stability of tracking may be deteriorated. The method suggested in the paper assumes that the set of dynamics obtained with the linearizing feedback for different values of the uncertain parameters can be covered by a linear, output multiplicative uncertainty structure. This allows the application of H∞ synthesis techniques to design an additional robustifying feedback. In our setup, this additional synthesis step results in a serial controller to provide robust performance and stability against parameter uncertainties. All calculations are shown for a planar overhead crane. The usefulness of the approach is demonstrated using simulation results. © 2018

关键词： Feedback Bridge cranes Gantry cranes Motion planning Uncertainty analysis Closed loop performance Closed loop tracking flatness Multiplicative uncertainty Overhead crane Parameter uncertainty Reference trajectories robustifying compensator

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Sim4EndoR: A Reinforcement Learning Centered Simulation Platform for Task Automation of Endovascular Robotics

arXiv

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arXiv 2025年

作者： Yao, Tianliang Ban, Madaoji Lu, Bo Pei, Zhiqiang Qi, Peng Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electrical and Electronic Engineering Faculty of Engineering The University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Jiangsu Suzhou China School of Oriental Pan-Vascular Devices Innovation College University of Shanghai for Science and Technology 516 Jungong Road Shanghai200093 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Robotic-assisted percutaneous coronary intervention (PCI) holds considerable promise for elevating precision and safety in cardiovascular procedures. Nevertheless, current systems heavily depend on human operators, resulting in variability and the potential for human error. To tackle these challenges, Sim4EndoR, an innovative reinforcement learning (RL) based simulation environment, is first introduced to bolster task-level autonomy in PCI. This platform offers a comprehensive and risk-free environment for the development, evaluation, and refinement of potential autonomous systems, enhancing data collection efficiency and minimizing the need for costly hardware trials. A notable aspect of the groundbreaking Sim4EndoR is its reward function, which takes into account the anatomical constraints of the vascular environment, utilizing the geometric characteristics of vessels to steer the learning process. By seamlessly integrating advanced physical simulations with neural network-driven policy learning, Sim4EndoR fosters efficient sim-to-real translation, paving the way for safer, more consistent robotic interventions in clinical practice, ultimately improving patient outcomes. © 2025, CC BY.

关键词： Reinforcement learning

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Elimination of Buried Interface Defects for Highly Efficient and Stable Wide-Bandgap Perovskite Solar Cells

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Chinese Journal of Chemical Physics 2025年第2期38卷 231-239,I0020-I0034,I0040,I0041页

作者： Kun Chen Yu Chen Yang Shen Weijian Tang Xiaojia Zheng WenHua Zhang Shangfeng Yang Sichuan Research Center of New Materials Institute of Chemical MaterialsChina Academy of Engineering PhysicsChengdu 610200China Key Laboratory of Artificial Structures and Quantum Control(Ministry of Education) Shanghai Jiao Tong UniversityShanghai 200240China Yunnan Key Laboratory of Carbon Neutrality and Green Low-carbon Technologies Yunnan UniversityKunming 650000China Hefei National Laboratory for Physical Sciences at the Microscale CAS Key Laboratory of Materials for Energy ConversionDepartment of Materials Science and EngineeringSynergetic Innovation Center of Quantum Information and Quantum PhysicsUniversity of Science and Technology of ChinaHefei 230026China

As one of the important components of high-effi-ciency perovskite/silicon series devices,wide-bandgap(WBG)perovskite solar cells(PSCs)have been suffering from serious carrier transport barriers and huge open-circuit voltage deficit de-rived from non-radiative recombination,especial-ly at the buried interface that are often ***,we combined cationic and anion passiva-tion strategies via ammonium tetra-n-butyl tetrafluoroborate(TBABF_(4))pre-treating the buried *** calculation predicts that the tetrabutylammonium(TBA^(+))organic cations and(tetrafluoroborate)BF_(4)^(−)anions can easily interact with charged interfacial *** further confirm the enhance-ment of carrier transport performance and decrease in defect density upon TBABF4 ***,a power conversion efficiency of 21.35%with an ultrahigh filling factor of 84.12%is obtained for 1.68 eV-WBG inverted *** addition,the device with TBABF4 pre-treatment demonstrates excellent shelf,thermal,and operational stability.

