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arXiv 2024年

作者： Zhang, Kunpeng Yi, Xinlei Wen, Guanghui Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China The Laboratory for Information and Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States The Department of Mathematics Southeast University Nanjing210096 China The 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 considers the distributed bandit convex optimization problem with time-varying inequality constraints over a network of agents, where the goal is to minimize network regret and cumulative constraint violation. Existing distributed online algorithms require that each agent broadcasts its decision to its neighbors at each iteration. To better utilize the limited communication resources, we propose a distributed event-triggered online primal-dual algorithm with two-point bandit feedback. Under several classes of appropriately chosen decreasing parameter sequences and non-increasing event-triggered threshold sequences, we establish dynamic network regret and network cumulative constraint violation bounds. These bounds are comparable to the results achieved by distributed event-triggered online algorithms with full-information feedback. Finally, a numerical example is provided to verify the theoretical results. Copyright © 2024, The Authors. All rights reserved.

关键词： Convex optimization

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An End-to-End Trajectory Planning Strategy for Free-floating Space Robots

An End-to-End Trajectory Planning Strategy for Free-floating...

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第40届中国控制会议

作者： Shengjie Wang Yuxue Cao Xiang Zheng Tao Zhang Department of Automation Tsinghua University Beijing Institute of Control Engineering China Academy of Space Technology Department of Computer Science City University of Hong Kong

The traditional trajectory planning methods of free-floating space robots have the dynamic singular problem and the difficulty of accurate *** learning-based approaches have achieved remarkable performance on such task,they mainly focus on single modular design such as the perception,planning,or control ***-based end-to-end method can well combine perception,planning and control,which not rely on parameters of the dynamic model and reduce the difficulty of manually adjusting modular controllers’ ***,we developed an end-to-end trajectory planning strategy based on optimization with multiple *** whole strategy consists of several multi-layer neural networks and is optimized by a deep reinforcement learning algorithm based on maximum *** results of visualization show that our strategy can capture the information of robotic arm from vision ***,we evaluate the kinematic and dynamic features of the system and testify our strategy in anti-interference *** performance of our strategy demonstrates the availability and robustness of the system.

关键词： Space robot Trajectory planning Reinforcement learning

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Modeling and fuzzy control of permanent magnet synchronous motors 10

Modeling and fuzzy control of permanent magnet synchronous m...

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10th International Conference on Power Electronics, Machines and Drives, PEMD 2020

作者： Juki, Domagoj-Kreimir Varga, Toni Beni, Tin Štil, Vedrana Jerkovi Baruki, Marinko Automation and Control Institute TU Wien Vienna Austria Faculty of Electrical Engineering Computer Science and Information Technology Osijek Josip Juraj Strossmayer University of Osijek Osijek Croatia

ISBN: (纸本)9781839535635

This paper deals with Permanent Magnet Synchronous Motor modeling and control. The derived nonlinear dq model is a combination of Finite Element Method simulation data with the classical dq model. The so derived model keeps the precision of the Finite Element Method simulations and also the fast execution times of the dq model. The Finite Element Method data is included in the dq model using Artificial Neural Networks. The derived model is also used for controller design. The chosen controller is a PI like Fuzzy Logic controller, which is tuned using Genetic Algorithm optimization. The Permanent Magnet Synchronous Motor with Fuzzy Logic controller operation is tested using Real-Time (Model-in-the-Loop) simulations. © PEMD *** right reserved.

关键词： Permanent magnets

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A visual-inertial vehicle navigation system based line feature

A visual-inertial vehicle navigation system based line featu...

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2020 International Conference on Artificial Intelligence and Electromechanical automation, AIEA 2020

作者： Guang, Xingxing Gao, Yanbin Liu, Pan Li, Guangchun Li, Ningbo Leung, Henry College of Automation Harbin Engineering University Harbin China Department of Electrical and Computer Engineering University of Calgary Calgary Canada Beijing Institute of Control and Electronic Technology Beijing China

ISBN: (纸本)9781728182889

In this paper, an integrated navigation system based on visual and inertial sensors for vehicles is proposed to solve the low accuracy position estimation problem caused by the unavailability signal of GNSS. In the proposed method, the visual sensor provides not only the attitude information by visual attitude method but also the motion information by visual odometer algorithm. Because the visual information is used in two separate ways, the proposed integrated navigation method has better robustness in dynamic conditions. It is verified by experiments in dynamic conditions. The experimental results show that the attitude errors of the proposed method can be reduced an order of magnitude than the previous visual attitude aided inertial navigation systems. For position estimation, the proposed method can improve the accuracy, stability, and reliability of the vehicle navigation system. © 2020 IEEE.

