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arXiv 2025年

作者： He, Zhiyu Bolognani, Saverio Dörfler, Florian Muehlebach, Michael Max Planck Institute for Intelligent Systems Germany Automatic Control Laboratory ETH Zürich Switzerland

Distribution shifts have long been regarded as troublesome external forces that a decision-maker should either counteract or conform to. An intriguing feedback phenomenon termed decision dependence arises when the deployed decision affects the environment and alters the data-generating distribution. In the realm of performative prediction, this is encoded by distribution maps parameterized by decisions due to strategic behaviors. In contrast, we formalize an endogenous distribution shift as a feedback process featuring nonlinear dynamics that couple the evolving distribution with the decision. Stochastic optimization in this dynamic regime provides a fertile ground to examine the various roles played by dynamics in the composite problem structure. To this end, we develop an online algorithm that achieves optimal decision-making by both adapting to and shaping the dynamic distribution. Throughout the paper, we adopt a distributional perspective and demonstrate how this view facilitates characterizations of distribution dynamics and the optimality and generalization performance of the proposed algorithm. We showcase the theoretical results in an opinion dynamics context, where an opportunistic party maximizes the affinity of a dynamic polarized population, and in a recommender system scenario, featuring performance optimization with discrete distributions in the probability simplex. © 2025, CC BY.

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Impact Time Constrained Guidance with Bounded Field-of-View and Input

Impact Time Constrained Guidance with Bounded Field-of-View ...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Singh, Swati Kumar, Shashi Ranjan Mukherjee, Dwaipayan Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400 076 India Department of Electrical Engineering Indian Institute of Technology Bombay Powai Mumbai400 076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article proposes a guidance scheme for stationary targets to achieve time-constrained interception at a desired time, considering the bounded field-of-view capability of seekerequipped interceptors and the physical limits of the actuator. Actuator saturation is a crucial problem in physical systems, often resulting in performance degradation. However, the actuator limitations are usually known to the designer, therefore, augmenting these constraints into the guidance design may enhance performance. The time-to-go error-based approach is used to satisfy the field-of-view constraint;further, the engagement kinematics are augmented with an input saturation model to incorporate the lateral acceleration constraints. Subsequently, the guidance strategy that constrains the lateral acceleration and the time-to-go values within their respective bounds is derived using Lyapunov stability concepts and the backstepping technique. Furthermore, a multi-stage approach is suggested to expand the achievable range of impact time. Numerical simulations are performed to validate the efficacy of the proposed scheme for different initial engagement geometries. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Backstepping

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Variable Speed Limit control for Highway Scenarios a Multi-agent Reinforcement Learning Based Approach

Variable Speed Limit Control for Highway Scenarios a Multi...

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2nd International Conference on Cognitive Mobility, COGMOB 2023

作者： Kővári, Bálint Knáb, István Gellért Bécsi, Tamás Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9783031876196

Modern road networks are critical in developing transportation infrastructures from the aspect of sustainability, thanks to the rapid increase in road users. The demand for mobility makes the existing infrastructure more crowded, boosting greenhouse gas emissions and delays in everyday commuting. Expanding the road network is only possible in some cases and is also not feasible, but Intelligent Transportation systems (ITS) can enhance the efficiency of the existing transportation network. From a management point of view, a proven algorithm is Variable Speed Limit control, which regulates the state of certain sectors by spatially distributing traffic in the form of dynamically varying speed limits. Combining this with a state-of-the-art predictive solution can make a big difference to performance. For the design of speed limits, this paper proposes an approach where deep reinforcement learning with the smallest industrial share not only resolves moving jams that arise during congested traffic situations, but also prevents them, thereby avoiding cumulative error from transients, all by abandoning physical equations and identified models. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Highway traffic control

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Improving aircraft nose wheel steering stability based on control continuation method

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Science China(Technological Sciences) 2025年第3期68卷 258-277页

作者： Qiaozhi YIN Dexu KONG Jiawei WANG Hong NIE Xiaohui WEI National Key Laboratory of Helicopter Aeromechanics Nanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016China Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle Nanjing210016China AVIC Nanjing Engineering Institute of Aircraft Systems Nanjing211106China

