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Adaptive Prescribed-Time Distributed Nash Equilibrium Seeking for Networked Games with Heterogeneous Dynamics and Unknown Uncertainties

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IEEE Transactions on control of Network Systems 2025年

作者： Chen, Yiyang Hua, Yongzhao Feng, Zhi Dong, Xiwang Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Shenyuan Honors College Beijing100191 China Beihang University School of Artificial Intelligence Institute of Artificial Intelligence Beijing100191 China Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China Beihang University Institute of Unmanned System School of Artificial Intelligence Institute of Artificial Intelligence School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China

This paper investigates the adaptive prescribed-time distributed Nash equilibrium (NE) seeking problems for networked games with heterogeneous dynamics and unknown uncertainties. The proposed algorithms are based on the two-layer structure, namely the NE seeking part and the tracking control part. For the players without uncertainties, the adaptive parameters are utilized in the seeking part to avoid the use of the global information. The auxiliary variables are constructed to seek for the NE point within the prescribed time and serve as the reference signals for the tracking control part. Then the state feedback control is designed to drive the strategies of all the players to the expected NE point in the prescribed time. Furthermore, the approximation theory is introduced to deal with the unknown nonlinear uncertainties. The exponential parameters are involved in the designed estimates to accelerate the convergence rate. The Lyapunov method is utilized to show the prescribed-time convergence property of the algorithms. Besides, although the time-varying piecewise function is involved in the algorithms, the uniform boundedness of the control input can be ensured by carefully selecting the initial values of the auxiliary parameters. Finally, the simulation is given to show the effectiveness of the proposed algorithms. © 2025 IEEE.

关键词： Lyapunov methods

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An Adaptive Fault-Tolerant control Without Fault Location of Open-Phase Fault for Dual Three-Phase PMSM Drive System

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Liu, Qi Xiao, Lan Wu, Qunfang Zhao, Xiaopeng Liu, Ying Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing211100 China Avic Xi'an Flight Automatic Control Research Institute Xi'an710000 China

An adaptive fault-tolerant control (FTC) method without fault localization is proposed for the common open-phase faults (OPFs) in dual three-phase permanent magnet synchronous motor (DTP-PMSM) drive systems. The method eliminates the need for fault localization through fault diagnosis, thus reducing the risk of misdiagnosis. The operational state of the DTP-PMSM under OPF is analyzed and a uniform reference current with fault current angle is established in the dual dq coordinate system. After an OPF occurs, the unified current reference can be directly applied to the drive system without fault localization. The fault current angle is acquired by Phase-Locked Loop (PLL), and can still be well acquired even under light load condition. Compared with the existing PLL-based adaptive fault tolerance scheme, one PLL loop is reduced, which reduces the computational burden. The proposed adaptive FTC scheme does not require adjustment of the control framework, machine model and transformation matrix before and after the OPF, and the switching between minimum copper loss, maximum torque output and healthy operation can be achieved by adjusting the amplitude coefficient of the reference current. Experimental results verify the effectiveness of the proposed fault-tolerant control scheme. © 2025 IEEE.

关键词： Permanent magnets

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A third-party platoon coordination service: Pricing under government subsidies

A third-party platoon coordination service: Pricing under go...

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作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic control Society.

关键词： Trucks

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Path Integral Policy Improvement and Dynamic Movement Primitives Fusion-Based Impedance Force control With Error Loop Correction

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IEEE Transactions on automation Science and engineering 2025年 22卷 15034-15044页

作者： Liu, Mujie Chen, Haifei Li, Lijun Ma, Zhiqiang Xu, Yong Zhang, Hui Central South University of Forestry and Technology National Forestry and Grassland Engineering Technology Research Center for Harvesting Equipment of Nonwood Forest Fruits Engineering Research Center for Forestry Equipment of Hunan Province School of Mechanical and Intelligent Manufacturing Changsha410004 China Northwestern Polytechnical University Research Center for Intelligent Robotics School of Astronautics Xi’an710072 China Beijing Institute of Technology School of Automation Beijing100081 China Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Changsha410082 China

Path Integral Strategy Improvement(PI2)-based impedance control is a superior scheme for preventing damage to the physical structure of the fruit during the harvesting process. However, it is highly sensitive to disturbances and has limited generalization ability during the parameter learning process, making it difficult to apply the correct gripping force to fruits with uncertain stiffness. To solve this problem, this paper proposes a variable impedance force control method that integrates PI2 with Dynamic Movement Primitives (DMPs), supplemented by a force error correction loop. Firstly, an adaptive impedance parameter matching mechanism based on gain schedules is designed to facilitate dynamic estimation of impedance parameters and enable precise force control. To further accelerate impedance parameter matching in unknown environments, the PI2 algorithm is introduced to optimize gain schedules, and DMPs are integrated to suppress disturbances, thereby improving the generalization ability of the impedance model’s parameter learning. In addition, an additional force error control loop has been designed to minimize the deviation between the desired and actual gripping force. Finally, the effectiveness of the proposed method is verified through simulation and experiment in fruit teleoperation picking robot. In the local-remote heterogeneous fruit teleoperation picking robot system, preventing fruit damage is critical to improving harvesting efficiency and quality. However, the existing PI2 algorithm suffers from limited generalization ability during the parameter learning process and is highly susceptible to environmental disturbances, presenting challenges in force control. To address this issue, this study proposes integrating DMPs into PI2 to optimize gain schedules and designing a force error control loop to refine trajectories, thereby achieving the force control objectives and effectively compensating for the shortcomings of PI2. Simulation and experimental res

