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Asian control Conference

作者： Ting Bai Alexander Johansson Shaoyuan Li Karl Henrik Johansson Jonas Må rtensson Integrated Transport Research Lab Digital Futures and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future.

关键词： Roads Pricing Predictive control

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Reduced Network Cumulative Constraint Violation for Distributed Bandit Convex Optimization under Slater’s Condition

arXiv

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arXiv 2024年

作者： Zhang, Kunpeng Yi, Xinlei Ding, Jinliang Cao, Ming Johansson, Karl H. Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201800 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper studies the distributed bandit convex optimization problem with time-varying inequality constraints, where the goal is to minimize network regret and cumulative constraint violation. To calculate network cumulative constraint violation, existing distributed bandit online algorithms solving this problem directly use the clipped constraint function to replace its original constraint function. However, the use of the clipping operation renders Slater’s condition (i.e, there exists a point that strictly satisfies the inequality constraints at all iterations) ineffective to achieve reduced network cumulative constraint violation. To tackle this challenge, we propose a new distributed bandit online primal–dual algorithm. If local loss functions are convex, we show that the proposed algorithm establishes an O(T max{c,1−c})network regret bound and an O(T 1−c/2) network cumulative constraint violation bound, where T is the total number of iterations and c ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds, the network cumulative constraint violation bound is reduced to O(T 1−c). In addition, if local loss functions are strongly convex, for the case where strongly convex parameters are unknown, the network regret bound is reduced to O(T1−c), and the network cumulative constraint violation bound is O(T1−c/2) and O(T1−c) without and with Slater’s condition, respectively. For the case where strongly convex parameters are known, the network regret bound is further reduced to O)(log(T)), and the network cumulative constraint violation bound is reduced to O(log(T)T) and O(log(T)) without and with Slater’s condition, respectively. To the best of our knowledge, this paper is among the first to establish reduced (network) cumulative constraint violation bounds for (distributed) bandit convex optimization with time-varying constraints under Slater’s condition. Finally, a numerical example is provided to verify the theoretical results. Copyright © 2

关键词： Convex optimization

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Port and Radiation Pattern Decoupled Microstrip Antennas Using Shorting Vias

Port and Radiation Pattern Decoupled Microstrip Antennas Usi...

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Cross Strait Quad-Regional Radio Science and Wireless Technology Conference (CSRWTC)

作者： Guang Yao Liu Nan Yang Kwok Wa Leung Department of Electrical Engineering State Key Laboratory of Terahertz and Millimeter Waves City University of Hong Kong Kowloon Hong Kong SAR China Information and Communication Technology Centre CityU Shenzhen Research Institute Shenzhen China School of Electronics and Information Technology (School of Microelectronics) Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen University Guangzhou China

In this paper, a microstrip antenna array using shorting vias is presented with port and radiation pattern decoupling. Shorting vias on the passive patch introduce an opposite current component, canceling the original coupling currents and obtaining the decoupling of antenna elements. To verify the decoupling method, a sample is designed at 3.6 GHz. The measured port isolation of the decoupled antenna array is more than 25.7 dB. It should be highlighted that the radiation patterns of decoupled antenna elements are all along the broadside direction, defined as the radiation pattern decoupling effect.

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Computer Vision-control-Based CNN-PID for Mobile Robot

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Computers, Materials & Continua 2021年第7期68卷 1065-1079页

作者： Rihem Farkh Mohammad Tabrez Quasim Khaled Al jaloud Saad Alhuwaimel Shams Tabrez Siddiqui College of Engineering Muzahimiyah BranchKing Saud UniversityP.O.Box 2454Riyadh11451Saudi Arabia College of Computing and Information Technology University of BishaBisha67714Saudi Arabia King Abdulaziz City for Science and Technology Saudi Arabia Department of Computer Science College of Computer Science and Information TechnologyJazan UniversityJazanSaudi Arabia Department of Electrical Engineering Laboratory for AnalysisConception and Control of SystemsLR-11-ES20National Engineering School of TunisTunis El Manar UniversityTunisTunisia

With the development of artificial intelligence technology,various sectors of industry have *** them,the autonomous vehicle industry has developed considerably,and research on self-driving control systems using artificial intelligence has been extensively *** on the use of image-based deep learning to monitor autonomous driving systems have recently been *** this paper,we propose an advanced control for a serving robot.A serving robot acts as an autonomous line-follower vehicle that can detect and follow the line drawn on the floor and move in specified *** robot should be able to follow the trajectory with speed *** controllers were used simultaneously to achieve *** neural networks(CNNs)are used for target tracking and trajectory prediction,and a proportional-integral-derivative controller is designed for automatic steering and speed *** study makes use of a Raspberry PI,which is responsible for controlling the robot car and performing inference using CNN,based on its current image input.