Aircraft steering instability during the taxiing process sometimes occurs resulting from the unstable bifurcation phenomena of the nonlinear steering dynamic system,which may lead to severe *** this study,the control parameter design of an aircraft nose wheel steering control system based on the control continuation method is proposed to reduce the number of unstable bifurcation points and enlarge the system stable region area in a certain parameter ***,the aircraft turning performance can be improved ***,a nonlinear aircraft rollout dynamic model is constructed,and the aircraft ground steering bifurcation characteristics are obtained under the open-loop steering control ***,the bifurcation performances under three closed-loop nose wheel steering controllers based on the feedback control method are compared,and the control parameter of the quadratic nonlinear controller with a better bifurcation control effect is selected as a second bifurcation parameter to analyze the directional system stability via two-parameter bifurcation ***,the influence of a crosswind on the aircraft ground steering bifurcation performance is studied for various control parameter ***,the control effects of a traditional proportional-integral-derivative(PID)nose wheel steering control law and the designed feedback controller are compared and ***,a semi-physical experiment of the aircraft nose wheel steering system is carried out,and different control parameter values are selected for test verification,which can further verify the control effect of the designed nonlinear feedback *** results indicate that the feedback control method is unable to vary the system bifurcation types,but appropriate control parameter design can effectively shrink the system instability region and even eliminate the unstable Hopf bifurcation points under some specific working conditions,improving the aircraft ground turning stability re

关键词： aircraft taxiing dynamics and stability nose wheel steering control system control continuation steering bifurcation characteristics quadratic feedback control

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BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground

arXiv

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arXiv 2025年

作者： Wei, Yufei Lu, Sha Lu, Wangtao Xiong, Rong Wang, Yue Laboratory of Industrial Control and Technology The Institute of Cyber-Systems and Control Zhejiang University Hangzhou310058 China

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods have good interpretability but can only obtain relative scale and suffer from severe scale drift in long-distance tasks. Learning-based methods under perspective view leverage large amounts of training data to acquire prior knowledge and estimate absolute scale by predicting depth values. However, their generalization ability is limited due to the need to accurately estimate the depth of each point. In contrast, we propose a novel MVO system called BEV-DWPVO. Our approach leverages the common assumption of a ground plane, using Bird’s-Eye View (BEV) feature maps to represent the environment in a grid-based structure with a unified scale. This enables us to reduce the complexity of pose estimation from 6 Degrees of Freedom (DoF) to 3-DoF. Keypoints are extracted and matched within the BEV space, followed by pose estimation through a differentiable weighted Procrustes solver. The entire system is fully differentiable, supporting end-to-end training with only pose supervision and no auxiliary tasks. We validate BEV-DWPVO on the challenging long-sequence datasets NCLT, Oxford, and KITTI, achieving superior results over existing MVO methods on most evaluation metrics. © 2025, CC BY-NC-SA.

关键词： Depth perception

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Visible-Infrared Person Re-identification with Real-world Label Noise

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IEEE Transactions on Circuits and systems for Video technology 2025年第5期35卷 4857-4869页

作者： Zhang, Ruiheng Cao, Zhe Huang, Yan Yang, Shuo Xu, Lixin Xu, Min Beijing Institute of Technology State Key Laboratory of Electromechanical Dynamic Control School of Mechatronical Engineering Beijing100081 China Chinese Academy of Sciences New Laboratory of Pattern Recognition State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China Harbin Institute of Technology School of Computer Science and Technology Harbin150001 China University of Technology Sydney School of Electrical and Data Engineering Faculty of Engineering and Information Technology UltimoNSW2007 Australia

In recent years, growing needs for advanced security and traffic management have significantly heightened the prominence of the visible-infrared person re-identification community (VI-ReID), garnering considerable attention. A critical challenge in VI-ReID is the performance degradation attributable to label noise, an issue that becomes even more pronounced in cross-modal scenarios due to an increased likelihood of data confusion. While previous methods have achieved notable successes, they often overlook the complexities of instance-dependent and real-world noise, creating a disconnect from the practical applications of person re-identification. To bridge this gap, our research analyzes the primary sources of label noise in real-world settings, which include a) instantiated identities, b) blurry infrared images, and c) annotators' errors. In response to these challenges, we develop a Robust Hybrid Loss function (RHL) that enables targeted recognition and retrieval optimization through a more fine-grained division of the noisy dataset. The proposed method categorises data into three sets: clean, obviously noisy, and indistinguishably noisy, with bespoke loss calculations for each category. The identification loss is structured to address the varied nature of these sets specifically. For the retrieval sub-task, we utilize an enhanced triplet loss, adept at handling noisy correspondences. Furthermore, to empirically validate our method, we have re-annotated a real-world dataset, SYSU-Real. Our experiments on SYSU-MM01 and RegDB, conducted under various noise ratios of random and instance-dependent label noise, demonstrate the generalized robustness and effectiveness of our proposed approach. © 1991-2012 IEEE.

