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Gradient Descent-Based Adaptive control for Time-Varying Command Following

IEEE Transactions on Automatic control 2025年第6期70卷 4069-4076页

作者： Jaramillo, Jesse Yucelen, Tansel University of South Florida Laboratory for Autonomy Control Information and Systems Department of Mechanical Engineering TampaFL33620 United States

Output regulation theory is an effective method for achieving accurate time-varying command following and can utilize adaptive internal models to follow arbitrary reference signals generated by an exosystem. However, implementing these models can still lead to complexities, particularly regarding increased controller order and the dimensionality of gain matrices. This paper contributes a gradient descent-based adaptive control method for uncertain dynamical systems. This method offers an alternative approach for the time-varying command following problem by altering both reference model trajectories and the control signal. As the gain of the proposed method increases, it can enable following every potential time-varying command profile without specificity. In addition to the presented system-theoretical results, three illustrative numerical examples are included to show the efficacy of the proposed gradient descent-based term for the time-varying command following problem. © 1963-2012 IEEE.

关键词： Model reference adaptive control

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Data-driven output regulation control for constrained linear systems

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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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A New Hybrid Model for Segmentation of the Skin Lesion Based on Residual Attention U-Net

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Computers, Materials & Continua 2023年第6期75卷 5177-5192页

作者： Saleh Naif Almuayqil Reham Arnous Noha Sakr Magdy M.Fadel Department of Information Systems College of Computer and Information SciencesJouf UniversitySakakaSaudi Arabia Department of Communications and Electronics Delta Higher Institute for Engineering and Technology(DHIET)MansouraEgypt Computers Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansouraEgypt

Skin segmentation participates significantly in various biomedical applications,such as skin cancer identification and skin lesion *** paper presents a novel framework for segmenting the *** framework contains two main stages:The first stage is for removing different types of noises from the dermoscopic images,such as hair,speckle,and impulse noise,and the second stage is for segmentation of the dermoscopic images using an attention residual U-shaped Network(U-Net).The framework uses variational Autoencoders(VAEs)for removing the hair noises,the Generative Adversarial Denoising Network(DGAN-Net),the Denoising U-shaped U-Net(D-U-NET),and Batch Renormalization U-Net(Br-U-NET)for remov-ing the speckle noise,and the Laplacian Vector Median Filter(MLVMF)for removing the impulse *** the second main stage,the residual attention u-net was used for *** framework achieves(35.11,31.26,27.01,and 26.16),(36.34,33.23,31.32,and 28.65),and(36.33,32.21,28.54,and 27.11)for removing hair,speckle,and impulse noise,respectively,based on Peak Signal Noise Ratio(PSNR)at the level of(0.1,0.25,0.5,and 0.75)of *** framework also achieves an accuracy of nearly 94.26 in the dice score in the process of segmentation before removing noise and 95.22 after removing different types of *** experiments have shown the efficiency of the used model in removing noise according to the structural similarity index measure(SSIM)and PSNR and in the segmentation process as well.

关键词： Skin tumor speckle noise impulse noise hair noise deep learning segmentation

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Design and Implementation of Safety Functions for the CNC Milling Machine 15

Design and Implementation of Safety Functions for the CNC Mi...

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15th International Conference Elektro, ELEKTRO 2024

作者： Brtis, Jozef Zdansky, Juraj Pirnik, Rastislav University of Žilina Faculty of Electrical Engineering and Information Technology Department of Control and Information Systems Žilina Slovakia

ISBN: (纸本)9798350372359

The paper deals with the design and implementation of safety functions for a CNC milling machine. It is a relatively small CNC milling machine that does not pose a great danger to trained persons. Because it is used in areas where even untrained persons can come into contact with it, it was necessary to implement a safety system that implements safety functions preventing accidents when entering the dangerous zone of the CNC milling machine. The safety system is implemented based on a safety PLC and the sensors are designed using a two-channel architecture to meet the required SIL (safety integrity level). © 2024 IEEE.

关键词： Security systems

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LoRaWAN Sensors Integration for Manufacturing Applications via Edge Device Model with OPC UA 28

LoRaWAN Sensors Integration for Manufacturing Applications v...

