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Conditional Disturbance Compensation-Based Fault-Tolerant Group Consensus control for MASs: An Event-Based Switching Method

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IEEE Transactions on automation Science and engineering 2025年 22卷 13828-13841页

作者： Liu, Pei-Ming Guo, Xiang-Gui Wang, Jian-Liang Che, Wei-Wei Wu, Zheng-Guang University of Science and Technology Beijing Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering Beijing100083 China University of Science and Technology Beijing Shunde Innovation School Foshan528000 China Beihang University Hangzhou Innovation Institute Autonomous Intelligent Systems Department Hangzhou310051 China Northeastern University College of Information Science and Engineering Shenyang266071 China Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou310027 China

With respect to the group consensus control for multi-agent systems (MASs) with disturbances and actuator nonidentical and unknown direction faults (NUDFs), this paper proposes a novel fault-tolerant control scheme by incorporating an event-based switching function and a saturation function. The event-based switching function is implemented to directly switch to the desired working mode, thereby reducing invalid switching after a reverse fault. Concurrently, the saturation function, acting at the software level, can not only prevent the instantaneous impact of excessive reverse input caused by a reverse fault, but also eliminate input peaking and state chattering after switching the working mode. It is worth mentioning that the proposed switching-based fault-tolerant control method can avoid the control chocks and excessive control gains as in the existing methods by using Nussbaum functions and thus improve the transient performance. Additionally, for disturbances, the designed conditional disturbance compensation mechanism ensures a smaller steady-state error, and less energy consumption by utilizing beneficial disturbances and compensating for harmful ones. Besides, the conditional compensation mechanism also reduces the saturation error. Finally, the effectiveness of the proposed control scheme are verified through a simulation example of uncrewed aerial vehicles (UAVs). © 2004-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Wireless Protocol-Based control of Smart Electric Drive Using Sampled Time Secure Communication of Chaotic Systems

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IEEE Access 2025年 13卷 86218-86234页

作者： Dang, Nhat Quang Thi, Huyen Chau Phan Nguyen, Quang Dich Giap, Van Nam School of Electrical and Electronic Engineering Hanoi University of Science and Technology Dai Co Viet Hanoi 11615 Viet Nam Hanoi University of Science and Technology Institute for Control Engineering and Automation no. 1 Hai Ba Trung Hanoi 100000 Viet Nam

This paper presents a novel smart electric drive control system that enables fully wireless bidirectional communication between the controller, power supply, and sensors to facilitate real-time data sharing. The primary challenge in such systems arises from cybersecurity threats in wireless communication, requiring secure encryption and synchronization mechanisms to prevent data interception and tampering. To ensure secure transmissions, a chaos-based encryption scheme is implemented using the Liu chaotic system, formulated in the Takagi-Sugeno fuzzy (TS fuzzy) model to simplify computational complexity in synchronization control. A sliding mode control (SMC) strategy is designed to provide robust tracking performance, ensuring system stability under parameter variations and disturbances. To further enhance the control precision, a homogeneous super-twisting algorithm (HSTA)-based disturbance observer (DO) is introduced, effectively compensating for external perturbations and ensuring smooth operation. The DO also allows the use of a smaller SMC gain, which helps reduce chattering while maintaining control robustness. The Lyapunov stability theory is applied to rigorously analyze the system's stability, confirming the reliability of the proposed approach in wireless motor control applications. The system is experimentally validated on ESP32 microcontrollers, demonstrating fast response times, minimal steady-state error, and real-time secure motor control. Performance evaluation using speed response signals confirms the effectiveness of the proposed control and encryption techniques, making it suitable for industrial automation and IoT-driven motor control systems. © 2013 IEEE.

