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第三十九届中国控制会议

作者： Xiongliang Zhang Shiqi Zheng Feng Liu Mingyuan Zhao Yuan Sun School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems School of Electrical and Electronic Engineering The University of Adelaide

In this paper, we discuss the adaptive controller design for a class of fractional-order（FO） multi-agent systems（MAS）.All the agents are described by FO pure-feedback nonlinear systems. This is more general than the existing works, which only considered strict-feedback or integer-order nonlinear systems. Meanwhile, asynchronous switching are considered in FO MAS,meaning the agents have heterogeneous switching dynamics. A new neural network based adaptive controller is proposed for the considered FO MAS, which can make the consensus tracking error converge to a small neighborhood of origin. Simulation verifies the results obtained.

关键词： Consensus tracking fractional-order multi-agent systems asynchronously switched systems

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H∞ Consensus control for Discrete-Time Stochastic Multi-agent systems with Infinite Markov Jumps

H∞ Consensus Control for Discrete-Time Stochastic Multi-age...

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Annual Conference of Industrial Electronics Society

作者： Jie Wang Xin Chen School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

This paper focuses on multi-agent systems under the disturbances of parameter uncertainties, noises and external disturbances simultaneously, which are more suitable for the changing environments than most ideal models. For this case, the robust H∞ consensus control problem is studied to attenuate the influence of disturbances below a given level. We aim to design a consensus controller such that the closed-loop muti-agent systems reach the desired H ∞ performance. By tools of Kronecker product, graph theory, and infinite horizon bounded real lemma, sufficient conditions for existence of H ∞ consensus protocol design are obtained in terms of linear matrix inequalities (LMIs). Finally, a numerical example is given to show the validity of the method.

关键词： Multi-agent systems Symmetric matrices Markov processes Stochastic systems Robot sensing systems Eigenvalues and eigenfunctions Topology

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An adaptive federated control strategy for participant selection in multi-client collaboration 1

An adaptive federated control strategy for participant selec...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Chen, Yizhu Du, Xiaoming Wang, Xiao Zhang, Jun Jason Wang, Fei-Yue Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Economics and Management University of Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (纸本)9781665433372

The federated ecology provides a new paradigm for breaking the isolated data island problem and fully activating the potential of big data and artificial intelligence, especially in multi-client collaboration tasks. Participant selection strategy in multi-client collaboration is the main limitation for increasing the convergence speed and lowing the communication costs. However, in the face of the unbalanced and non-IID data distributions, the performance of federated optimization algorithms will also decrease. To solve the above problems, we propose an adaptive federated control strategy for participant selection in multi-client collaboration based on the Mann-Kendall test, named FedMK. By adaptively selecting weak participants for training rather than random selection, FedMK can speed up model convergence and reduce communication costs. Experiment results show that our method outperforms the baseline method in non-IID scenarios, and the number of communication rounds on CIFAR-10 and synthetic datasets reduced by more than 15% and 10 %, 9 respectively. © 2021 IEEE.

关键词： Stream flow

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Mechanical Design Paradigm based on ACP Method in Parallel Manufacturing

Mechanical Design Paradigm based on ACP Method in Parallel M...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Shimeng Li Yutong Wang Xiao Wang Feiyue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China

Parallel Manufacturing is a new manufacturing paradigm in industry, deeply integrating informalization, automation, and artificial intelligence. In this paper we propose a new mechanical design paradigm in Parallel Manufacturing based on ACP method. The key is to regard the design procedure based on artificial design and emulation method as two independent procedures, which can be modeled as a parallel system. The design procedure based on ACP method does not include a real system, which is an inventive extension of the traditional parallel system. This method can be implemented with social information by introducing the definition of SDV, SDM, and intelligent Design Manager, making it highly adaptive for social manufacturing and Parallel Manufacturing.