关键词： Autonomous car pid control deep learning convolutional neural network differential drive system raspberry pi

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Mixed Fault-Tolerant Sampled-Data Fuzzy control for Nonlinear Parabolic PDE systems Under Deception Attacks

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International Journal of Fuzzy systems 2022年第8期24卷 3513-3531页

作者： Li, Qian-Qian Wang, Zi-Peng Wu, Huai-Ning Li, Yueyang Li, Han-Xiong School of Electrical Engineering University of Jinan Jinan China Faculty of Information Technology Beijing University of Technology Beijing China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Systems Engineering and Engineering Management City University of Hong Kong Kowloon Tong Hong Kong

This paper addresses mixed $$H_2/H_\infty$$ fault-tolerant sampled-data (SD) fuzzy control for nonlinear space-varying parabolic partial differential equation (PDE) system under deception attacks. Firstly, a T–S fuzzy PDE model is given to exactly describe the nonlinear space-varying parabolic PDE system. Secondly, a fault-tolerant SD fuzzy controller via the spatial linear matrix inequalities (SLMIs) is developed based on a Lyapunov functional which is continuous at sampling times but not necessary to be positive definite in sampling intervals such that the closed-loop PDE system is exponentially stable with a mixed $$H_2/H_\infty$$ performance. Then, to solve the SLMIs, the fault-tolerant SD fuzzy control problem for space-varying parabolic PDE system is formulated as linear matrix inequality feasibility problem. Furthermore, the design condition of the suboptimal mixed $$H_2/H_\infty$$ fault-tolerant SD controller subject to deception attacks can be derived by considering the property of membership functions. Lastly, two examples are given to illustrate the design method.

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Joint Association, Beamforming, and Resource Allocation for Multi-IRS Enabled MU-MISO systems With RSMA

arXiv

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arXiv 2024年

作者： Wang, Chunjie Zhang, Xuhui Xing, Huijun Xue, Liang Wang, Shuqiang Shen, Yanyan Yang, Bo Guan, Xinping Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Information and Electrical Engineering Hebei University of Engineering Handan056038 China Hebei Key Laboratory of Security and Protection Information Sensing and Processing Handan056038 China Shenzhen Future Network of Intelligence Institute The School of Science and Engineering The Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Guangdong Shenzhen518172 China Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom Shenzhen Future Network of Intelligence Institute The Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Guangdong Shenzhen518172 China Department of Automation The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China

Intelligent reflecting surface (IRS) and rate-splitting multiple access (RSMA) technologies are at the forefront of enhancing spectrum and energy efficiency in the next generation multi-antenna communication systems. This paper explores a RSMA system with multiple IRSs, and proposes two purpose-driven scheduling schemes, i.e., the exhaustive IRS-aided (EIA) and opportunistic IRS-aided (OIA) schemes. The aim is to optimize the system weighted energy efficiency (EE) under the above two schemes, respectively. Specifically, the Dinkelbach, branch and bound, successive convex approximation, and the semidefinite relaxation methods are exploited within the alternating optimization framework to obtain effective solutions to the considered problems. The numerical findings indicate that the EIA scheme exhibits better performance compared to the OIA scheme in diverse scenarios when considering the weighted EE, and the proposed algorithm demonstrates superior performance in comparison to the baseline algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Beamforming

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Low-Overhead Channel Estimation via 3D Extrapolation for TDD mmWave Massive MIMO systems Under High-Mobility Scenarios

arXiv

引用

arXiv 2024年

作者： Zhou, Binggui Yang, Xi Ma, Shaodan Gao, Feifei Yang, Guanghua School of Intelligent Systems Science and Engineering Jinan University Zhuhai519070 China State Key Laboratory of Internet of Things for Smart City The Department of Electrical and Computer Engineering University of Macau China Shanghai Key Laboratory of Multidimensional Information Processing East China Normal University Shanghai200241 China National Mobile Communications Research Laboratory Southeast University Nanjing210096 China State Key Laboratory of Internet of Things for Smart City The Department of Electrical and Computer Engineering University of Macau 999078 China Department of Automation Tsinghua University Beijing100084 China School of Intelligent Systems Science and Engineering Guangdong International Cooperation Base of Science and Technology for GBA Smart Logistics Jinan University Zhuhai519070 China

