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arXiv 2025年

作者： Takata, Shohei Kato, Yuzuru Nakao, Hiroya Department of Systems and Control Engineering Tokyo Institute of Technology Japan Department of Complex and Intelligent Systems Future University Hakodate Hokkaido Japan

Asymptotic phase and amplitudes are fundamental concepts in the analysis of limit-cycle oscillators. In this paper, we briefly review the definition of these quantities, particularly a generalization to stochastic oscillatory systems from the viewpoint of Koopman operator theory, and discuss a data-driven approach to estimate the asymptotic phase and amplitude functions from time-series data of stochastic oscillatory systems. We demonstrate that the standard Extended dynamic mode decomposition (EDMD) can successfully reconstruct the phase and amplitude functions of the noisy FitzHugh-Nagumo neuron model only from the time-series data. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic systems

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Accuracy and Robustness of Weight-Balancing Methods for Training PINNs

arXiv

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arXiv 2025年

作者： Barreau, Matthieu Shen, Haoming Digital Futures Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm100 44 Sweden

Physics-Informed Neural Networks (PINNs) have emerged as powerful tools for integrating physics-based models with data by minimizing both data and physics losses. However, this multi-objective optimization problem is notoriously challenging, with some benchmark problems leading to unfeasible solutions. To address these issues, various strategies have been proposed, including adaptive weight adjustments in the loss function. In this work, we introduce clear definitions of accuracy and robustness in the context of PINNs and propose a novel training algorithm based on the Primal-Dual (PD) optimization framework. Our approach enhances the robustness of PINNs while maintaining comparable performance to existing weight-balancing methods. Numerical experiments demonstrate that the PD method consistently achieves reliable solutions across all investigated cases, even in the low-data regime, and can be easily implemented, facilitating its practical adoption. The code is available on GitHub. Copyright © 2025, The Authors. All rights reserved.

关键词： Multiobjective optimization

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Safe platooning control of connected and autonomous vehicles on curved multi-lane roads

arXiv

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arXiv 2025年

作者： Chen, Xiao Tang, Zhiqi Johansson, Karl H. Mårtensson, Jonas Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct parts: a lateral control law that ensures a geometrical convergence towards the reference path regardless of the translational velocity, and a longitudinal control design for each vehicle to achieve the desired relative arc length and velocity with respect to its neighboring vehicle. The second novelty is exploiting the constructive barrier feedback as an additive term to the nominal tracking control, ensuring both lateral and longitudinal collision avoidance. This constructive barrier feedback acts as a dissipative term, slowing down the relative velocity toward obstacles without affecting the nominal controller’s performance. Consequently, our proposed control method enables safe platoon formation of vehicles on curved multi-lane roads, with theoretical guarantees for safety invariance and stability analysis. Simulation and experimental results on connected vehicles are provided to further validate the effectiveness of the proposed method. Copyright © 2025, The Authors. All rights reserved.

关键词： Feedback

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A Cross-Lingual Meta-Learning Method Based on Domain Adaptation for Speech Emotion Recognition 25th

A Cross-Lingual Meta-Learning Method Based on Domain Adapta...

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25th International Conference on Web Information systems Engineering, WISE 2024

作者： Ion, David-Gabriel Smădu, Răzvan-Alexandru Cercel, Dumitru-Clementin Pop, Florin Cercel, Mihaela-Claudia Faculty of Automatic Control and Computers National University of Science and Technology Politehnica Bucharest Bucharest Romania National Institute for Research and Development in Informatics - ICI Bucharest Bucharest Romania Academy of Romanian Scientists Bucharest Romania Paris 1 Panthéon-Sorbonne University Paris France University of Bucharest Bucharest Romania

ISBN: (纸本)9789819605781

Best-performing speech models are trained on large amounts of data in the language they are meant to work for. However, most languages have sparse data, making training models challenging. This shortage of data is even more prevalent in speech emotion recognition. Our work explores the model’s performance in limited data, specifically for speech emotion recognition. Meta-learning specializes in improving the few-shot learning. As a result, we employ meta-learning techniques on speech emotion recognition tasks, accent recognition, and person identification. To this end, we propose a series of improvements over the multistage meta-learning method. Unlike other works focusing on smaller models due to the high computational cost of meta-learning algorithms, we take a more practical approach. We incorporate a large pre-trained backbone and a prototypical network, making our methods more feasible and applicable. Our most notable contribution is an improved fine-tuning technique during meta-testing that significantly boosts the performance on out-of-distribution datasets. This result, together with incremental improvements from several other works, helped us achieve accuracy scores of 83.78% and 56.30% for Greek and Romanian speech emotion recognition datasets not included in the training or validation splits in the context of 4-way 5-shot learning. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Contrastive Learning

