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63rd IEEE Conference on Decision and control, CDC 2024

作者： Engelaar, M.H.W. Zhang, Z. Vlahakis, E.E. Dimarogonas, D.V. Lazar, M. Haesaert, S. Netherlands Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Sweden

ISBN: (纸本)9798350316339

This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with realtime allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into subspecifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing. © 2024 IEEE.

关键词： Stochastic systems

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Constructive Function Approximation with Local Models 32

Constructive Function Approximation with Local Models

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Mavridis, Christos N. Johansson, Karl Henrik School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden

ISBN: (纸本)9798350395440

We introduce a constructive function approximation approach as a general tool, particularly useful in adaptive and data-driven methods for perception and control. The key idea is to estimate of a collection of simple local models as opposed to a single and complex regression model trained in the entire input space. We use principles from the Online Deterministic Annealing (ODA) optimization framework to construct an adaptive partition of the input space, which enables the introduction of local function approximation models within each subset of the partition. We show that both the partitioning and the local model training algorithms are stochastic approximation algorithms that operate online, and with the same observations, as part of a two-timescale stochastic approximation scheme. This process constitutes a heuristic method to gradually increase the complexity of the function approximation framework in a task-agnostic manner, giving emphasis to regions of the input space where the regression error is high. As a result this framework has inherent explainability properties, and is suitable for continuous learning applications where regression improvement without retraining from scratch is crucial. Simulation results illustrate the properties of the proposed approach. © 2024 IEEE.

关键词： Heuristic methods

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Neural Reactivity to Haptics: Virtual Tasks Versus Physical Tasks

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IEEE Sensors Journal 2024年第7期24卷 11817-11828页

作者： Liu, Yi-Hung Vaitheeshwari, R. Yeh, Shih-Ching Wu, Eric Hsiao-Kuang Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan National Central University Department of Computer Science and Information Engineering Taoyuan320 Taiwan

This study investigates the effectiveness of haptic feedback in hand rehabilitation exercises, within both virtual reality (VR) and real-world settings, to enhance upper limb functionality in post-stroke recovery. We developed a VR system that incorporates haptic feedback into pinch simulations and compared its efficacy with similar real-world pinch training exercises, primarily focusing on the rehabilitation of the paretic hand. Our main objective was to ascertain the similarity of the simulated haptic feedback in the VR environment to actual tactile feedback in the real world. This was achieved by analyzing electroencephalogram (EEG) features and psychometric data collected from 35 healthy subjects. A key aspect of our approach was the use of machine learning (ML) techniques to classify the EEG signal features as originating from VR or Real tasks. This classification was based on data from the top-n electrode channels, enabling us to assess the degree of similarity in brain responses to tactile stimulation in both environments. The study's results revealed that the brain activity patterns elicited by haptic feedback were comparable in both the VR and real-world setups. Additionally, the VR feedback system was positively received by users, scoring high on experience and satisfaction metrics. This research provides a replicable methodology for assessing tactile feedback in existing rehabilitation systems and lays the groundwork for the development of novel therapeutic applications. Our findings are crucial for designing future rehabilitation interventions that effectively utilize haptic feedback, potentially leading to improved treatment outcomes for stroke patients. © 2001-2012 IEEE.

关键词： Electroencephalography

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Frequency Domain Auto-tuning of Structured LPV controllers for High-Precision Motion control 63

Frequency Domain Auto-tuning of Structured LPV Controllers f...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Broens, Yorick Butler, Hans Toth, Roland Asml Veldhoven Netherlands Eindhoven University of Technology Department of Electrical Engineering Eindhoven Netherlands Hunren Institute for Computer Science and Control Systems and Control Laboratory Hungary

ISBN: (纸本)9798350316339

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the capabilities of traditional solutions. Traditional control methods often struggle with the complexity and position-dependent effects inherent in modern motion systems, leading to compromises in performance and a laborious task of controller design. This paper addresses these challenges by introducing a novel structured feedback control auto-tuning approach for multiple-input multiple-output (MIMO) motion systems. By leveraging frequency response function (FRF) estimates and the linear-parameter-varying (LPV) control framework, the proposed approach automates the controller design, while providing local stability and performance guarantees. Key innovations include norm-based magnitude optimization of the sensitivity functions, an automated stability check through a novel extended factorized Nyquist criterion, a modular structured MIMO LPV controller parameterization, and a controller discretization approach which preserves the continuous-time (CT) controller parameterization. The proposed approach is validated through experiments using a state-of-the-art moving-magnet planar actuator prototype. © 2024 IEEE.

