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Robust Consensus Tracking control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu Jinhua She the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed *** is of two-degree-of-freedom ***,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of *** condition for asymptotic disturbance rejection is ***,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection ***,a robust stabilization condition with less conservativeness is derived for the whole multi-agent ***,a design algorithm is ***,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control

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A Model Predictive control Based Robust Gait Generation with Turning Ability 8

A Model Predictive Control Based Robust Gait Generation with...

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

作者： Yang, Pengfei Yuan, Zhaohui Dong, Sheng Li, Jingchao School of Automation Northwestern Polytechnical University Shaanxi Xi'an710072 China School of Electrical and Control Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9798350300178

To enhance the anti-disturbance ability of biped robots and improve their full range of motion ability, this paper proposes a gait generation method based on model predictive control with turning ability, which can automatically generate gait trajectories with the given reference speed and turning speed. We integrate footstep positions into the objective function and use the change of center of pressure (CoP) as the optimal input to minimize the objective. The contribution of this paper is considering various feasible optimization constraints to generate gait trajectories online with anti-disturbance ability, adjustable stride, and turning ability. Simulation results show that this method can generate robust gait trajectories online and turn in any direction. © 2023 IEEE.

关键词： Trajectories

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A novel guidance law based on proximal policy optimization 41

A novel guidance law based on proximal policy optimization

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第41届中国控制会议

作者： Yang Jiang Jianglong Yu Qingdong Li Zhang Ren Xiwang Dong Yongzhao Hua School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a new guidance law based on deep reinforcement learning is proposed for the high-speed maneuvering target attack ***,the missile-target kinematic model is established,and the action space and state space of reinforcement learning are ***,according to the missile strike process,the reward function suitable for this scenario is *** proximal policy optimization(PPO) based guidance law construction is ***,the strike effect in multiple sets of experiments verifies the effectiveness of the method proposed in this paper.

关键词： reinforcement learning proximal policy optimization high-speed maneuvering target

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Appliance V-I Trajectory Detection for NILM based on Conditional Autoencoder

Appliance V-I Trajectory Detection for NILM based on Conditi...

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2023 IEEE Sustainable Power and Energy Conference, iSPEC 2023

作者： Yu, Zhiwen Zhao, Ruifeng Jia, Ruiyao Zheng, Wenjie Zhang, Jinjiang Li, Shiming Electric Power Dispatching and Control Center Guangdong Power Grid Guangzhou510600 China The School of Electrical Automation and Information Engineering Tianjin University Tianjin300072 China

ISBN: (纸本)9798350322699

Non-intrusive load monitoring (NILM) analyzes the terminal voltage and total current to offer comprehensive appliance-specific consumption data. Many state-of-the-art NILM models make a crucial assumption that recognized devices within the training set are responsible for triggering switching events. However, continuous addition of new devices diminishes the practical efficacy of existing methods for load monitoring. In this manuscript, we introduce a novel approach based on the Conditional Variational Auto-Encoder (CVAE) to address the challenge of classifying familiar appliances and identifying unfamiliar ones by leveraging V-I trajectory characteristics. In our proposed approach, during the training phase, we promote the alignment of capsule features belonging to the same familiar class with a predefined Gaussian distribution, where each class has its own distribution. To achieve this, we adopt the variational autoencoder framework and utilize a collection of Gaussian priors as an estimate for the following distribution. By employing this approach, we can regulate the compactness of features belonging to the same class around the mean of the corresponding Gaussian distributions. This enables us to control the classifier's capability to identify samples from unfamiliar classes. Testing findings on the public dataset illustrate the efficiency of our approach. © 2023 IEEE.

关键词： Capsule system Conditional Variational Auto-Encoder Non-intrusive Load Monitoring Unfamiliar Appliances Detection V-I path

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Birdsong Classification Based On Hybrid CNN-LSTM Neural Network 38

Birdsong Classification Based On Hybrid CNN-LSTM Neural Netw...

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38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Wang, Xin Ren, Chengcheng Yu, Tao He, Shuping Anhui University School of Electrical Engineering and Automation Hefei230601 China Anhui University Laboratoy of Aerodynamic Noise Control School of Artificial Intelligence Hefei230601 China

ISBN: (纸本)9798350303636

In this paper, wavelet packet denoising and data enhancement are used to deal with the problems of noisy background noise and small data volume in Birdsong Audio. The Mel frequency cepstral coefficients and Gammatone frequency cepstral coefficients extracted from the audio are fused to form a rich feature vector. In this paper, CNN and LSTM are combined to form a CNN-LSTM combined neural network model, which makes the network classification of birdsong more accurate. © 2023 IEEE.

关键词： Birdsong classification CNN-LSTM Data Enhancement Feature Fusion

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Deep Neural Network-Based Penetration Trajectory Generation for Hypersonic Gliding Vehicles Encountering Two Interceptors 41

Deep Neural Network-Based Penetration Trajectory Generation ...