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Adaptive Dynamic Programming for Optimal control of Unknown LTI System via Interval Excitation

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IEEE Transactions on automatic control 2025年

作者： Ma, Yong-Sheng Sun, Jian Xu, Yong Cui, Shi-Sheng Wu, Zheng-Guang The National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing100081 China The Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

This paper investigates the optimal control problem for an unknown linear time-invariant (LTI) system. To solve this problem, a novel composite policy iteration (CPI) algorithm based on adaptive dynamic programming is developed to adaptively learn the optimal control policy from system data. The existing methods require the initial stabilizing control policy, the persistence of excitation (PE) condition and the data storage to ensure the algorithm convergence. Fundamentally different from them, these restrictions can be relaxed in the proposed method. Specifically, an adaptive parameter is elaborately designed to remove the requirement of the initial stabilizing control policy. Besides, an online data calculation scheme is proposed, which can not only replace the stored historical data by online data, but also can relax the PE condition to the interval excitation (IE) condition. The simulation results demonstrate the efficacy of the proposed algorithm, and its superiority is also demonstrated by comparing it with existing algorithms. © 1963-2012 IEEE.

关键词： Dynamic programming

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Pose-graph optimization for efficient tie-point matching and 3D scene reconstruction from oblique UAV images

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ISPRS Journal of Photogrammetry and Remote Sensing 2025年 225卷 461-491页

作者： Xu, Zhihua Niu, Yongze Jiang, Jincheng Qin, Rongjun Cui, Ximin College of Geoscience and Surveying Engineering China University of Mining and Technology-Beijing Beijing100083 China North Automatic Control Technology Institute Shanxi Taiyuan030006 China School of Intelligent Systems Engineering Sun Yat-sen University Guangdong Shenzhen518107 China Department of Civil Environmental and Geodetic Engineering The Ohio State University 2036 Neil Avenue ColumbusOH43210 United States Department of Electrical and Computer Engineering The Ohio State University Dreese Laboratories 205 2015 Neil Ave ColumbusOH43210 United States Translational Data Analytics Institute The Ohio State University 1760 Neil Ave ColumbusOH43210 United States

Oblique photogrammetry using unmanned aerial vehicles (UAV) is crucial to 3D scene reconstruction. Nevertheless, oblique images are generally acquired with large overlaps, and sometimes with multiple views. Although this increases the level of data completeness, it introduces additional and sometimes redundant computations in tie-point matching, creating overly dense camera connections in the pose graph for bundle adjustment (BA). This study optimizes the pose graph of oblique UAV images by removing redundant image connections to guide tie-point matching. Assuming a five-camera system for oblique image collection, a pose graph called a topologically connected camera network (TCN) was initially constructed using position and orientation system (POS) data to determine the spatial connectivity among oblique images. Second, five geometric meta-parameters of overlapping images were constructed, and their influence on tie-point matching was analyzed using a data-driven approach to generate a weighted pose graph. Third, the weighted pose graph was simplified to a degree-bounded skeletal camera network (D-SCN) using the proposed two-stage multi-objective graph optimization approach. Finally, the D-SCN was embedded into a structure from motion (SfM) pipeline to produce a novel D-SCN–SfM method to reduce the required computations for tie-point matching. The proposed D-SCN-SfM method was tested using data from three large sites, each containing over 5,000 images. In addition, the D-SCN-SfM method was compared with three state-of-the-art methods. The experimental results indicate that our method can significantly reduce the required computations for tie-point matching to 1/14–1/20 as compared to a method that uses only topological constraints, that is, TCN, saving 89–92% of the time expenditure. Furthermore, the accuracy and completeness of the 3D geometry produced by the proposed method were comparable to those produced by standard SfM methods. The source code of our approach

关键词： Drones

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Study on the frequencies of natural oscillations of car transporter wagon

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Noise and Vibration Worldwide 2025年第1-2期56卷 5-24页

作者： Muradian, Leontii Shvets, Anzhelika Nikitenko, Anatolii Shvets, Angela Department of Wagons and Wagon Facilities Ukrainian State University of Science and Technologies Dnipro Ukraine Division of Traction and Electrical Power Economics Electrical Power Engineering Institute Warsaw University of Technology Warsaw Poland Department of Engineering and Design Specialized Department Microprocessor-Based Control Systems and Safety in the Railway Transport Ukrainian State University of Science and Technologies Dnipro Ukraine