关键词： Inertial navigation systems

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Consistent and Asymptotically Efficient Localization from Range-Difference Measurements

arXiv

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arXiv 2023年

作者： Zeng, Guangyang Mu, Biqiang Shi, Ling Chen, Jiming Wu, Junfeng The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen China The Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

We consider signal source localization from range-difference measurements. First, we give some readily-checked conditions on measurement noises and sensor deployment to guarantee the asymptotic identifiability of the model and show the consistency and asymptotic normality of the maximum likelihood (ML) estimator. Then, we devise an estimator that owns the same asymptotic property as the ML one. Specifically, we prove that the negative log-likelihood function converges to a function, which has a unique minimum and positive definite Hessian at the true source's position. Hence, it is promising to execute local iterations, e.g., the Gauss-Newton (GN) algorithm, following a consistent estimate. The main issue involved is obtaining a preliminary consistent estimate. To this aim, we construct a linear least-squares problem via algebraic operation and constraint relaxation and obtain a closed-form solution. We then focus on deriving and eliminating the bias of the linear least-squares estimator, which yields an asymptotically unbiased (thus consistent) estimate. Noting that the bias is a function of the noise variance, we further devise a consistent noise variance estimator that involves 3-order polynomial rooting. Based on the preliminary consistent location estimate, a one-step GN iteration suffices to achieve the same asymptotic property as the ML estimator. Simulation results demonstrate the superiority of our proposed algorithm in the large sample case. Copyright © 2023, The Authors. All rights reserved.

关键词： Iterative methods

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General Impedance Modeling for Modular Multilevel Converter with Grid-forming and Grid-following control

arXiv

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arXiv 2024年

作者： Sun, Chu Zhang, Fei Xiao, Huafeng Wang, Na Chen, Jikai The School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden The School of Electrical Engineering Southeast University Nanjing210096 China The School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin132012 China

Modular multilevel converter (MMC) has complex topology, control architecture and broadband harmonic spectrum. For this, linear-time-periodic (LTP) theory, covering multi-harmonic coupling relations, has been adopted for MMC impedance modeling recently. However, the existing MMC impedance models usually lack explicit expressions and general modeling procedure for different control strategies. To this end, this paper proposes a general impedance modeling procedure applicable to various power converters with grid-forming and grid-following control strategies. The modeling is based on a unified representation of MMC circuit as the input and output relation between the voltage or current on the AC side and the exerted modulation index, while the control part vice versa, thereby interconnected as closed-loop feedback. With each part expressed as transfer functions, the final impedance model keeps the explicit form of harmonic transfer function matrix, making it convenient to directly observe and analyze the influence of each part individually. Thereby the submodule capacitance is found as the main cause of difference between MMC impedance compared to two-level converter, which will get closer as the capacitance increases. Effectiveness and generality of the impedance modeling method is demonstrated through comprehensive comparison with impedance scanning using electromagnetic transient simulation. Copyright © 2024, The Authors. All rights reserved.

关键词： Harmonic analysis

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Repetitive process based design of PD-type iterative learning control laws for batch processes with time-delays

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IFAC-PapersOnLine 2023年第2期56卷 1901-1906页

作者： Robert Maniarski Wojciech Paszke Eric Rogers Hongfeng Tao Institute of Automation Electronic and Electrical Engineering University of Zielona Góra ul. Szafrana 2 65-516 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Jiangnan University Wuxi 214122 P. R. China

This paper uses linear matrix inequality techniques and the Kalman-Yakubovich-Popov lemma to design an iterative learning control law for a class of batch processes with state delays. The design procedure is based on the stability theory for repetitive processes, a class of 2D systems. A numerical example illustrates the new design and demonstrates that the design has advantages compared to the existing alternatives.

关键词： Iterative learning control repetitive processes batch processes linear matrix inequalities systems with delays

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Research on Cardiac Medical Image Segmentation Based on an Improved U-Net Model

Research on Cardiac Medical Image Segmentation Based on an I...

