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arXiv 2025年

作者： Taddei, Nicola Maggioni, Riccardo Eising, Jaap De Pasquale, Giulia Dörfler, Florian Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zurich8092 Switzerland Control Systems Group Department of Electrical Engineering TU Eindhoven Flux Groene Loper 19 Eindhoven5612 AP Netherlands

We consider the problem of learning time-varying functions in a distributed fashion, where agents collect local information to collaboratively achieve a shared estimate. This task is particularly relevant in control applications, whenever real-time and robust estimation of dynamic cost/reward functions in safety critical settings has to be performed. In this paper, we adopt a finite-dimensional approximation of a Gaussian Process, corresponding to a Bayesian linear regression in an appropriate feature space, and propose a new algorithm, DistKP, to track the time-varying coefficients via a distributed Kalman filter. The proposed method works for arbitrary kernels and under weaker assumptions on the time-evolution of the function to learn compared to the literature. We validate our results using a simulation example in which a fleet of Unmanned Aerial Vehicles (UAVs) learns a dynamically changing wind field. Copyright © 2025, The Authors. All rights reserved.

关键词： Gaussian distribution

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Bandwidth Allocation with Minimum Rate Constraints in Cluster-based Femtocell Networks

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International Journal of Automation and computing 2015年第1期12卷 77-82页

作者： Kai Ma Liang Li Jie Yang Zhi-Xin Liu Xin-Bin Li Xin-Ping Guan School of Electrical Engineering Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education

Inter-femtocell interference becomes serious when femtocells are densely deployed. To mitigate the inter-femtocell interference, this paper proposes a cluster-based bandwidth allocation algorithm. We create femtocell clusters by constructing a weighted interference graph and allocate bandwidth to each cluster based on a Nash bargaining solution(NBS). Simulation results show that the cluster-based bandwidth allocation algorithm can reduce the inter-femtocell interference and meet the minimum rate constraint of each cluster.

关键词： Femtocell cluster inter-femtocell interference bandwidth allocation Nash bargaining solution(NBS)

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Portable Intelligent Sensor Based on Chemically Induced Silver Nanoparticles Colorimetric Response for Visual Monitoring Nitride/Sulfide Gases

SSRN

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SSRN 2025年

作者： Yang, Lihua Qin, Yingxi Zhao, Xiayan Liao, Dongliang Li, Fuli Jiang, Li Wen, Bo Lei, Yubin Pang, Aihua Liao, Lei Qin, Aimiao Key Laboratory of New Processing Technology for Nonferrous Metal & Materials Ministry of Education Guangxi Key Laboratory of Optical and Electronic Materials and Devices College of Material Science and Engineering Guilin University of Technology Guilin541004 China Guilin Electrical Equipment Scientific Research Institute Co. Ltd. Guilin541004 China College of Natural Resources and Environment Northwest A&F University Yangling712100 China College of Physics and Electronic Information Engineering Key Laboratory of Low-Dimensional Structural Physics and Application Education Department of Guangxi Zhuang Autonomous Region Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China

Nitride/sulfide gases possess hypertoxicity and carcinogenicity. Trace H₂S/SO₂/NO₂ gases were incapable of being recognized and detected by the naked eyes in advance and caused a serious threat to human health. Based on the mechanism of chemically induced silver nanoparticles to produce colorimetric response, a paper-based colorimetric sensor array with an integrated smartphone was proposed to achieve visual detection and distinction of three trace H₂S/SO₂/NO₂ gases. The silver nanoparticles were capped by long-chain hydrophobic molecules and high molecular hydrophilic polymer and immobilized on a porous hydrophobic paper substrate, presenting excellent stability and ability to resist humidity. The fabricated sensor array exhibits excellent classifying capability, selectivity, and sensitivity for these three gases, with limits of detection (LODs) of 12.8 ppb for H2S, 131.8 ppb for SO2, and 23.1 ppb for NO2, respectively, only exposure for 5 min. Importantly, these LODs are all comfortably below their respective permissible exposure limits. TEM and density functional theory (DFT) reveal that the colorimetric responses were induced by the changes of nanoparticle morphology or size, which attributed to the electrostatic or hydrogen bonding interaction among the analytical gases, nanoparticles, and cap agents. Additionally, the fabricated sensor array integrated smartphone was capable of visually monitoring freshness of chicken during the sale. This portable intelligent colorimetric sensor based on solid-state AgNPs offers a novel approach for the continuous, ultrasensitive, rapid and visual detection of trace toxic gases and meat freshness. © 2025, The Authors. All rights reserved.