关键词： Disturbance observer homogeneous super-twisting algorithm secure communication sliding mode control Takagi-Sugeno fuzzy wireless control

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Robustness of gross primary production estimation from long-term reconstructed solar-induced chlorophyll fluorescence varies with greenness on a global scale

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Journal of Applied Remote Sensing 2025年第1期19卷

作者： Fu, Lijiang Xia, Qian Tang, Hao Chen, Junqing Tan, Jinglu Guo, Ya Jiangnan University Ministry of Education Key Laboratory of Advanced Process Control for Light Industry Wuxi China Changshu Institute of Technology School of Electrical Engineering and Automation Changshu China University of Missouri Department of Chemical and Biomedical Engineering ColumbiaMO United States

Long-term reconstructed solar-induced chlorophyll fluorescence (SIF) derived from raw gridded SIF has been used for the estimation of gross primary production (GPP), but the robustness of the spatial relationship may vary from location to location. We examined the often-used linear relationship between GPP and SIF in terms of R2 values for varied locations globally using three GPP datasets (FLUXCOM, VPM, PML) and three long-term reconstructed monthly SIF datasets (CSIF, SIF005, and RTSIF). The results show that the R2 value is a concave function of vegetation greenness level (NDVI) on an annual or seasonal basis. The average R2 is over 0.8 in areas where the annual average NDVI is in the range of 0.4 to 0.6, whereas the R2 is much lower where the annual average NDVI is less than 0.2 or greater than 0.8. Prediction of GPP or SIF by three methods from five major environmental variables revealed greater uncertainties in GPP and/or SIF at low or high greenness levels as an apparent cause of the low R2. The results offer useful insights into how global GPP may be effectively estimated from multi-satellite measured SIF. © 2025 Society of Photo-Optical Instrumentation Engineers (SPIE).

关键词： Optical correlation

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Dynamics characteristics analysis of rigid-flexible model under electromechanical coupling effect

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Zhendong yu Chongji/Journal of Vibration and Shock 2025年第12期44卷 10-18页

作者： Lai, Wangjie Cai, Chensheng Huang, Changyang Gao, Haiming Zhang, Shunqi School of Mcchatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Institute of Spaceflight Control Technology Shanghai201109 China

Aiming at the problem of flexible vibration of rigid-flexible coupled model in the process of motion, the dynamic modeling and analysis of rigid-flexible model considering the influence of electromechanical coupling were studied. Based on Lagrange' s principle, the ordinary differential equations of motion of the rigid-flexible model and the partial differential equations of the flexible parts were derived to realize the coupling dynamics calculation between the flexible parts and the rigid body. On this basis, the piezoelectric principal structure was introduced to establish the rigid-flexible coupled continuous dynamics equations considering the effect of electromechanical coupling, and the assumed mode method was used to discretize the continuous dynamics equations to establish the system characteristic equations. The accuracy and reliability of the derived model were verified by means of ANSYS individual simulation and ANSYS-ADAMS joint simulation, respectively. Finally, based on the system dynamics model of the truncated mode, the dynamics response of the piezoelectric structure was calculated using PID (proportional-integral-derivative) control, and it was verified that the voltage control based on the piezoelectric intrinsic structure has an obvious suppression effect on the vibration of the high-precision rigid-flexible model. © 2025 Chinese Vibration engineering Society. All rights reserved.

关键词： Flexible couplings

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High-order Differential Feedback control and Quantitative Analysis for High-spinning Flight Vehicles

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Hu, Yuhui Liu, Yingxin Shen, Kai Zhang, Xinye Shi, Jingyu Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

High-spinning flight vehicles (HFVs) offer significant advantages for modern flight systems, including low cost and high-precision guidance. With the advancement of high-performance angular accelerometers, direct perception and feedback of angular acceleration have become a promising approach. In this paper, a two-loop acceleration autopilot with high-order feedback of angular acceleration (AFAA) is proposed to replace the traditional feedback of angular rate (AFAR). Both autopilots are synthesized via linear quadratic output feedback tracking (LQ OFT) approach with direct feedthrough component, incorporating frequency constraints. A hierarchical quantitative analysis framework including matrix pseudospectra-based robustness indices, degree of output controllability (DOC), null controllable region, and stability region, is developed to evaluate the performance of the proposed AFAA structure. Numerical simulations, accounting for sensor dynamics, are conducted to compare the frequency-domain characteristics and hierarchical quantitative parameters of HFVs with varying static stability properties. The results demonstrate the superiority of AFAA over AFAR and highlight the enhanced control performance achieved by static anti-stable HFVs. © 2025 IEEE.

