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Cooperative Hierarchical Coverage control of Multi-Agent systems with Non-holonomic Constraints in Poriferous Environments

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IEEE Transactions on control of Network systems 2025年

作者： Zou, Jiayu Zhang, Hai-Tao Zhai, Chao Xing, Ning Ma, Yong Liu, Xingjian Huazhong University of Science and Technology School of Artificial Intelligence and Automation The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China China University of Geosciences School of Automation China The MOE Engineering Research Center of Intelligent Technology for Geo-Exploration Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Academician Workstation of China COSCO Shipping Corporation Ltd. Shanghai200120 China Wuhan University of Technology Sanya Science and Education Innovation Park Sanya572000 China Wuhan University of Technology Chongqing Research Institute Chongqing401120 China

It has long posed a challenging task to optimally deploy multi-agent systems (MASs) to cooperatively coverage poriferous environments in real cooperative detection applications. In response to this challenge, this paper proposes a hierarchical coverage control (HCC) protocol for MASs to perform sector-based coverage operations. First, a distributed Voronoi partition-based sweep-and-assign protocol, combined with a sectorial partition method, is developed, enabling the segmentation of a whole poriferous region into multiple sectorial sub-subregions. Following this procedure, an extreme search scheme is developed to determine the optimal amount of agents for each subregion. After this allocation, a distributed controller is proposed to deploy the agents, considering non-holonomic constraints, into designated niche positions. Additionally, sufficient conditions are derived to guarantee the asymptotical stability of the present HCC. The analytical challenge of the present study stems from the non-convex characteristics inherent in the loss function induced by porous environments. This non-convexity renders the task of globally optimizing the assignment of MASs intractable. Finally, numerical simulations are conducted to validate the effectiveness of the present coverage control approach. © 2014 IEEE.

关键词： Nonlinear control systems

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Adaptive Finite-Time Almost Sure Tracking of Drill-Bits Driven by a Lévy Process

Adaptive Finite-Time Almost Sure Tracking of Drill-Bits Driv...

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第40届中国控制会议

作者： Liyan Chen Xiaofeng Zong School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper studies the finite-time tracking control problem for the stochastic drill-bits system driven by a Lévy process with the bit-rock interaction. The finite-time tracking control problem of the stochastic drill-bits system driven by a Lévy process can be regarded as the finite-time stability analysis for the stochastic nonlinear equations driven by a Lévy process. So the Lyapunov-type finite-time stability theorem is firstly developed to obtain the finite-time almost sure stability for n-dimensional stochastic nonlinear equations driven by a Lévy process. Then based on finite-time stability theorem, the adaptive finite-time almost sure tracking of drill-b its is achieved. A drill-bit simulation is given to demonstrate the control effect.

关键词： Finite-time almost sure tracking Lévy process Drill-bits

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An Improved Distributed Secondary control to Attain Concomitant Accurate Current Sharing and Voltage Restoration in DC Microgrids

An Improved Distributed Secondary Control to Attain Concomit...

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第40届中国控制会议

作者： Danyun Li Dashuang Zhao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This article proposes a distributed secondary control strategy for accurate current allocation and voltage restoration in DC microgrids. This method consists of a high coefficient droop controller and a voltage shifting controller which needs to obtain the voltage information of the adjacent converters through a low bandwidth communication link, and then calculates the voltage shifting required for the reference voltage. The system small-signal model considering the specific converter object is established to analyze the regulation rules of the parameters of the secondary controller. Moreover, the proposed method does not require complex control structure and a large amount of information of converter variables. A DC microgrid environment was built in MATLAB/Simulink, and the effectiveness of the proposed control strategy was verified.

关键词： Distributed control Voltage restoration Droop control DC microgrid

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Finite-Time Robust Synchronization of Delayed Competitive Neural Networks via Sliding-Mode control

Finite-Time Robust Synchronization of Delayed Competitive Ne...

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第40届中国控制会议

作者： Xingxing Tan Leimin Wang Xili Chen Jiajun Cheng Shan Jiang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In this paper, based on the sliding-mode control, the finite-time synchronization of delayed competitive neural networks with external disturbances is investigated. Firstly, a controller and two sliding-mode surfaces are designed. Then, by utilizing the finite-time stability theory, the error states of drive and response delayed competitive neural networks are able to reach the designed surfaces in a finite time and then keep on the surfaces, where the states of equivalent system will approach zero in a finite time. Finally, a numerical example is presented to illustrate the effectiveness of the theoretical results.

关键词： Competitive neural networks finite-time synchronization sliding-mode control disturbance

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Delay-Dependent Stability Analysis of Multi-Area Load Frequency control systems with Multiple Renewable Energy Structures

Delay-Dependent Stability Analysis of Multi-Area Load Freque...