关键词： Rotation

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A review of axial force balance and clearance sealing techniques for energy-efficient scroll compressors

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International Journal of Refrigeration 2025年 176卷 298-321页

作者： Wen, Hui Yan, Ranran Liu, Lei Wu, Yan Chen, Bingtuo Wang, Wenting Qu, Xiao Cai, Jiongjiong School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou310023 China Jiaxipera Compressor Co. Ltd. Jiaxing314006 China Dahua Technology Co. Ltd. Hangzhou310053 China Power Electronics and Machines Control Research Institute University of Nottingham NG7 2GT United Kingdom

Developing next-generation scroll compressors with higher efficiency and reliability is crucial for promoting energy conservation and emission reduction. Among the key technical challenges encountered, radial gas leakage remains a predominant issue that can severely impair both operating performance and energy consumption. This paper begins by elucidating the flow characteristics and estimation methods for radial leakage. The influence mechanisms for radial leakage and the performance effects are then examined in terms of leakage rate, power consumption and scroll surface wear. The unsteady characteristics of axial gas force, which pose a primary challenge to axial clearance sealing, are analyzed through a combination of theoretical analysis, CFD simulation and experimental measurement. Based on this foundation, this paper provides a comprehensive review of key advancements in axial force balance and clearance sealing techniques, including conventional approaches such as gas back-pressure, oil back-pressure, axial compliance and passive aerodynamic sealing mechanisms as well as emerging solutions like passive magnet and active electromagnet mechanisms, with a focus on their principles, topology, effectiveness, and limitations. Finally, the study highlights key insights and unresolved challenges, recommending hybrid electromagnetic mechanisms as a promising solution that combines the advantages of both passive and active dynamic force balancing techniques. © 2025 The Authors

关键词： Scroll compressors

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A Novel Three-Phase Passive Auxiliary Resonant Pole Soft-Switching Inverter With Symmetrical Auxiliary Networks and Electric Energy Feedback Function

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International Journal of Circuit Theory and Applications 2025年第0期

作者： Wang, Shuyu Liu, Hongchen Gao, Fei Wheeler, Patrick School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Department of Engineering Science Shanghai Jiao Tong University Shanghai China Power Electronics Machines and Control Research Institute University of Nottingham Santiago Chile

To solve the problems of high cost, large additional component size, large circulating loss, and complex control in existing auxiliary resonant soft-switching inverters, a three-phase passive auxiliary resonant pole inverter (ARPI) with symmetrical auxiliary networks and electric energy feedback function is proposed. On each phase bridge arm of the inverter, a set of passive auxiliary networks (PANs) without large electrolytic capacitors, transformers, and other devices is provided, which is capable of enhancing the power density of the inverter. Additionally, as the auxiliary commutation circuit does not employ auxiliary switches, it not only lowers the hardware cost but also simplifies the control complexity and enhances the reliability of the soft-switching inverter operation. The proposed topology is capable of enhancing the utilization ratio of DC voltage and reducing the harmonic content of the output waveform. According to the equivalent circuit diagrams in different operating modes, the soft-switching operating principle and realization conditions of soft-switching for the proposed ARPI are analyzed. The parameters of passive components are designed with the aim of minimizing the PAN loss. A 3-kW experimental prototype is constructed. The experimental results indicate that the switching tubes can realize the soft-switching action and suppress the rate of change of voltage and current. The efficiency of the prototype can reach 98.30% at the rated output power, which is a remarkable improvement compared with the same type of ARPIs. © 2025 John Wiley & Sons Ltd.

关键词： Poles

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引用

IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Wu, Wenjing Fu, Hanjing Cui, Kaixin Liu, Zhigang Yang, Dong Shi, Dawei Beijing Institute of Technology MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Data limitation caused by the difficulty of data acquisition, the high cost of data collection, and the changes of working conditions is a serious obstacle to the accurate lithium-ion battery SOH estimation for spacecrafts system. To achieve accurate few-shot lithium-ion battery state of health(SOH) estimation and enhance the adaptability of learning methods across varying working conditions, a domain similarity model agnostic meta-learning method (DS-MAML) is proposed. First, we design a dynamic-static feature extraction method to adequately exploit information from the limited battery data and link the obtained features by gray correlation coefficients to collect sufficient information. Then, by calculating the domain similarity between the training tasks through the maximum mean discrepancy algorithm, the training tasks are ranked to reduce the re-training time. Finally, an LSTM model is added to the meta-learning framework to capture the long-term dependency relationships between SOH and time series of the voltage, and the ranked tasks are embedded in the meta-training process to improve adaptability in different working conditions. The effectiveness of the proposed method is validated by NASA and MIT datasets, and comparative experimental results illustrate that the proposed method average error is reduced by 73%, and the running speed is increased by 20% compared with traditional MAML in few-shot scenarios. © 1965-2011 IEEE.