The development of new products and services allows railway transport to constantly increase the fleet of specialised wagons, which, in comparison with the universal rolling stock, have the best technical and economic indicators. A significant part of cars is delivered by railways, and it is economically reasonable to transport them on a specialised rolling stock. In this regard, the development of a methodology for refined theoretical studies of the strength of bodies of a double-deck rolling stock for passenger cars transportation, the choice of appropriate design schemes and parameters of the bodies, the analysis of the frequencies and forms of their natural oscillations, taking into account the finite stiffness of the elements, are urgent research tasks. The research uses the methods of structural mechanics of rod systems, the applied theory of elasticity, and discrete masses. A wide range of frequencies and forms of the natural free oscillations was obtained using the discrete mass method for a structural scheme with load transfer from the upper to the lower level of the wagon with the help of four racks. The applied methodology of theoretical determination of frequencies and forms of the natural free oscillations of the car transporter wagon by the method of discrete masses is effective. It allows for the estimation of the dynamic characteristics of the wagon. © The Author(s) 2024.

关键词： Bending oscillations twisting oscillations bouncing oscillations car transporter wagon double-deck rolling stock final rigidity of elements

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Some remarks on practical stabilization via CLF-based control under measurement noise

arXiv

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arXiv 2025年

作者： Schmidt, Patrick Osinenko, Pavel Streif, Stefan Technische Universität Chemnitz Automatic Control and System Dynamics Lab Chemnitz09126 Germany Skolkovo Institute of Science and Technology Moscow143026 Russia

Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in three examples. © 2025, CC BY-NC-ND.

关键词： Lyapunov functions

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Tomography of Quantum States From Structured Measurements via Quantum-Aware Transformer

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IEEE Transactions on Cybernetics 2025年第6期55卷 2571-2582页

作者： Ma, Hailan Sun, Zhenhong Dong, Daoyi Chen, Chunlin Rabitz, Herschel University of New South Wales School of Engineering and Technology CanberraACT2600 Australia The Australian National University School of Engineering CanberraACT2601 Australia University of Technology Sydney Australian Artificial Intelligence Institute Faculty of Engineering and Information Technology SydneyNSW2007 Australia Nanjing University School of Management and Engineering Department of Control and Systems Engineering Nanjing210093 China Princeton University Department of Chemistry PrincetonNJ08544 United States

Quantum state tomography (QST) is the process of reconstructing the state of a quantum system (mathematically described as a density matrix) through a series of different measurements, which can be solved by learning a parameterized function to translate experimentally measured statistics into physical density matrices. However, the specific structure of quantum measurements for characterizing a quantum state has been neglected in previous work. In this article, we explore the similarity between highly structured sentences in natural language and intrinsically structured measurements in QST. To fully leverage the intrinsic quantum characteristics involved in QST, we design a quantum-aware transformer (QAT) model to capture the complex relationship between measured frequencies and density matrices. In particular, we query quantum operators in the architecture to facilitate informative representations of quantum data and integrate the Bures distance into the loss function to evaluate quantum state fidelity, thereby enabling the reconstruction of quantum states from measured data with high fidelity. Extensive simulations and experiments (on IBM quantum computers) demonstrate the superiority of the QAT in reconstructing quantum states with favorable robustness against experimental noise. © 2013 IEEE.

关键词： Quantum computers

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controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent systems via Assume-Guarantee Contracts

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IEEE Transactions on automatic control 2025年

作者： Liu, Siyuan Saoud, Adnane Dimarogonas, Dimos V. KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden University Mohammed VI Polytechnic College of Computing Benguerir Morocco

This paper considers the problem of controller synthesis of a fragment of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts is developed to break the complex and large synthesis problem into subproblems of manageable sizes. We first show how to formulate the collaborative STL tasks as assume-guarantee contracts by leveraging the idea of prescribed performance control. The concept of contracts is used to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the multi-agent system when all agents satisfy their local contracts. Then, a closed-form continuous-time feedback controller is designed to enforce local contracts over the agents in a distributed manner, which further guarantees global task satisfaction based on the compositionality result. The effectiveness of our results is demonstrated by two numerical examples. © 1963-2012 IEEE.

关键词： Continuous time systems

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