关键词： Wide-bandgap Buried interface Carrier transport Stablility Defect passiva-tion

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Catalyst–Support Interaction in Polyaniline‑Supported Ni_(3)Fe Oxide to Boost Oxygen Evolution Activities for Rechargeable Zn‑Air Batteries

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Nano-Micro Letters 2025年第1期17卷 176-190页

作者： Xiaohong Zou Qian Lu Mingcong Tang Jie Wu Kouer Zhang Wenzhi Li Yunxia Hu Xiaomin Xu Xiao Zhang Zongping Shao Liang An Department of Mechanical Engineering The Hong Kong Polytechnic UniversityHung HomKowloonHong Kong SARPeople’s Republic of China Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment TechnologySchool of Environmental Science and TechnologyNanjing University of Information Science and TechnologyNanjing 210044People’s Republic of China Department of Chemistry The Chinese University of Hong KongMa Lin BuildingShatinHong Kong SAR 999077People’s Republic of China WA School of Mines:Minerals Energy and Chemical Engineering(WASM‑MECE)Curtin UniversityPerthWA 6102Australia Research Institute for Advanced Manufacturing The Hong Kong Polytechnic UniversityHung HomKowloonHong Kong SARPeople’s Republic of China Research Institute for Smart Energy The Hong Kong Polytechnic UniversityHung HomKowloonHong Kong SARPeople’s Republic of China

Catalyst–support interaction plays a crucial role in improving the catalytic activity of oxygen evolution reaction(OER).Here we modulate the catalyst–support interaction in polyaniline-supported Ni_(3)Fe oxide(Ni_(3)Fe oxide/PANI)with a robust hetero-interface,which significantly improves oxygen evolution activities with an overpotential of 270 mV at 10 mA cm^(-2)and specific activity of 2.08 mA cm_(ECSA)^(-2)at overpotential of 300 mV,3.84-fold that of Ni_(3)Fe *** is revealed that the catalyst–support interaction between Ni_(3)Fe oxide and PANI support enhances the Ni–O covalency via the interfacial Ni–N bond,thus promoting the charge and mass transfer on Ni_(3)Fe *** the excellent activity and stability,rechargeable Zn-air batteries with optimum Ni_(3)Fe oxide/PANI are assembled,delivering a low charge voltage of 1.95 V to cycle for 400 h at 10 mA cm^(-2).The regulation of the effect of catalyst–support interaction on catalytic activity provides new possibilities for the future design of highly efficient OER catalysts.

关键词： Catalyst-support interaction Supported catalysts Heterointerface Oxygen evolution reaction Zn-air batteries

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Distributed Generalized Nash Equilibria Learning for Online Stochastic Aggregative Games

arXiv

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arXiv 2025年

作者： Du, Kaixin Meng, Min Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering College of Electronics and Information Engineering National Key Laboratory of Autonomous Intelligent Unmanned System Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper investigates online stochastic aggregative games subject to local set constraints and time-varying coupled inequality constraints, where each player possesses a time-varying expectation-valued cost function relying on not only its own decision variable but also an aggregation of all the players’ variables. Each player can only access its local individual cost function and constraints, necessitating partial information exchanges with neighboring players through time-varying unbalanced networks. Additionally, local cost functions and constraint functions are not prior knowledge and only revealed gradually. To learn generalized Nash equilibria of such games, a novel distributed online stochastic algorithm is devised based on push-sum and primal-dual strategies. Through rigorous analysis, high probability bounds on the regret and constraint violation are provided by appropriately selecting decreasing stepsizes. Moreover, for a time-invariant stochastic strongly monotone game, it is shown that the generated sequence by the designed algorithm converges to its variational generalized Nash equilibrium (GNE) almost surely, and the time-averaged sequence converges sublinearly with high probability. Finally, the derived theoretical results are illustrated by numerical simulations. Copyright © 2025, The Authors. All rights reserved.

关键词： Nash equilibrium

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