关键词： Silver nanoparticles

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ERROR ANALYSIS WITH MAXIMUM PRINCIPLE

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IEEE TRANSACTIONS ON AUTOMATIC control 1964年第3期AC 9卷 223-&页

作者： HOWARD, DR REKASIUS, ZV Control Systems Department Electronics Division Aerospace Corporation Segundo CA USA Control and Information Systems Laboratory School of Electrical Engineering Purdue University Lafayette IN USA

Worst case error analysis using Pontryagin's Maximum Principle is considered for a dynamical system described by a set of differential equations with a separable forcing function. The forcing function is assumed unknown except for bounds on its magnitude. The problem is to determine the maximum value of a given performance criterion. For a wide class of systems the worst forcing term is shown to be "bang-bang." An iterative machine computational algorithm based on the Maximum Principle equations is suggested and analyzed.

关键词： Error analysis control systems Differential equations Error correction Boundary value problems System testing Analog computers Iterative algorithms Algorithm design and analysis Performance analysis

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Online multiple instance regression

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Chinese Physics B 2013年第9期22卷 656-661页

作者：王志岗赵增顺张长水 Department of Automation Tsinghua UniversityState Key Laboratory of Intelligent Technologie and SystemsTsinghua National Laboratory for Information Science and Technology College of Information and Electrical Engineering Shandong University of Science and Technology School of Control Science and Engineering Shandong University

The multiple instance regression problem has become a hot research topic recently. There are several approaches to the multiple instance regression problem, such as Salience, Citation KNN, and MI-ClusterRegress. All of these solutions work in batch mode during the training step. However, in practice, examples usually arrive in sequence. Therefore, the training step cannot be accomplished once. In this paper, an online multiple instance regression method ＂OnlineMIR＂ is proposed. OnlineMIR can not only predict the label of a new bag, but also update the current regression model with the latest arrived bag. The experimental results show that OnlineMIR achieves good performances on both synthetic and real data sets.

关键词： mutiple instance regression online learning

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INVESTIGATION OF WORST-CASE ERRORS WHEN INPUTS AND THEIR RATE OF CHANGE ARE BOUNDED

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IEEE TRANSACTIONS ON AUTOMATIC control 1966年第2期AC11卷 296-+页

作者： SARIDIS, G REKASIUS, ZV Control and Information Systems Laboratory School of Electrical Engineering Purdue University Lafayette IN USA Department of Electrical Engineering Technological Institute North western University Evanston IL USA

The worst-case error analysis is extended to include the problem of bounded input r(t) and its rate of change dr/dt for a a dynamical system described by a set of differential equations with separable forcing function. The problem is reformulated as a bounded-input, bounded-state variable problem, and Pontryagin's Maximum Principle is applied to maximize a given error function. For a wide class of systems, the time derivative of the worst forcing function is shown to be "bang-bang" for the open region defined by the constraint of r(t) and zero on its boundary. A computational algorithm is developed to solve the resulting two-point boundary value problem.

关键词： Error analysis Differential equations Error correction Optimal control Variable speed drives Missiles control systems information systems Laboratories Military computing

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Bilateral Teleoperation of Multiple Agents with Formation control

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IEEE/CAA Journal of Automatica Sinica 2014年第2期1卷 141-148页

作者： Jing Yan Xian Yang Cailian Chen Xiaoyuan Luo Xinping Guan Institute of Electrical Engineering Yanshan University Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

This paper studies the formation problem for multislave teleoperation system over general communication networks,where multiple mobile slave agents are coupled with a single master robot. The forward and backward network transmission time delays are assumed to be asymmetric and *** to the quantization in the network, a dynamic quantization strategy is provided to quantize the output signals of the master robot and slave agents before transmitting. Then, a novel masterslave protocol is designed to achieve the formation task under variable time delays and quantization. Additionally, the sufficient conditions for stability are presented to show that the formation protocol can stabilize the master-slave system under variable time delays and quantization. Finally, simulation are performed to show effectiveness of the main results.