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第41届中国控制会议

作者： Zhipeng Shen Jianglong Yu Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A deep learning-based approach is developed to address the penetration problem for the hypersonic gliding vehicle(HGV) in this *** dynamics of HGV and the penetration problem are ***,a recently proposed second-order cone programming(SOCP) method is utilized to solve penetration trajectory optimization ***,the generated trajectories are used to train the deep neural network(DNN),which is then applied as the command *** DNN-based controllers are trained offline and act as real-time controllers *** are carried out to verify the effectiveness and real-time performance of the DNN-driven scheme.

关键词： Hypersonic Gliding Vehicle Penetration Trajectory Neural Network Real-Time Interceptors

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Extended NNs-Based Adaptive Event-Triggered Asymptotic control for Nonlinear Systems Against Actuator Faults 7

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

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7th International Symposium on Autonomous Systems, ISAS 2024

作者： Liu, Shanlin Zhang, Yingwei Zhao, Xudong Wang, Hesheng Northeastern University College of Information Science and Engineering Shenyang China Northeastern University State Laboratory of Synthesis Automation of Process Industry Shenyang China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9798350363173

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent. © 2024 IEEE.

关键词： Approximation algorithms

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Nussbaum-based distributed containment control for nonlinear multi-agent systems with quantized inputs

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IEEE Transactions on control of Network Systems 2024年

作者： Liu, Yang Zhang, Jiaming Seventh Research Division The Center for Information and Control School of Automation Science and Electrical Engineering Beijing100191 China

This article explores the distributed containment control problem for uncertain nonlinear multi-agent systems subject to external disturbances and input quantization, where the constant control gains and the upper bounds of the external disturbances are unknown. First, the reference generator is constructed for each follower agent to generate the virtual tracking signal, confining to the convex hull spanned by the leaders. Meanwhile, the unmeasurable state variable of each follower is estimated by adopting the K-filters based on the available output/input signals and known system function matrices. Then, a distributed adaptive output feedback controller with only one updating parameter is designed for each follower by introducing a logarithmic quantization to quantize the control inputs under the framework of prescribed performance control. The lack of priori knowledge for the control gain and the quantization gain is counteracted effectively by employing the Nussbaum function method in the adaptive backstepping design process. It is proved that the outputs of followers can enter into the convex hull of multiple leaders and the relevant tracking errors satisfy the prescribed performance index. Finally, the validity of the proposed schemes is illustrated through simulation studies on robotic systems. © 2014 IEEE.

关键词： Backstepping

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Phase Gradient Metasurface RCS Reduction Technique Based on Metal Mesh Microstructure 2

Phase Gradient Metasurface RCS Reduction Technique Based on ...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Wang, Anning Zhang, Hui Qi, Feng Wang, Yelong Liu, Runsheng Shenyang Jianzhu University School of Electrical and Control Engineering Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China The Key Laboratory of Liaoning Province in Terahertz Imaging and Sensing Shenyang China

ISBN: (纸本)9798350368888

Under the requirement of electromagnetic (EM) scattering weakening for the internal components in flight platforms, a phase gradient metasurface based on metal mesh microstructures is proposed to reduce the radar scattering cross-section (RCS) and maintain a high optical transmittance. In order to realize the EM scattering reduction, a mesh model based on the phase gradient principle is established, which not only improves the total light transmittance in the optical band, but also homogenizes the scattering directions of the EM wave. Results demonstrate that the overall optical transmittance is higher than 88.60%. Meanwhile, the RCS reduction caused by the meshed metasurface is more than 10 dB in the frequency band of 15.7~18.1 GHz. Moreover, the maximum reduction value is 15.8 dB. The phase gradient metasurface proposed in this paper has a great application potential in the field of electromagnetic scattering. © 2024 IEEE.

关键词： Mesh generation

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Internet of Things Based Smart Irrigation System Using ESP WROOM32

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Journal on Internet of Things 2023年第1期5卷 45-55页

作者： Krish R.Mehta K.Jayant Naidu Madhav Baheti Dev Parmar A.Sharmila Department of Control and Automation School of Electrical EngineeringVellore Institute of TechnologyVellore632014India

Farming has been the most prominent and fundamental activity for *** the population has been mul-tiplying exponentially,the demand for agricultural yield is growing *** high demand in production through traditional farming methodologies often falls short in terms of efficiency due to the limitations of manual *** the era of digitization,smart agricultural solutions have been emerging through the windows of Internet of Things and Artificial Intelligence to improve resource management,optimize the process of farming and enhance the yield of crops,hence,ensuring sustainable growth of the increasing *** implementing modern technologies in the field of farming we can enable telemetry through which farmers can remotely monitor and gather real time data on the desired *** also gives accurate and precise measurements when compared to traditional measurement *** research paper focuses on an IoT based approach for smart monitoring using ESP WROOM 32 microcontroller that helps farmers identify real-time parameters of temperature,moisture and humidity of their ***-time data on temperature,moisture,and humidity enables farmers to make informed decisions about irrigation and crop ***,the use of smart monitoring ensures accurate and precise measurements,surpassing the limitations of traditional techniques.

关键词： Smart monitoring IoT ESP WROOM 32 DHT11 soil moisture sensor smart agriculture

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