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arXiv 2025年

作者： Wu, Sicheng Liwang, Minghui Wang, Deqing Wang, Xianbin Wu, Chao Tang, Junyi Li, Li Jiao, Zhenzhen The School of Informatics Xiamen University Fujian China The Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China The Department of Electrical and Computer Engineering Western University ON Canada The School of Public Affairs Zhejiang University Hangzhou310027 China School of Information Science and Engineering Lanzhou University Lanzhou China The iF-Labs Beijing Teleinfo Technology Co. Ltd. CAICT China

To facilitate responsive and cost-effective computing resource scheduling and service delivery over edge-assisted mobile networks, this paper investigates a novel two-stage double auction methodology via utilizing an interesting idea of resource overbooking to overcome dynamic and uncertain nature from edge servers (sellers) and demand from mobile devices (as buyers). The proposed auction integrates multiple essential factors such as social welfare maximization and decision-making latency (e.g., the time for determining winning seller-buyer pairs) reduction, by introducing a stagewise strategy: an overbooking-driven pre-double auction (OPDAuction) for determining long-term cooperations between sellers and buyers before practical resource transactions as Stage I, and a real-time backup double auction (RBDAuction) for handling residual resource demands during actual transactions. In particular, by applying a proper overbooking rate, OPDAuction helps with facilitating trading contracts between appropriate sellers and buyers as guidance for future transactions, by allowing the booked resources to exceed supply. Then, since pre-auctions may cause risks, our RBDAuction adjusts to real-time market changes, further enhancing the overall social welfare. More importantly, we offer an interesting view to show that our proposed two-stage auction can support significant design properties such as truthfulness, individual rationality, and budget balance. Through extensive experiments, we demonstrate good performance in social welfare, time efficiency, and computational scalability, outstripping conventional methods in dynamic edge computing settings. Copyright © 2025, The Authors. All rights reserved.

关键词： Budget control

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HEART: Achieving Timely Multi-Model Training for Vehicle-Edge-Cloud-Integrated Hierarchical Federated Learning

arXiv

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arXiv 2025年

作者： Yang, Xiaohong Liwang, Minghui Wang, Xianbin Cheng, Zhipeng Hosseinalipour, Seyyedali Dai, Huaiyu Jiao, Zhenzhen School of Informatics Xiamen University Fujian China Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Japan Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China Department of Electrical and Computer Engineering Western University ON Canada School of Future Science and Engineering Soochow University Suzhou China Department of Electrical Engineering University at Buffalo-SUNY BuffaloNY United States Department of Electrical and Computer Engineering NC State University RaleighNC United States iF-Labs Beijing Teleinfo Technology Company Ltd. CAICT Beijing China

The rapid growth of AI-enabled Internet of Vehicles (IoV) calls for efficient machine learning (ML) solutions that can handle high vehicular mobility and decentralized data. This has motivated the emergence of Hierarchical Federated Learning over vehicle-edge-cloud architectures (VEC-HFL). Nevertheless, one aspect which is underexplored in the literature on VEC-HFL is that vehicles often need to execute multiple ML tasks simultaneously, where this multi-model training environment introduces crucial challenges. First, improper aggregation rules can lead to model obsolescence and prolonged training times. Second, vehicular mobility may result in inefficient data utilization by preventing the vehicles from returning their models to the network edge. Third, achieving a balanced resource allocation across diverse tasks becomes of paramount importance as it majorly affects the effectiveness of collaborative training. We take one of the first steps towards addressing these challenges via proposing a framework for multi-model training in dynamic VEC-HFL with the goal of minimizing global training latency while ensuring balanced training across various tasks—a problem that turns out to be NP-hard. To facilitate timely model training, we introduce a hybrid synchronous-asynchronous aggregation rule. Building on this, we present a novel method called Hybrid Evolutionary And gReedy allocaTion (HEART). The framework operates in two stages: first, it achieves balanced task scheduling through a hybrid heuristic approach that combines improved Particle Swarm Optimization (PSO) and Genetic Algorithms (GA);second, it employs a low-complexity greedy algorithm to determine the training priority of assigned tasks on vehicles. Experiments on real-world datasets demonstrate the superiority of HEART over existing methods. © 2025, CC BY-NC-ND.