关键词： State of charge

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Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection

arXiv

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arXiv 2025年

作者： Pulli, Tessa Hönig, Peter Thalhammer, Stefan Hirschmanner, Matthias Vincze, Markus Automation and Control Institute TU Wien Vienna Austria Department of Industrial Engineering University of Applied Sciences Technikum Wien Vienna Austria

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast, which leads to stable and prominent features. We propose a novel approach by incorporating edge detection in a pre-processing step for the tasks of object detection and object pose estimation. We conducted experiments to investigate the effect of edge detectors on transparent objects. We examine the performance of the state-of-the-art 6D object pose estimation pipeline GDR-Net and the object detector YOLOX when applying different edge detectors as pre-processing steps (i.e., Canny edge detection with and without color information, and holistically-nested edges (HED)). We evaluate the physically-based rendered dataset Trans6D-32 K of transparent objects with parameters proposed by the BOP Challenge. Our results indicate that applying edge detection as a pre-processing enhances performance for certain objects. © 2025, CC BY.

关键词： Robot vision

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A hybrid estimation of distribution algorithm for agile earth observing satellite task scheduling problem

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Swarm and Evolutionary Computation 2025年 96卷

作者： Ma, Chunchun Huang, Panxing Liu, Xiaoze Wu, Chu-ge Xu, Rui School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Beijing Institute of Control Engineering Beijing100094 China National Key Laboratory of Space Intelligent Control Beijing100094 China School of Automation Beijing Institute of Technology Beijing100081 China

Agile Earth Observing Satellites (AEOSs) represent a new generation of Earth observation satellites, widely used for various observation tasks. To efficiently utilize the visible and observing durations of the orbiting AEOS, the AEOS scheduling problem (AEOSSP) is formulated to maximize the overall observation profit while satisfying the complex operational constraints. In this paper, a hybrid Estimation of Distribution Algorithm (EDA) that incorporates three knowledge-oriented local search operators is proposed to efficiently solve the AEOSSP. The multiple multidimensional knapsack problem with conflicts (MMdKPC) is first modeled and used to formulate AEOSSP. An EDA probability model as well as its updating and sampling mechanisms, is designed to generate solutions to explore the solution space and generate potential solutions. In addition, based on the characteristics of MMdKPC, three knowledge-oriented local search operators are developed to improve the solution. Based on the benchmark instances and simulation data provided sampled from Satellite Tool Kit, the comparison simulation experiments are carried out. The results validate the effectiveness of three knowledge-oriented local search operators, respectively. Additionally, the proposed hybrid EDA performs better compared to the existing state-of-the-art algorithms in terms of overall observation profit. © 2025 Elsevier B.V.

关键词： Scheduling algorithms

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Automatic Nonlinear MPC Approximation with Closed-loop Guarantees

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IEEE Transactions on Automatic control 2025年

作者： Tokmak, Abdullah Fiedler, Christian Zeilinger, Melanie N. Trimpe, Sebastian Kohler, Johannes Aalto University Department of Electrical Engineering and Automation Espoo02150 Finland RWTH Aachen University Institute for Data Science in Mechanical Engineering Aachen52068 Germany ETH Zurich Institute for Dynamic Systems and Control ZurichCH-8092 Switzerland

Safety guarantees are vital in many control applications, such as robotics. Model predictive control (MPC) provides a constructive framework for controlling safety-critical systems but is limited by its computational complexity. We address this problem by presenting a novel algorithm that automatically computes an explicit approximation to nonlinear MPC schemes while retaining closed-loop guarantees. Specifically, the problem can be reduced to a function approximation problem, which we then tackle by proposing Alkia-x, the Adaptive and Localized Kernel Interpolation Algorithm with eXtrapolated reproducing kernel Hilbert space norm. Alkia-x is a non-iterative algorithm that ensures well-conditioned computations, a fast-to-evaluate approximating function, and the guaranteed satisfaction of any desired bound on the approximation error. Hence, Alkia-x automatically computes an explicit function that approximates the MPC, yielding a controller suitable for safety-critical systems and high sampling rates. We apply Alkia-x to approximate two nonlinear MPC schemes, demonstrating reduced computational demand and applicability to realistic problems. © 1963-2012 IEEE.

关键词： Predictive control systems

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