关键词： Industries Adaptation models automation Digital twin Design methodology Conferences Emulation

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KSLIC: K-mediods clustering based simple linear iterative clustering 1

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2nd Chinese Conference on Pattern Recognition and Computer Vision, PRCV 2019

作者： Zhang, Houwang Zhu, Yuan School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (数字)9783030317232

ISBN: (纸本)9783030317225

Simple Linear Iterative Clustering (SLIC) is one of the most excellent superpixel segmentation algorithms with the most comprehensive performance and is widely used in various scenes of production and living. As a preprocessing step in image processing, superpixel segmentation should meet various demands in real life as much as possible, but SLIC is highly sensitive to noise. In this paper, a K-mediods clustering based simple linear iterative clustering (KSLIC) is proposed, which replaces the K-means clustering in SLIC with a modified local K-mediods clustering. To evaluate the performance of KSLIC, we test it on BSD500 benchmark dataset. The results show that it outperforms SLIC in terms of different noise environments including Gaussian noise, multiplicative noise and salt and pepper noise. © Springer Nature Switzerland AG 2019.

关键词： Salt and pepper noise

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Chinese Calligraphy Character Generating via CGAN with a Multi-subnet Parallel and Cascade Generator

Chinese Calligraphy Character Generating via CGAN with a Mul...

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第三十九届中国控制会议

作者： Xiaoxue Zhou Ziying Zhang Xin Chen Mengxi Qin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Arts and Communication China University of Geosciences

Chinese character generation is one of the key technologies in Chinese character intelligent design. Most generation methods cannot solve the situation where the generated Chinese character strokes have artifact or even miss. The main reason is that the generator is not strong enough. Therefore, in this paper, we propose a multi-subnet parallel and cascade generator, which combines the conditional generation adversarial network（CGAN） to realize the generation of calligraphy Chinese *** method divides a Chinese character generation task into several parts undertaken by each sub-generator, and the output of each sub-generator will contain certain image information, which will increase with the rise of sub-generator hierarchy. It allows each sub-generator to focus on its own task, generating more realistic characters eventually. Finally, the test set performs better than the CGAN with a single generator.

关键词： CGAN Chinese calligraphy character generation Multi-subnet parallel and cascade generator

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Prescriptive Manufacturing in Society 5.0: Human Autonomous Organizations and “On-Demand” Smart Services

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IFAC-PapersOnLine 2024年第3期58卷 139-144页

作者： Xiao Wang Jun Huang Jing Yang Xiaoxing Wang Fei-Yue Wang Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei 230601 China Macau University of Science and Technology Macau 999078 China School of artificial Intelligence University of Chinese Academy of Sciences Beijing 100049 China Beijing SANBODY Technology Company Ltd Beijing 214000 China Qingdao Academy of Intelligent Industries Qingdao 266109 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Society 5.0 addresses human behaviors and their consequences in social management, while emphasizing the integration of Cyber-Physical-Social Spaces to achieve a highly connected and circulated society. Prompted by the various social needs expressed on social media platforms, Prescriptive Manufacturing (PM) emerges as a proactive pre-manufacturing paradigm. This paper delves into PM within the context of Society 5.0. It highlights the development of Human Autonomous Organizations (HAOs) and the delivery of “on-demand” smart services, which are customized to meet both individual and broader societal demands. The social sensing framework of social needs across different social media platforms that enables the identification and anticipation of consumer demands in real-time is illustrated. This data-driven insight leverages artificial intelligence and robotics to facilitate customized design and on-demand production, aligning product creation with real user requirements. Furthermore, we discuss the implementation of human-centered smart services in PM, such as virtual try-on, virtual fitting, personalized retrofit, user-friendly scheduling, and proximity logistics, which not only enhance consumer experience but also optimize resource efficiency By examining the symbiosis between technological advancements and social need fulfillment, this study sheds light on how PM and HAOs can foster a more responsive, sustainable, and inclusive economy in society, ultimately contributing to a higher quality of life and sustainable development goals of Society 5.0.