关键词： controllability

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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A Seamless Pedestrian Localization System Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation System (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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Category-Level and Open-Set Object Pose Estimation for Robotics

arXiv

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arXiv 2025年

作者： Hönig, Peter Hirschmanner, Matthias Vincze, Markus Automation and Control Institute Faculty of Electrical Engineering TU Wien Vienna1040 Austria

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object. While instance-level methods already excel for opaque and Lambertian objects, category-level and open-set methods, where texture, shape, and size are partially or entirely unknown, still struggle with these basic material properties. Since texture is unknown in these scenarios, it cannot be used for disambiguating object symmetries, another core challenge of 6D object pose estimation. The complexity of estimating 6D poses with such a manifold of unknowns led to various datasets, accuracy metrics, and algorithmic solutions. This paper compares datasets, accuracy metrics, and algorithms for solving 6D pose estimation on the category-level. Based on this comparison, we analyze how to bridge category-level and open-set object pose estimation to reach generalization and provide actionable recommendations. Copyright © 2025, The Authors. All rights reserved.

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Based on an improved Zero-DCE++ low-light enhanced object detection algorithm

Based on an improved Zero-DCE++ low-light enhanced object de...

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2024 International Conference on Mechatronic engineering and Artificial Intelligence, MEAI 2024

作者： Bai, Xuecheng Gao, Hongwei Zhao, Zhanpeng Yan, Zhiwen School of Automation and Electrical Engineering Shenyang Ligong University Liaoning Shenyang110159 China Institute of International Engineering Shenyang Ligong University Liaoning Shenyang110159 China China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110159 China Xi'an Modern Control Technology Research Institute Xi'an710100 China

ISBN: (纸本)9781510689176

Low-light image quality often suffers from noise, color distortion, and reduced contrast, challenging accurate object detection. Traditional enhancement methods can lead to over-processing and semantic information loss. This study presents an enhanced low-light image detection model based on an improved Zero-DCE++ algorithm, integrated with YOLOv8 for high-speed, accurate detection. Key improvements include the CBAM attention mechanism to enhance feature extraction in low-light areas, DCNv2 for capturing complex object details, and a Local Region Brightness Curve Enhancement Module to prevent overexposure in well-lit areas. The proposed model was tested on the Night Drone dataset, where it achieved superior performance in image quality and detection accuracy compared to state-of-the-art methods. This approach demonstrates significant potential for applications requiring reliable object detection in challenging low-light conditions. © 2025 SPIE.

关键词： Semantic Segmentation

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Unmanned Air-Ground Vehicles Path Planning Using Model Predictive control

Unmanned Air-Ground Vehicles Path Planning Using Model Predi...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Gu, Yuanwen Wang, Mi Wu, Huaining Li, Chenlong Li, Gang School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Hangzhou International Innovation Institute Beihang University Hangzhou311115 China Hangzhou Innovation Institute Beihang University Hangzhou310051 China Department of Control Science and Engineering Tongji University Shanghai201800 China

ISBN: (纸本)9789819639649

In this article, the problem of air-ground vehicles path planning is investigated. The objective is to navigate each vehicle from its starting position to the intended destination, while avoiding collisions with obstacles and other vehicles. First, by combining the objective functions of unmanned ground vehicle (UGV) and unmanned aerial vehicles (UAVs) with the constraints of system equations, control constraints and obstacle avoidance constraints, the vehicles’ path planning is formulated as multiple model predictive control (MPC) problems. Second, considering the interdependencies inherent in these optimization problems, we employ an assumed state method to decouple them effectively. Third, the control inputs of the UGV and UAVs are obtained by solving quadratic programming problems and thus the vehicles’ path can be obtained. Finally, a simulation example is shown to illustrate the effectiveness of the proposed path planning method. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Predictive control systems

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