关键词： Federated learning

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A multi-class ramp metering and routing control scheme to reduce congestion and traffic emissions in freeway networks

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IFAC-PapersOnLine 2016年第3期49卷 329-334页

作者： Pasquale, C. Sacone, S. Siri, S. De Schutter, B. Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Delft Center for Systems and Control Delft University of Technology Netherlands

In this paper, a multi-class and multi-objective combined ramp metering and routing control strategy is proposed to improve performance in freeway traffic networks. The control strategy is of the multi-class type, i.e. different classes of vehicles are taken into account, so that specific control policies can be devised for each class. Moreover, ramp metering and route guidance are properly coordinated in order to reduce the total travel time and the total emissions in the freeway system in a balanced way. The controller proposed in the paper is of the predictive feedback type, i.e. the control computed at each time step depends on the measured system state and on the prediction of the system evolution, considering both a traffic and an emission model. Some simulation results are presented showing the effectiveness of the proposed control scheme. © 2016

关键词： Traffic congestion Highway traffic control Network routing Travel time control strategies Different class Freeway networks Improve performance Measured system System evolution Total emissions Traffic emissions

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An algorithm to modify consistent initialization of differential-algebraic equations obtained by pantelides algorithm using minimally singular subsets

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SICE Journal of control, Measurement, and System Integration 2021年第1期14卷 189-195页

作者： Shimako, Keisuke Koga, Masanobu Department of Creative Informatics Kyushu Institute of Technology Fukuoka Japan Department of Intelligent and Control Systems Kyushu Institute of Technology Fukuoka Japan

In this paper, an algorithm for index reduction of differential algebraic equations (DAE) is proposed. Pantelides algorithm has already been proposed as an algorithm for this purpose. This conventional algorithm has succeeded in reducing the calculation time required for index reduction. However, there exist some DAE systems whose index cannot be reduced correctly with the conventional algorithm because it uses sufficient condition to reduce the index. We propose an algorithm to modify the solution obtained by Pantelides algorithm to deal with a wider class of DAE systems. The proposed algorithm deals with DAE systems by using the necessary and sufficient condition to reduce the index systematically that cannot be reduced by the conventional algorithm. We implemented the proposed algorithm as the functions on Maxima and evaluated the algorithm by using some examples. © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Algebra

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Nonlinear Suboptimal Robust control for Twin Rotor MIMO System 6

Nonlinear Suboptimal Robust Control for Twin Rotor MIMO Syst...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Vrazhevsky, Sergey Kopysova, Eseniya Kuznetsov, Mikhail Itmo University Laboratory of Adaptive and Intelligent Control of Networked and Distributed Systems Ipme Ras Department of Control Systems and Informatics Saint Petersburg Russia Itmo University Department of Control Systems and Informatics Saint Petersburg Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

The article deals with a problem of suboptimal stabilization for a nonlinear plant under disturbances presence with application to a laboratory setup 'Twin Rotor MIMO System' (TRMS). First, a complete nonlinear model of TRMS is considered and linearized using feedback linearization technique. Then, a Linear Quadratic Regulator is applied to obtain a stable closed-loop system with prespecified cost function minimization for the case when no disturbances affect the system. At the last step of algorithm synthesis, unknown bounded disturbances are taken into account, and a specialized dynamical system called 'auxiliary loop' is defined to compensate disturbances and ensure convergence of the closed-loop system solutions to the optimal case. © 2022 IEEE.

关键词： Robust control

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Quadrotor control under Prespecified State-Space Bounds 6

Quadrotor Control under Prespecified State-Space Bounds

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Kuznetsov, Mikhail Vrazhevsky, Sergey Kopysova, Eseniya Itmo University Department of Control Systems and Informatics Saint-Petersurg Russia Itmo University Laboratory of Adaptive and Intelligent Control of Networked and Distributed Systems Ipme Ras Department of Control Systems and Informatics Saint-Petersurg Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

The article suggests a robust control algorithm for a quadrotor tracking control problem considering a linearised quadrotor model. The main achievement obtained is a controller with a guarantee of finding output signals within the boundaries given by differentiable functions. The proposed method is used for a quadcopter model separately for each degree of freedom. The results are verified using computer simulation. © 2022 IEEE.

关键词： Robust control

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The UHVAT Gripper: Usable Holding Versatile Adjustable Tool to Grasp Different Objects

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IFAC-PapersOnLine 2018年第11期51卷 722-727页

作者： Borisov, Ivan I. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Kolyubin, Sergey A. Department of Mechatronics ITMO University St. Petersburg Russia Department of Control Systems and Informatics ITMO University St. Petersburg Russia