In time division duplexing (TDD) millimeter wave (mmWave) massive multiple-input multiple-output (MIMO) systems, downlink channel state information (CSI) can be obtained from uplink channel estimation thanks to channel reciprocity. However, under high-mobility scenarios, frequent uplink channel estimation is needed due to channel aging. Additionally, large amounts of antennas and subcarriers result in high-dimensional CSI matrices, aggravating pilot training overhead. To address this, we propose a three-domain (3D) channel extrapolation framework across spatial, frequency, and temporal domains. First, considering the effectiveness of traditional knowledge-driven channel estimation methods and the marginal effects of pilots in the spatial and frequency domains, a knowledge- and-data driven spatial-frequency channel extrapolation network (KDD-SFCEN) is proposed for uplink channel estimation via joint spatial-frequency channel extrapolation to reduce spatial-frequency domain pilot overhead. Then, leveraging channel reciprocity and temporal dependencies, we propose a temporal uplink-downlink channel extrapolation network (TUDCEN) powered by generative artificial intelligence for slot-level channel extrapolation, aiming to reduce the tremendous temporal domain pilot overhead caused by high mobility. Numerical results demonstrate the superiority of the proposed framework in significantly reducing the pilot training overhead by 16 times and improving the system’s spectral efficiency under high-mobility scenarios compared with state-of-the-art channel estimation/extrapolation methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Frequency estimation

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Hybrid Disassembly Line Balancing for Human-robot Collaborative Remanufacturing

Hybrid Disassembly Line Balancing for Human-robot Collaborat...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Feng Guo XiWang Guo MengChu Zhou Weitian Wang ShuJin Qin Qi Kang College of Information and Control Engineering Liaoning Petrochemical University Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Collaborative Robotics and Smart Systems Laboratory (CRoSS Lab) Montclair State University Montclair NJ USA College of Economics and Management Shangqiu Normal University Shangqiu P R. China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

As technologies advance rapidly, the urgency of remanufacturing is escalating. Efficient disassembly processes are crucial at the outset of remanufacturing. This work proposes an innovative disassembly scheme aimed at amplifying efficiency through the utilization of parallelization and human-robot collaboration in the context of a hybrid disassembly line. A single-objective mixed-integer programming model is developed to optimize disassembly profit. A discrete salp swarm algorithm is proposed to solve it since it is NP-hard. We have proposed and integrated uniform variation and two-point crossover operators in this algorithm. After comparing its results with those of the exact solver and other intelligent optimization methods, we conclude its competitive performance in both solution quality and efficiency.

关键词： Computer aided software engineering Automation Optimization methods Human-robot interaction Collaboration Programming

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Secure state estimation over Markov wireless communication channels

Secure state estimation over Markov wireless communication c...

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IEEE Conference on Decision and control

作者： Anastasia Impicciatore Anastasios Tsiamis Yuriy Zacchia Lun Alessandro D’Innocenzo George J. Pappas Department of Information Engineering Computer Science and Mathematics University of L’Aquila L’Aquila Italy Automatic Control Laboratory ETH Zürich Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA United States

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This note studies state estimation in wireless networked control systems with secrecy against eavesdropping. Specifically, a sensor transmits a system state information to the estimator over a legitimate user link, and an eavesdropper overhears these data over its link independent of the user link. Each connection may be affected by packet losses and is modeled by a finite-state Markov channel (FSMC), an abstraction widely used to design wireless communication systems. This paper presents a novel concept of optimal mean square expected secrecy over FSMCs and delineates the design of a secrecy parameter requiring the user mean square estimation error (MSE) to be bounded and eavesdropper MSE unbounded. We illustrate the developed results on an example of an inverted pendulum on a cart whose parameters are estimated remotely over a wireless link exposed to an eavesdropper.

关键词： Wireless communication Wireless sensor networks Estimation error Networked control systems Channel estimation Packet loss Markov processes

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A Novel Visual Perception Framework for Unmanned Aerial Vehicles: Challenges and Approaches

A Novel Visual Perception Framework for Unmanned Aerial Vehi...

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2021 China Automation Congress, CAC 2021

作者： Li, Xuan Duan, Haibin Mo, Hong Wang, Fei-Yue Department of Mathematics and Theories Peng Cheng Laboratory Shenzhen518055 China The State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical Engineering Beihang University Beijing100083 China The School of Electrical and Information Engineering Changsha University of Science and Technology Changsha410114 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781665426473

Change detection (CD) is an important preprocessing process in visual perception. Due to the difficulties of collection and labeling images in water scnens, the design and validation of the change detection algorithm is more difficult than expected. In this paper, we present a novel visual perception framework based on parallel vision for unmanned aerial vehicle (UAV). The visual perception framework consists of artificial scenes, computational experiments and parallel execution. In artificial scenes, we construct a water scene and automatically generated pixel-level image annotation. Next, computational experiments are carried out on different domain dataset. The experiment results show that: 1) mixed images effectively improve the performance of change detection model;2) domain shift problems still greatly affect the algorithm performance. © 2021 IEEE

关键词： Change detection

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