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Node-Decomposition Privacy-Preserving for Finite-Time Secondary control of DC Microgrids

IEEE Transactions on Smart Grid 2025年

作者： Wu, Han Zhu, Si-Min Chai, Li Zhu, Zhen-Hua Tian, Yu-Chu Wuhan University of Science and Technology Engineering Research Center of Metallurgical Automation and Measurement Technology School of Artificial Intelligence and Automation Wuhan430081 China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou China Queensland University of Technology School of Computer Science BrisbaneQLD4001 Australia

In the distributed secondary control of DC microgrids, achieving both rapid convergence and robust information security is critical for enhancing control performance and maintaining power quality. However, current privacy-preserving approaches often compromise either control performance or privacy preservation performance. To address this challenge, this paper presents a node-decomposition privacy-preserving (NDPP) method for fully distributed, finite-time secondary control in DC microgrids. By splitting each node in the communication graph into multiple sub-nodes, the method enhances both convergence speed and privacy preservation without sacrificing control accuracy. Sub-nodes communicate within groups, and the topology of the generated graph is concealed from malicious nodes and eavesdroppers. Theoretical analysis is provided to prove finite-time voltage regulation and current sharing with privacy preservation against malicious nodes and external eavesdroppers. Simulations are conducted to verify the effectiveness of the method in maintaining control performance and power quality. © 2010-2012 IEEE.

关键词： Privacy by design

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A Switched Neural Process for Long-term Postprandial Glucose Trajectory Prediction based on Insulin Sensitivity Estimation

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Chen, Jing Shi, Dawei Cai, Deheng Liu, Wei Ji, Linong Shi, Ling Beijing Institute of Technology MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing China Peking University People’s Hospital Department of Endocrine and Metabolism Beijing China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong

Advanced sensing technology has enabled the real-time monitoring of blood glucose (BG), making it possible to explore the BG prediction problem based on continuous observations. In this work, we propose a novel switched neural process (NP) approach for long-term postprandial BG prediction, which has the probabilistic inference ability conditioned on preprandial BG measurements. Distinct representative NP models are constructed to capture the nonlinear BG dynamics based on a designed indicator. This indicator is developed to estimate insulin sensitivity (IS) at meal time by using physiological models, in which the effect of preprandial BG variation on IS estimation is evaluated. Besides, a robust model switching mechanism is designed to determine the appropriate NP model for prediction. The effectiveness of the proposed method is illustrated through the comparative results by using both the in silico data from the US Food and Drug Administration (FDA)-accepted UVA/Padova type 1 diabetes mellitus (T1DM) simulator and the clinical data from 47 T1DM subjects. The obtained results indicate that the proposed method outperforms existing methods especially for 3h and 4h prediction, which shows promising potential in predicting postprandial BG levels. © 1963-2012 IEEE.

关键词： Glucose

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A Multivariate Functional Analysis of Inter-Hands Spatiotemporal Coordination in Human Bimanual Tasks and its Implications for Robotics

A Multivariate Functional Analysis of Inter-Hands Spatiotemp...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Marco Baracca Andre Meixner Giuseppe Averta Paolo Salaris Tamim Asfour Matteo Bianchi Dept. of Information Engineering Research Center “E. Piaggio” University of Pisa Pisa Italy Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Dep. of Control and Computer Engineering Politecnico di Torino Turin Italy

ISBN: (数字)9798331509231

ISBN: (纸本)9798331509248

Dual-arm manipulation is a key enabler for significantly enhancing the interaction between humans and robots, and their capabilities to purposefully shape the surrounding environment. However, the spatiotemporal coordination between the motion of the hands required for this type of actions makes their planning not trivial. A proper definition of these coordination patterns moving from the human example could simplify their translation on the robot side, fostering the generation of effective bimanual tasks. In this work, we propose Multivariate functional Principal Component Analysis (MfPCA) as a mathematical tool to encode inter-hands temporal kinematic covariations in terms of principal spatiotemporal coordination patterns in the Cartesian domain. We compared these patterns extracted from a dataset of human bimanual tasks with those resulting from the usage of classical fPCA, applied independently to each hand (univariate fPCA). We found that MfPCA allows for a better classification of the tasks, with respect to a state of the art taxonomy. For what concerns motion planning, MfPCA and fPCA yield similar accuracy in the reconstruction of the motion, but with a smaller number of principal components needed in the MfPCA case. These results, although preliminary, can open interesting perspectives for the usage of MfPCA for human-like bimanual motion planning and control of robotic manipulators, as well as for action recognition, to enable a more effective human-robot interaction.