关键词： Continuous time systems

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On the Solvability of the Generalized Neumann Problem for a Higher-Order Elliptic Equation in an Infinite Domain

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Journal of Mathematical sciences (United States) 2024年第2期278卷 342-353页

作者： Koshanov, B.D. Soldatov, A.P. Institute of Mathematics and Mathematical Modeling Almaty Kazakhstan Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences Moscow Russian Federation

We consider the generalized Neumann problem for a 2lth-order elliptic equation with constant real higher-order coefficients in an infinite domain containing the exterior of some circle and bounded by a sufficiently smooth contour. It consists in specifying of the (k_j − 1)th-order normal derivatives where 1 ≤ k ₁ <.. < k_l ≤ 2l;for k_j = j it turns into the Dirichlet problem, and for k_j = j + 1 into the Neumann problem. Under certain assumptions about the coefficients of the equation at infinity, a necessary and sufficient condition for the Fredholm property of this problem is obtained and a formula for its index in Hölder spaces is given. © 2024, Springer Nature Switzerland AG.

关键词： 2lth-order elliptic equation Fredholm property generalized Neumann problem Hölder space index infinite domain

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Where to Turn: Road Fork Detection in Sparse 3D Point Cloud 3rd

Where to Turn: Road Fork Detection in Sparse 3D Point Clou...

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3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Hu, Di Zhang, Kai Zhong, Yipan Xu, Jiachen Yuan, Xia Zhao, Chunxia School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China Research Institute of Intelligence Southwest Research Institute of Information Control Chengdu611700 China

ISBN: (纸本)9789819711024

Intersection detection plays a crucial role in localizing and planning the path of autonomous vehicles in urban environments. This paper presents a novel approach, PVWO, for adaptive intersection detection in autonomous vehicles equipped with 3D LiDAR. Firstly, the algorithm removes ground and obstacles effectively, and eliminates noise points. Secondly, a polyarticular viewpoints beam model is applied to detect the type and location of intersections. Thirdly, a linear feature extraction approach in a rolling window is proposed to detect road width and optimize key parameters, enhancing model robustness across different scenes. Compared to parallel intersection detection algorithms, our method exhibits excellent performance under diverse road conditions. Experiments in sparse point clouds show an average precision exceeding 89% and an average processing time of approximately 88 ms/frame. These results demonstrate that our method can accurately detect intersections in real-time, across various road structures. © Beijing HIWING Scientific and Technological Information institute 2024.

关键词： Extraction

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Dynamic Event-Triggered Consensus control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 649-660页

作者： Meilin Li Yue Long Tieshan Li Hongjing Liang C.L.Philip Chen the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China IEEE the Yangtze Delta Region Institute University of Electronic Science and Technology of ChinaHuzhou 313000 the Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing 100089China the School of Computer Science and Engineering South China University of TechnologyGuangzhou 510006

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first ***,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale *** is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event *** addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable ***,the results are extended to regional consensus of the MASs with the bounded control *** simulations show the effectiveness of the proposed approach.