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Chinese control Conference (CCC)

作者： Qian-Long Pan Li Jin Yong He Zhou-Zhou Liu School of Automation China University of Geosciences Wuhan P.R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P.R. China

This paper investigates the delay-dependent stability of time-delayed load frequency control (LFC) systems with multiple energy structures based on Lyapunov theory and linear matrix inequality (LMI) technology. Firstly, a multi-area delayed LFC model considering multiple renewable energy structures is established. Then, in order to improve the computation efficiency of stability analysis of large scale LFC systems, a new reconstruction technique for system model is proposed. Next, the improved delay-dependent stability criteria are established based on reconstructed model by using the Lyapunov stability theory. Finally, case studies are based on two-area LFC systems. Comparing with the criterion based on the original model without reconstruction, the calculation efficiency of proposed stability criteria has been greatly improved with the cost of small accuracy, and the calculation accuracy is better than the previous methods.

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Multimodal Image Matching based on Frequency-domain Information of Local Energy Response

arXiv

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arXiv 2025年

作者： Yang, Meng Chen, Jun Gong, Wenping Wei, Longsheng Tian, Xin School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Faculty of Engineering China University of Geosciences Wuhan430074 China Electronic Information School Wuhan University Wuhan430072 China

Complicated nonlinear intensity differences, nonlinear local geometric distortions, noises and rotation transformation are main challenges in multimodal image matching. In order to solve these problems, we propose a method based on Frequency-domain Information of Local Energy Response called FILER. The core of FILER is the local energy response model based on frequency-domain information, which can overcome the effect of nonlinear intensity differences. To improve the robustness to local nonlinear geometric distortions and noises, we design a new edge structure enhanced feature detector and convolutional feature weighted descriptor, respectively. In addition, FILER overcomes the sensitivity of the frequency-domain information to the rotation angle and achieves rotation invariance. Extensive experiments multimodal image pairs show that FILER outperforms other state-of-the-art algorithms and has good robustness and *** Codes 68U10 (Primary), 68T45, 68Wxx (Secondary) Copyright © 2025, The Authors. All rights reserved.

关键词： Mathematical transformations

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A Low-Cost Enhanced Heterogeneous Barrier Construction Method for Multi-Target Intrusion Monitoring

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IEEE Sensors Journal 2025年

作者： Ye, Jing Xiong, Yonghua Dong, Haobin Yu, Anjun She, Jinhua China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China Jiangxi Ganyue Expressway Company Ltd Nanchang330200 China Tokyo University of Technology School of Engineering Tokyo192-0982 Japan

In multi-target intrusion monitoring, heterogeneous nodes may overlap due to different sensing ranges. Additionally, excessively long barriers will increase the cost of barriers and reduce the number of barriers. To address these issues, this article proposes a distributed method for constructing weighted heterogeneous barriers using depth-first search and learning automata (WHBDLA). It designs a dynamically weighted coverage graph based on the non-overlap rate and horizontal displacement. The proposed method considers multiple heterogeneous properties. It uses several intrusion targets to identify the boundaries of local sub-regions while avoiding the cost increase and quantity decrease caused by long barriers. WHBDLA combines the advantages of depth-first search and the reinforcement learning mechanism to adaptively construct heterogeneous barriers in sub-regions with unknown faults. The algorithm initially searches for potential barrier path nodes and then activates nodes with sufficient energy and high weights. Finally, it monitors and repairs the barriers. Comparative experiments and analyses indicate that the proposed method increases the number of barriers, reduces node costs, and decreases running time. © 2001-2012 IEEE.

关键词： Reinforcement learning

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Design and Application of a One-Stop Mobile Application Sharing Platform for Steel Enterprises

Design and Application of a One-Stop Mobile Application Shar...

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Chinese control Conference (CCC)

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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Stability Analysis of Delayed T-S Fuzzy systems via the Fuzzy Line-Integral Method

Stability Analysis of Delayed T-S Fuzzy Systems via the Fuzz...

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Chinese control Conference (CCC)

作者： Zhou-Zhou Liu Li Jin Yong He School of Automation China University of Geosciences Wuhan P.R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P.R. China

This paper focuses on the problem of stability analysis for Takagi-Sugeno systems with time-varying delays. Firstly, a suitable Lyapunov-Krasovskii functional (LKF) containing fuzzy line-integral Lyapunov functional is constructed, which can introduce membership functions information while avoiding emerging the time-derivatives of membership functions. Then, a generalized free-matrix-based integral inequality is applied to estimate the derivative of the LKF. As a result, a less conservative stability criterion is obtained. Finally, a numerical example is carried out to illustrate the effectiveness and merits of our method.

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space

Safe Reinforcement Learning for Social Motor Coordination in...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Fan Yang Yuening Huang Chao Zhai Hehong Zhang China University of Geosciences Wuhan Campus School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing Houston Texas United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints.

关键词： Autism Filters Reinforcement learning Games Variable speed drives Motors Trajectory Safety Mirrors Motion control

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