关键词： Hands Translation Shape Robot kinematics Taxonomy Human-robot interaction Functional analysis Planning Spatiotemporal phenomena Principal component analysis

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Smooth finite-dimensional time-varying feedback for chained nonholonomic systems with distributed input delays

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Automatica 2025年 177卷

作者： Zhang, Kang-Kang Yang, Xuefei Zhang, Kai Department of Mechanical Engineering University of Hong Kong Hong Kong Department of Computer Science KU Leuven HeverleeB-3001 Belgium Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Biomedical Engineering City University of Hong Kong Hong Kong

This paper investigates the smooth finite-dimensional time-varying control problem for chained nonholonomic systems with distributed input delays. For the scalar distributed delay system, a smooth finite-dimensional nonhomogeneous controller is proposed. By using a smooth time-varying state transformation, a chained nonholonomic system with distributed input delay is transformed into a linear time-varying system with a distributed input delay. With the aid of the inherent structural properties of chained nonholonomic system, smooth finite-dimensional linear time-varying controllers are constructed. Unlike traditional predictor feedback, which involves infinite-dimensional terms, the proposed controllers are finite-dimensional and easier to implement. By utilizing Barbalat's lemma, it is shown that the proposed control laws can drive the states to zero. Both state feedback and observer-based output feedback are considered. The effectiveness of the proposed methods is verified through a numerical example. © 2025 Elsevier Ltd

关键词： Delay control systems

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Finite Sample Analysis of Subspace Identification Methods

arXiv

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arXiv 2025年

作者： He, Jiabao Ziemann, Ingvar Rojas, Cristian R. Qin, S. Joe Hjalmarsson, Håkan Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden University of Pennsylvania PhiladelphiaPA19104 United States Institute of Data Science Lingnan University Hong Kong

As one of the mainstream approaches in system identification, subspace identification methods (SIMs) are known for their simple parameterization for MIMO systems and robust numerical properties. However, a comprehensive statistical analysis of SIMs remains an open problem. Amid renewed focus on identifying state-space models in the non-asymptotic regime, this work presents a finite sample analysis for a large class of open-loop SIMs. It establishes high-probability upper bounds for system matrices obtained via SIMs, and reveals that convergence rates for estimating Markov parameters and system matrices are O(1/√N) up to logarithmic terms, in line with classical asymptotic results. Following the key steps of SIMs, we arrive at the above results by a three-step procedure. In Step 1, we begin with a parsimonious SIM (PARSIM) that uses least-squares regression to estimate multiple high-order ARX models in parallel. Leveraging a recent analysis of an individual ARX model, we obtain a union error bound for a bank of ARX models. Step 2 involves model reduction via weighted singular value decomposition (SVD), where we consider different data-dependent weighting matrices and use robustness results for SVD to obtain error bounds on extended controllability and observability matrices, respectively. The final Step 3 focuses on deriving error bounds for system matrices, where two different realization algorithms, the MOESP type and the Larimore type, are considered. Although our study initially focuses on PARSIM, the methodologies apply broadly across many variants of SIMs. Copyright © 2025, The Authors. All rights reserved.

关键词： MIMO systems

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Robust Training in Multiagent Deep Reinforcement Learning Against Optimal Adversary

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年

作者： Guo, Weiran Liu, Guanjun Zhou, Ziyuan Wang, Jiacun Tang, Ying Wang, Miaomiao Tongji University School of Computer Science and Technology Shanghai201804 China Monmouth University Department of Computer Science and Software Engineering West Long BranchNJ07764 United States Rowan University Department of Electrical and Computer Engineering GlassboroNJ08028 United States Beijing Institute of Control Engineering Space Optoelectronic Measurement and Perception Lab Beijing100190 China

Industry 5.0 enhances manufacturing ability through efficient human-machine interaction, combining human resources and robots to complete tasks more accurately and effectively. Artificial intelligence (AI) plays an essential role in Industry 5.0. As a branch in AI, multiagent deep reinforcement learning (MADRL) attracts vast attention in both academia and industry. However, there is a gap between virtual and physical environments in terms of how clean an observed state is. In addition, state adversarial attacks can seriously impact the performance of MADRL. Hence, how to improve the robustness of MADRL algorithms is an important research topic. In this article, we propose an optimal policy-based state adversary attack method that would make the MADRL algorithm more robust when it is applied in the training process of agents. Two case studies related to Industry 5.0 and a general case study are presented in which robustness training against the optimal adversarial attack is tested. The MADRL algorithms involved in the experiments include centralized training and decentralized execution (CTDE) framework and shared experience actor-critic (SEAC) to demonstrate the universality of our method. © 2013 IEEE.