关键词： Constrained input designable minimum inter-event time directed communication topology dynamic event-triggered mechanism MASs consensus control

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Adaptive Fixed-Time Command Filtered Tracking control for Parametric Nonlinear Systems With Unknown Nonlinear control Coefficient and Unknown Disturbances

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IEEE Access 2025年 13卷 37839-37849页

作者： Zhang, Xiyu Zhou, Youjun Feng, Chun Deng, Xiongfeng Guangxi Science and Technology Normal University School of Mathematics and Computer Science Laibin546199 China Guang’an Institute of Technology School of Mechanical and Electrical Engineering Guang’an638550 China Anhui Polytechnic University Key Laboratory of Electric Drive and Control Anhui Higher Education Institute Wuhu241000 China

This paper addresses the issue of adaptive fixed-time tracking control (FTTC) for a category of parametric nonlinear systems characterized by unknown nonlinear control coefficient (UNCC) and unknown external disturbances (UEDs). To effectively handle unknown parameters and unknown disturbances, the adaptive parameter estimation method is introduced into the control law design. Meanwhile, some parameter adaptive laws are presented to estimate these unknown parameters. To eliminate repeated differentiation of virtual control laws, a class of nonlinear command filters is introduced. Furthermore, the filtering errors are compensated through the designed adaptive compensation control laws. Subsequently, the Nussbaum gain function technique is further used to deal with the UNCC in the system. Leveraging command-filtering backstepping control (BC) and fixed-time control method, an adaptive command filtered FTTC law is final presented to achieve the fixed time tracking. The theoretical analysis results indicate that the designed control law guarantees the convergence of tracking error to a small neighborhood of zero within a fixed time, while ensuring that all signals within the closed-loop system remain bounded. The proposed control law’s effectiveness is demonstrated through three simulation examples. © 2025 The Authors. This work is licensed under a Creative Commons Attribution 4.0 License.

关键词： Backstepping

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Self-Timed Fused Multiplier-Adder Pipeline Optimization

Self-Timed Fused Multiplier-Adder Pipeline Optimization

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2023 International Russian Smart Industry Conference, SmartIndustryCon 2023

作者： Sokolov, Igor Stepchenkov, Yuri Diachenko, Yuri Institute of Informatics Problems of FRC Computer Science and Control of Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781665464291

Self-Timed circuits are optimal for implementing computing systems operating under extreme conditions. They function reliably under any changes in environmental and power conditions, detect all constant faults, and are more resistant to soft errors than synchronous counterparts. The article considers the problem of correct practical self-Timed implementation of the operation of multiplying two operands with subsequent third operand addition and subtraction without intermediate product rounding as a pipeline with multiplexing of its parallel sections. Statistical analysis shows that in 64% of cases the operation result does not depend on the product, and in 29% of cases it does not depend on the third operand, which allows not performing a number of intermediate data transformations. Branching the pipeline reduces power consumption and improves its performance with the appropriate values of the input operands due to the lower complexity of the alternative path's stages. An active path marker FIFO (First Input First Output) guarantees the correct sequence of the operation results. The program ASPECT, analyzing circuits for semi-modularity, proves the self-Timing of the described implementation. © 2023 IEEE.

关键词： Energy utilization

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CONTINUOUS-TIME IDENTIFICATION OF DYNAMIC STATE-SPACE MODELS BY DEEP SUBSPACE ENCODING 11

CONTINUOUS-TIME IDENTIFICATION OF DYNAMIC STATE-SPACE MODELS...

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11th International Conference on Learning Representations, ICLR 2023

作者： Beintema, Gerben I. Schoukens, Maarten Tóth, Roland Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

Continuous-time (CT) modeling has proven to provide improved sample efficiency and interpretability in learning the dynamical behavior of physical systems compared to discrete-time (DT) models. However, even with numerous recent developments, the CT nonlinear state-space (NL-SS) model identification problem remains to be solved in full, considering common experimental aspects such as the presence of external inputs, measurement noise, latent states, and general robustness. This paper presents a novel estimation method that addresses all these aspects and that can obtain state-of-the-art results on multiple benchmarks with compact fully connected neural networks capturing the CT dynamics. The proposed estimation method called the subspace encoder approach (SUBNET) ascertains these results by efficiently approximating the complete simulation loss by evaluating short simulations on subsections of the data, by using an encoder function to estimate the initial state for each subsection and a novel state-derivative normalization to ensure stability and good numerical conditioning of the training process. We prove that the use of subsections increases cost function smoothness together with the necessary requirements for the existence of the encoder function and we show that the proposed state-derivative normalization is essential for reliable estimation of CT NL-SS models. © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

关键词： Cost functions

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