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28th International Conference on Applied Electronics, AE 2023

作者： Peniak, Peter Holečko, Peter Bubeniková, Emilia Kanáliková, Alžbeta University of Žilina Žilina Faculty of Electrical Engineering Engineering and Information Technology Department of Control and Information Systems Slovakia University of Žilina Faculty of Electrical Engineering and Information Technology Department of Control and Information Systems Žilina Slovakia

ISBN: (纸本)9798350335538

The article deals with the integration of Lo(ng) Ra(nge) Wide Area Network (LoRaWAN) sensors with generic manufacturing applications and Industrial Internet of Things (IIoT) use-cases. The focus is on creating a suitable Edge device model that enables the integration of specific Long Range (LoRa) sensors together with the other generic Internet of Things (IoT/IIoT). The model is based on the Open Platform Communications Unified Architecture (OPC UA) standard, which is the most suitable integration platform for various control systems and manufacturing applications. The model was implemented in Node-RED software and subsequently validated to confirm the required integration of LoRaWAN sensors within OPC UA models. In contrast to other approaches based on integration gateway or LoRaWAN/OPC UA protocol convertors, the proposed model utilizes extended capabilities of Edge computing. It enables Edge processing and data transformation of LoRaWAN sensors data transferred by Message Queuing Telemetry Transport (MQTT) protocol from the network server, based on requirements of manufacturing applications for cloud solutions. © 2023 IEEE.

关键词： Wide area networks

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Lyapunov-Based Output Containment control of Heterogeneous Multi-Agent systems With Markovian Switching Topologies and Distributed Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第6期10卷 1421-1433页

作者： Haihua Guo Min Meng Gang Feng the Department of Biomedical Engineering City University of Hong KongHong KongChina the Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute of Intelligent Autonomous SystemsTongji UniversityShanghai 200092China

This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed *** modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed *** constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient ***,two numerical examples are given to show the effectiveness of the proposed controller.

关键词： Heterogeneous multi-agent systems Lyapunov method Markovian switching topologies output containment control time delays

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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

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Detection of Oscillations in Process control Loops From Visual Image Space Using Deep Convolutional Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 982-995页

作者： Tao Wang Qiming Chen Xun Lang Lei Xie Peng Li Hongye Su the Department of Electronic Engineering the School of InformationYunnan UniversityKunming 650091China DAMO Academy Alibaba GroupHangzhou 311100China the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Oscillation detection has been a hot research topic in industries due to the high incidence of oscillation loops and their negative impact on plant *** numerous automatic detection techniques have been proposed,most of them can only address part of the practical *** oscillation is heuristically defined as a visually apparent periodic ***,manual visual inspection is labor-intensive and prone to missed *** neural networks(CNNs),inspired by animal visual systems,have been raised with powerful feature extraction *** this work,an exploration of the typical CNN models for visual oscillation detection is ***,we tested MobileNet-V1,ShuffleNet-V2,Efficient Net-B0,and GhostNet models,and found that such a visual framework is well-suited for oscillation *** feasibility and validity of this framework are verified utilizing extensive numerical and industrial *** with state-of-theart oscillation detectors,the suggested framework is more straightforward and more robust to noise and *** addition,this framework generalizes well and is capable of handling features that are not present in the training data,such as multiple oscillations and outliers.

关键词： Convolutional neural networks(CNNs) deep learning image processing oscillation detection process industries

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Cooperative Output Regulation of Heterogeneous systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

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Journal of systems Science & Complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

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Event-triggered control of nonlinear systems under deception and Denial-of-Service attacks 63

Event-triggered control of nonlinear systems under deception...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Seifullaev, Ruslan Teixeira, Andre M. H. Ahlen, Anders Uppsala University Division of Systems and Control Department of Information Technology Sweden Uppsala University Division of Signals and Systems Department of Electrical Engineering Sweden

ISBN: (纸本)9798350316339

We address the problem of event-triggered networked control of nonlinear systems under simultaneous deception and Denial-of-Service (DoS) attacks. By DoS attacks, we refer to disruptions in the communication channel that prevent sensor measurements from reaching the controller. When the system undergoes a deception attack, the controller receives a modified output, deviating from the sensor's original measurement. We implement the input delay approach and the Lyapunov-Krasovskii technique to obtain sufficient conditions, expressed in terms of linear matrix inequalities (LMIs), that characterize the duration of the DoS interruptions under which input-to-state stability (ISS) of the closed-loop system is preserved. Furthermore, we explore scenarios involving simultaneous attacks, where the DoS is modeled as a stochastic Bernoulli process. The closed-loop system is then considered as a stochastic impulsive system. In a similar manner, we derive conditions to ensure mean-square ISS for this case. A numerical example illustrates the efficiency of the results. © 2024 IEEE.

关键词： Stochastic systems

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