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Image Processing, computer Vision and Machine Learning (ICICML), International Conference on

作者： Yuqing Wu Jun Wang Rui Wang Jian Wang Kecheng Zhou Xiaoxin Zhang School of Computer Science and Technology Shenyang University of Chemical Technology Key Laboratory of Industrial Intelligence Technology on Chemical Process Liaoning Province Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Emergency Zhongyi Northeast International Hospital Co. Ltd. Shenyang China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

This paper presents a cardiac MRI image segmentation model based on an improved U-Net architecture. Accurate segmentation of cardiac MRI images is critical for the diagnosis and treatment of cardiovascular diseases, yet existing U-Net models exhibit limitations in handling complex cardiac structures and multi-scale features. To address these challenges, this paper proposes two key enhancements. First, we propose a Multi-Dimensional Context Attention module, designed to improve the integration of global and local information within the skip connections, thereby enhancing segmentation accuracy for intricate cardiac structures. Furthermore, we propose a Reverse Feature Modulation module, which generates reverse masks and dynamically adjusts feature weights across different classes using adaptive weighting, effectively mitigating class imbalance issues in multi-class segmentation tasks and improving focus on difficult-to-segment regions. Experimental results demonstrate that the proposed model outperforms the standard U-Net on the ACDC dataset, achieving significant improvements in evaluation metrics such as the Dice coefficient. These enhancements underscore the model's efficacy and robustness in complex cardiac image segmentation tasks, offering new technical support for automated cardiovascular disease diagnosis.

关键词： Image segmentation Accuracy Magnetic resonance imaging Computational modeling Modulation Context awareness Robustness Medical diagnosis Cardiovascular diseases Context modeling

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Distributed Optimization via Gradient Descent with Event-Triggered Zooming over Quantized Communication

arXiv

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arXiv 2023年

作者： Rikos, Apostolos I. Jiang, Wei Charalambous, Themistoklis Johansson, Karl H. The Department of Electrical and Computer Engineering Division of Systems Engineering Boston University BostonMA02215 United States Hong Kong The Department of Electrical and Computer Engineering School of Engineering University of Cyprus Nicosia1678 Cyprus The Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland The Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden

In this paper, we study unconstrained distributed optimization strongly convex problems, in which the exchange of information in the network is captured by a directed graph topology over digital channels that have limited capacity (and hence information should be quantized). Distributed methods in which nodes use quantized communication yield a solution at the proximity of the optimal solution, hence reaching an error floor that depends on the quantization level used;the finer the quantization the lower the error floor. However, it is not possible to determine in advance the optimal quantization level that ensures specific performance guarantees (such as achieving an error floor below a predefined threshold). Choosing a very small quantization level that would guarantee the desired performance, requires information packets of very large size, which is not desirable (could increase the probability of packet losses, increase delays, etc) and often not feasible due to the limited capacity of the channels available. In order to obtain a communication-efficient distributed solution and a sufficiently close proximity to the optimal solution, we propose a quantized distributed optimization algorithm that converges in a finite number of steps and is able to adjust the quantization level accordingly. The proposed solution uses a finite-time distributed optimization protocol to find a solution to the problem for a given quantization level in a finite number of steps and keeps refining the quantization level until the difference in the solution between two successive solutions with different quantization levels is below a certain pre-specified threshold. Therefore, the proposed algorithm progressively refines the quantization level, thus eventually achieving low error floor with a reduced communication burden. The performance gains of the proposed algorithm are demonstrated via illustrative examples. © 2023, CC BY.

关键词： Directed graphs

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Adaptive control of the Structural Balance for a Class of Complex Dynamical Networks

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Journal of Systems Science & Complexity 2020年第3期33卷 725-742页

作者： GAO Zilin WANG Yinhe PENG Yi LIU Lizhi CHEN Haoguang Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges UniversityChongqing 404100China School of Computer Science and Engineering Chongqing Three Gorges UniversityChongqing 404100China School of Automation Guangdong University of TechnologyGuangzhou 510006China School of Computer Science Zhongshan Institute of Electronic Science and Technology University of ChinaZhongshan 528402China

In social networks,the structural balance is a state of a group of individuals(nodes)with established mutual relationships(connection relationships)between *** is easy to see that a social network can be described by a complex dynamical network model composed of the nodes subsystem(NS)and the connection relationships subsystem(CS),where the two subsystems are usually coupled with each *** implies that the dynamic changes of nodes'states may cause the structural balance in ***,few papers have discussed the relationship between the structural balance and the specific dynamic changes of the nodes'*** paper proposes a model of complex dynamical networks,and mainly focuses on the dynamic changes of states in NS which can lead to the structural balance in *** is proved that if each state in NS is doing a specific dynamic motion via the controller with the parameter adaptive law,then the CS can track a given structural balance matrix via the effective coupling and the structural balance can be *** a result can be regarded as an explanation of the relationship between the structural balance and the specific dynamic changes of the nodes'***,the simulations verify the effectiveness of the proposed method.

关键词： Complex dynamical networks connection relationships effective coupling structural balance

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