关键词： Social Needs Sensing Human Autonomous Organization Customized Design personalized fine-tuning prescriptive manufacturing Human-Centric Smart Services

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Drone Image Stitching Using Local Least Square Alignment

Drone Image Stitching Using Local Least Square Alignment

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Qi Wan Linbo Luo Jun Chen Yong Wang Donghai Guo School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9781728163741

ISBN: (纸本)9781728163758

This paper proposes a strategy for drone image stitching using local least square alignment, which aims to effectively stitch multiple overlapping drone images into a natural panoramic image. Existing traditional methods using simple homography cannot handle the situation that the input drone images have parallax effect, and the mosaic result always suffers from artifacts. In order to achieve natural-looking stitching results without the above limitation, we divide the proposed method into the following two steps, namely, local least square alignment and global similarity constraint. Starting from initial feature sets obtained by traditional feature extraction methods, we construct a robust alignment energy based on parallax errors to adaptively eliminate parallax effects. The energy can be efficiently minimized used least square estimate. Combined with global similarity constraint, our proposed strategy can flexibly improve the naturalness of the results. Experiments show that our stitching strategy can more effectively eliminate parallax effects and achieve natural-looking results compared to other state-of-the-art methods.

关键词： Drones Image stitching Distortion Feature extraction Optimization Geology Adaptation models

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Autonomous transfer robot system for commercial vehicles at Ro-Ro terminals

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Expert systems with Applications 2025年 289卷

作者： Zhang, Lin Xu, Yongkang Si, Jinge Bao, Runjiao An, Yichen Wang, Shoukun Wang, Junzheng School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

With the rapid development of smart port infrastructure, ports such as Rotterdam and Ningbo have made significant progress in automating container handling. However, traditional manual transfer methods at roll-on/roll-off (Ro-Ro) terminals can no longer meet the growing demands for low-cost, high-efficiency, and standardized operations, driven by increased port throughput, labor shortages, and operational complexity. This study introduces a novel autonomous robot transfer system comprising commercial vehicle transfer robots, a cloud scheduling system, and robotic operation systems. An electric transfer robot with independent four-wheel drive and steering was developed for heavy-duty commercial vehicle transfers, featuring a modular software architecture with cloud-based scheduling and planning, and robot perception and control modules. To support multi-robot cooperative transfer in open yard environments, we propose a task allocation algorithm based on an adaptive particle swarm genetic algorithm and an enhanced conflict-aware path planning method under kinematic constraints. For precise and safe vehicle pick-up and drop-off under complex conditions, a multi-stage fusion algorithm is introduced for vehicle body localization, orientation estimation, and wheel alignment, together with a predictive docking control algorithm using virtual transfer vehicle tracking. The system was deployed at the Ro-Ro terminal of Yantai Port, Shandong Province, China, where targeted experiments were conducted. Results demonstrate centimeter-level accuracy in vehicle handling, a transfer efficiency of 91 % compared to manual operations, and the operating time reaches 2–3 times. These findings validate the effectiveness and practical value of the proposed robot system and its key technologies. © 2025 Elsevier Ltd

关键词： Four wheel steering

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$H_{\infty }$ PID control for Discrete-Time Fuzzy systems With Infinite-Distributed Delays Under Round-Robin Communication Protocol

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IEEE Transactions on Fuzzy systems 2021年第6期30卷 1875-1888页

作者： Yezheng Wang Zidong Wang Lei Zou Hongli Dong College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Department of Computer Science Brunel University London Uxbridge U.K. Institute of Complex Systems and Advanced Control and the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Daqing China

This article is concerned with the $H_{\infty }$ proportional–integral–derivative (PID) control problem for class of discrete-time Takagi–Sugeno fuzzy systems subject to infinite-distributed time delays and round-robin (RR) protocol scheduling effects. The information exchange between the sensors and the controller is conducted through a shared communication network. For the purpose of alleviating possible data collision, the well-known RR communication protocol is deployed to schedule the data transmissions. To stabilize the target system with guaranteed $H_{\infty }$ performance index, a novel yet easy-to-implement fuzzy PID controller is developed whose integral term is calculated based on the past measurements defined in a limited time window with hope to improve computational efficiency and reduce accumulation error. Based on the Lyapunov stability theory and the convex optimization technique, sufficient conditions are derived to ensure the exponential stability as well as the $H_{\infty }$ disturbance attenuation/rejection capacity of the underlying system. Furthermore, by utilizing the cone complementarity linearization algorithm, the nonconvex controller design problem is transformed into an iterative optimization one that facilitates the controller implementation. Finally, simulation examples are given to show the effectiveness and correctness of the developed control method.

关键词： PD control Protocols PI control control systems Symmetric matrices Communication networks Optimization

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