关键词： Robots Quantization (signal) Delay effects Protocols Stability analysis Delays Multi-agent systems

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Dynamic Coverage with Wireless Sensor and Actor Networks in Underwater Environment

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 274-281页

作者： Xiaoyuan Luo Liu Feng Jing Yan Xinping Guan the Institute of Electrical Engineering Yanshan University the Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

This paper studies the problem of dynamic coverage with wireless sensor and actor networks (WSANs) in underwater environment. Different from most existing works, the WSANs consist of two kinds of nodes, i.e., sensor nodes (SNs) which cannot move autonomously and actor nodes (ANs) which can move autonomously according to the performance requirement. The problem of how to coordinate two kinds of nodes to facilitate dynamic coverage in underwater environment is challenging due to their heterogeneous capabilities. To reduce redundancy of communication links and improve connectivity between ANs and SNs in underwater WSANs, a min-weighted rigid graph based topology optimization scheme is first developed, such that the underwater communication energy consumption can be saved. With the optimized topology, a dynamic coverage strategy is proposed to improve the coverage among SNs and ANs for underwater WSAN where underwater fluid motions are considered. Furthermore, it is proved that the network coverage area is connected by using the min-weighted rigid graph. Finally, simulation results are presented to show the effectiveness of the main results. © 2014 Chinese Association of Automation.

关键词： Energy utilization Graphic methods Sensor nodes Topology

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A STABILITY CRITERION FOR FEEDBACK systems CONTAINING A SINGLE TIME-VARYING NONLINEAR ELEMENT

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IEEE TRANSACTIONS ON AUTOMATIC control 1965年第3期AC10卷 352-&页

作者： REKASIUS, ZV ROWLAND, JR Department of Electrical Engineering Technological Institute Northwestern University Evanston IN USA Control and Information Systems Laboratory School of Electrical Engineering Purdue University Lafayette IL USA

Sufficient conditions for stability are obtained for feedback systems containing a single time-varying nonlinear element whose input-output characteristic lies within a finite sector. An improved frequency-domain criterion is developed. This criterion utilizes information related to the rate at which the output of the nonlinearity varies with time. Examples are provided to demonstrate the particular advantages of the improved criterion.

关键词： Stability criteria Feedback Time varying systems control systems Linear systems Kalman filters Delay effects Difference equations control system synthesis Optimal control

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Dynamic Event-Triggered Model Predictive control for Multiple Platoons under Non-Ideal Communications

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IEEE Internet of Things Journal 2025年

作者： Han, Qiaoni Xu, Chengfei Wang, Xiaocheng Yang, Hongjiu Zuo, Zhiqiang Yang, Bo Guan, Xinping Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Tianjin University School of Electrical and Information Engineering Tianjin300072 China Tianjin Normal University Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission College of Electronic and Communication Engineering Tianjin300387 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China

The uncertainty of wireless communication seriously affects the control performance of the platoon. In this paper, a model predictive control (MPC) method based on dynamic event-triggering is proposed to address the impact of non-ideal communications on multi-vehicle systems. Firstly, a hierarchical platoon architecture combining backbone layer and sub-platoon layers is proposed to achieve efficient coordination among multiple platoons, and a communication-aware control mechanism is designed for each vehicle to effectively mitigate the adverse effects of non-ideal communication scenarios. Secondly, a dynamic event-triggering mechanism is established for each vehicle, which is related to time-varying delay and random packet loss parameters, so as to effectively reduce the frequency of MPC solutions and data transmission. Additionally, based on different communication topologies, distributed model predictive controllers are suggested for backbone layer and sub-platoon layer to achieve precise and comfortable tracking. Then, sufficient conditions are provided to ensure the recursive feasibility of the MPC algorithm and the stability of the platoon system. Finally, extensive simulations are conducted, and the results demonstrate the effectiveness of the proposed algorithm in terms of control performance and low computational complexity under non-ideal communication conditions. © 2014 IEEE.

关键词： Predictive control systems

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