This paper presents a novel approach to the development of finger mechanisms for fnger mechanisms for anthropomorphic grippers. The proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. When a kinematic chain is closed the finger has got one degree of freedom (DOF), thus a trajectory of the finger is predictable that allows to execute precise pinch grasp. When the kinematic chain is opened the finger has got 2 DOF that allows to accomplish power and adaptive underactuated grasp of unknown random objects no matter of their orientation, that helps with pick-and-place tasks of heavy objects, since encompassing grasp is able to increase the gripper's payload capacity. Closing/opening of the kinematic chain is implemented with a special link, which is able to fix its length or make it variable. In this paper, the proposed approach was used to create an usable holding versatile adjustable tool (UHVAT gripper) for industrial tasks to grasp objects with different sizes and shapes via both power types of grasps as well as precision grasps. The gripper consists of three fingers and a palm. All fingers of the gripper are actuated with one stepper motor embedded into the gripper palm. The mechanical structure of the gripper makes it adjustable to different types of grasps configurations. The structure of the finger, the mechanical design of the gripper, an analysis of the finger mechanism and simulation results are presented. © 2018

关键词： Grippers Chains Degrees of freedom (mechanics) Industrial plants Industrial robots Kinematics Mechanisms Plant shutdowns Robotics Stepping motors Adaptive Grasping Adaptive methods Anthropomorphic grippers Degree of freedom (dof) Industrial automation Mechanical structures Pay load capacity Robotic systems

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Recursive Identification of Fractional Time-Delay systems Using Discrete-Time Model

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IFAC-PapersOnLine 2018年第15期51卷 939-944页

作者： Higo, Toshiaki Kawaguchi, Takahiro Itamoto, Masaki Adachi, Shuichi Department of Applied Physics and Physico-Informatics Keio University Yokohama Japan Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

In this paper, a recursive identification method for fractional time-delay systems using a discrete-time model is proposed. The fractional time delay is a non-integer multiple of the sampling period for the discrete-time system. We describe the discretization of the fractional time-delay systems and propose a new formulation for system identification. Single-input, single-output systems are transformed to two-input, single-output systems: one transfer function represents system dynamics and the other represents the influence of the time delay. Then, we propose a new recursive identification method for fractional time-delay systems. Finally we verify the effectiveness of the proposed method through numerical examples. © 2018

关键词： Time delay Delay control systems Digital control systems Discrete time control systems Numerical methods Timing circuits Discrete time systems Discrete time model Discretizations Recursive identification Single input , single outputs Single output systems System Dynamics Time delay systems

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Quantifying regularity of the Internet Interdomain Routing based on Border Gateway Protocol (BGP) data bases 2

Quantifying regularity of the Internet Interdomain Routing b...

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2nd International Conference on Electrical, Communication and Computer Engineering, ICECCE 2020

作者： Matcharashvili, Teimuraz Prangishvili, Archil Georgian Technical University Department of Informatics and Control Systems Tbilisi Georgia

ISBN: (纸本)9781728171166

The time series of border gateway protocol (BGP) updates from 4 autonomous systems (AS) are analyzed. Methods of modern data analysis, such as multifractal detrended fluctuation analysis (MF-DFA) and refined composite multiscale entropy (RCMSE) are used. Analysis is carried out on the entire BGP updates data sets, as well as on their shorter, most regular parts. It is found that the process of BGP updates variability, though reveals general similarity in the dynamics of behavior, all the same is very specific for each of the considered data sets. It is shown that the variability of NTT and Tinet BGP updates is the closest one to monofractal behavior, though the same data sets strictly differ by their extent of complexity. The variability of BGP updates for ATT is the most multifractal one compared to data sets from other AS-es. It is characterized by a lesser extent of complexity compared to BGP updates from Tinet, NTT and IJJ As-es, according to entropy measure calculations. Further analysis, carried out on shorter parts of BGP time series, additionally shows essential differences for different AS-es. Namely, Tinet is characterized by the highest extent of multifractality and a lesser entropy measure, i.e. is the most ordered one compared to BGP updates from other AS-es. A conclusion is made that that BGP updates time series from different AS-es are characterised by a different extent of regularity and multifractality, even if observation is carried out for the same time period. Moreover, for the first time is shown that the dynamical features of variability for different AS-es may strictly differ even for shorter periods when the BGP updates process is most regular over the entire observation period. © 2020 IEEE.

关键词： Time series

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LMI-Based Design of Output Robust controller

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IFAC-PapersOnLine 2018年第32期51卷 821-825页

作者： Kakanov, Mikhail A. Borisov, Oleg I. Gromov, Vladislav S. Pyrkin, Anton A. Shavetov, Sergey V. Somov, Sergey N. Department of Control Systems and Informatics ITMO University 49 Kronverksky Pr. St. Petersburg197101 Russia

This paper is devoted to the problem of output robust control for SISO systems with guaranteed settling time. To ensure specified convergence rate of system, toolkit of linear matrix inequalities (LMI) is used. Simula... 详细信息

关键词： Linear matrix inequalities control engineering Linear systems Robust control Convergence rates Robust controllers Settling time SISO systems

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