关键词： Information management

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High-order Fully Actuated System Approach based Attitude Stabilization for Underactuated Rigid and Flexible Spacecraft

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 15094-15105页

作者： Jia, Shixiang Qiu, Jianbin Wang, Tong Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin 150001 China Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin 150080 China

This paper addresses the challenge of attitude stabilization for a class of underactuated rigid and flexible spacecrafts by utilizing only two control inputs. The attitude stabilization problem of underactuated spacecraft poses substantial challenges to the High-Order Fully Actuated (HOFA) system approach, due to the fact that it heavily depends on the full actuation characteristics of the system. To circumvent the aforementioned limitation, we first derive a HOFA system for underactuated rigid spacecraft using homogeneity theory and averaged system approach. Subsequently, we design a controller based on the HOFA system approach, which yields a linear closed-loop system. This methodology is then extended to address the simplified attitude stabilization problem of underactuated flexible spacecraft. By utilizing the HOFA system approach in tandem with an observer for estimating modal variables, we propose a control strategy that not only stabilizes the attitude but also actively suppresses elastic vibration. The performance of the proposed control schemes are demonstrated through simulation studies. © 2004-2012 IEEE.

关键词： Attitude stabilization Flexible spacecraft High-order fully actuated system approach Underactuated spacecraft

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Phase retrieval methods for lensless digital holographic microscopy and their robustness to data errors 23

Phase retrieval methods for lensless digital holographic mic...

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23rd Slovak-Czech-Polish Optical Conference on Wave and Quantum Aspects of Contemporary Optics

作者： Winnik, Julianna Suski, Damian Trusiak, Maciej Warsaw University of Technology Institute of Micromechanics and Photonics 8 Sw. A. Boboli St. Warsaw02-525 Poland Warsaw University of Technology Institute of Automatic Control and Robotics 8 Sw. A. Boboli St. Warsaw02-525 Poland

ISBN: (数字)9781510688094

ISBN: (纸本)9781510688087

In this work, we numerically compare accuracy and robustness of five popular phase retrieval approaches for lensless digital holographic microscopy. In our analysis we consider three single-frame approaches: (1) seminal Gabor method, (2) optimization-based method exploiting data fidelity and object priors, and (3) UTIRnet as a representative of deep learning methods. We also analyze two multi-frame approaches: (4) conventional Gerchberg-Saxton (GS) algorithm and (5) recently proposed optimization-based algorithm called defocus-interdependence conjugate gradient method (DI-CG). In our numerical study we focus on robustness of the phase retrieval algorithms to disturbances in the captured data with a distinction between the influence of high and low-frequency intensity errors. Our study shows that although single-frame algorithms fail to recover slowly varying phase features, they offer excellent resistance to external disturbances. Contrary, more refined multiple-frame approaches are generally more accurate but suffer from increased sensitivity to data errors, which, to some extent, can be mitigated with a regularization technique. © 2025 SPIE.

关键词： Conjugate gradient method

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A Stochastic Fundamental Lemma with Reduced Disturbance Data Requirements

arXiv

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arXiv 2025年

作者： Ou, Ruchuan Pan, Guanru Faulwasser, Timm Institute of Control Systems Hamburg University of Technology Hamburg21079 Germany

Recently, the fundamental lemma by Willems et. al has been extended towards stochastic LTI systems subject to process disturbances. Using this lemma requires previously recorded data of inputs, outputs, and disturbances. In this paper, we exploit causality concepts of stochastic control to propose a variant of the stochastic fundamental lemma that does not require past disturbance data in the Hankel matrices. Our developments rely on polynomial chaos expansions and on the knowledge of the disturbance distribution. Similar to our previous results, the proposed variant of the fundamental lemma allows to predict future input-output trajectories of stochastic LTI systems. We draw upon a numerical example to illustrate the proposed variant in data-driven control context. Copyright © 2025, The Authors. All rights reserved.

关键词： Polynomials

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Efficient Simulation of Singularly Perturbed systems Using a Stabilized Multirate Explicit Scheme

arXiv

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arXiv 2025年

作者： Shi, Yibo Rojas, Cristian R. Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

Singularly perturbed systems (SPSs) are prevalent in engineering applications, where numerically solving their initial value problems (IVPs) is challenging due to stiffness arising from multiple time scales. Classical explicit methods require impractically small time steps for stability, while implicit methods developed for SPSs are computationally intensive and less efficient for strongly nonlinear systems. This paper introduces a Stabilized Multirate Explicit Scheme (SMES) that stabilizes classical explicit methods without the need for small time steps or implicit formulations. By employing a multirate approach with variable time steps, SMES allows the fast dynamics to rapidly converge to their equilibrium manifold while slow dynamics evolve with larger steps. Analysis shows that SMES achieves numerical stability with significantly reduced computational effort and controlled error. Its effectiveness is illustrated with a numerical example. Copyright © 2025, The Authors. All rights reserved.

关键词： Numerical methods

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