关键词： Deep reinforcement learning

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Asynchronous PID control for T-S Fuzzy Systems Over Gilbert-Elliott Channels Utilizing Detected Channel Modes

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IEEE Transactions on Fuzzy Systems 2025年第5期33卷 1555-1567页

作者： Wang, Yezheng Wang, Zidong Zou, Lei Ge, Quanbo Dong, Hongli Nanjing University of Information Science and Technology School of Automation Nanjing210044 China Shandong University of Science and Technology College of Electrical Engineering and Automation Qingdao266590 China Brunel University London Department of Computer Science UxbridgeUB8 3PH United Kingdom Donghua University College of Information Science and Technology Shanghai201620 China Ministry of Education Engineering Research Center of Digitalized Textile and Fashion Technology Shanghai201620 China Nanjing University of Information Science and Technology Jiangsu Provincial University Key Laboratory of Big Data Analysis and Intelligent Systems Nanjing210044 China Nanjing210044 China Northeast Petroleum University State Key Laboratory of Continental Shale Oil Daqing163318 China Northeast Petroleum University Artificial Intelligence Energy Research Institute Daqing163318 China Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Daqing163318 China

This article is concerned with the H∞ proportional-integral-derivative (PID) control problem for Takagi-Sugeno fuzzy systems over lossy networks that are characterized by the Gilbert-Eillott model. The communication quality is reflected by the presence of two channel modes (i.e., "bad" mode and "good" mode), which switch randomly according to a Markov process. In the "bad" mode, packet dropouts are governed by a stochastic variable sequence. Considering the inaccessibility of channel modes, a mode detector is utilized to estimate the communication situation. The relationship between the actual channel mode and the estimated mode is depicted in terms of certain conditional probabilities. Moreover, a comprehensive model is constructed to represent the probability uncertainties arising from statistical errors in channel mode switching, packet dropouts, and mode detection processes. Subsequently, a robust asynchronous PID controller, based on the detected channel mode, is proposed. Sufficient conditions are then derived to ensure the mean-square stability of the closed-loop system while maintaining the desired H∞performance. Finally, the efficacy of the proposed design approach is demonstrated through a simulation example. © 1993-2012 IEEE.

关键词： Markov processes

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Leader-Follower Formation Tracking control of Quadrotor UAVs Using Bearing Measurements

arXiv

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arXiv 2025年

作者： Doodeman, Sander Tang, Zhiqi Jacinto, Marcelo Cunha, Rita Silvestre, Carlos Department of Mechanical Engineering TU/e Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Instituto Superior Técnico University of Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global position. Other vehicles in the formation are assumed to only have access to inter-agent bearing (direction) measurements and relative velocities with respect to their neighbor agents. A hierarchical control architecture is adopted for each quadrotor, combining a high-gain attitude inner-loop and an outer-loop bearing-based formation controller with collision avoidance augmentation. The proposed method enables a group of quadrotors to track arbitrary bearing persistently exciting desired formations, including time-varying shapes and rotational maneuvers, such that each quadrotor only requires relative measurements to at least one neighboring quadrotor. The effective performance of the control strategy is validated by numerical simulations in MATLAB and real-world experiments with three quadrotors. © 2025, CC BY-NC-ND.

关键词： Unmanned aerial vehicles (UAV)

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Do Attention Heads Compete or Cooperate during Counting?

arXiv

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arXiv 2025年

作者： Zsámboki, Pál Fraknói, Ádám Gedeon, Máté Kornai, András Zombori, Zsolt HUN-REN Alfréd Rényi Institute of Mathematics Budapest Hungary Eötvös Loránd University Budapest Hungary Budapest University of Technology and Economics Budapest Hungary HUN-REN Institute for Computer Science and Control Budapest Hungary

We present an in-depth mechanistic interpretability analysis of training small transformers on an elementary task, counting, which is a crucial deductive step in many algorithms. In particular, we investigate the collaboration/competition among the attention heads: we ask whether the attention heads behave as a pseudo-ensemble, all solving the same subtask, or they perform different subtasks, meaning that they can only solve the original task in conjunction. Our work presents evidence that on the semantics of the counting task, attention heads behave as a pseudo-ensemble, but their outputs need to be aggregated in a nonuniform manner in order to create an encoding that conforms to the syntax. Our source code will be available upon publication. © 2025, CC BY-NC-SA.

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Electroencephalogram and Event-Related Potential in Mild Cognitive Impairment: Recent Developments in Signal Processing, Machine Learning, and Deep Learning

IEEE Journal of Selected Areas in Sensors

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IEEE Journal of Selected Areas in Sensors 2025年 2卷 162-184页

作者： Azami, Hamed Mirjalili, Mina Rajji, Tarek K. Wu, Chien-Te Humeau-Heurtier, Anne Jung, Tzyy-Ping Wei, Chun-Shu Trinh, Thanh-Tung Liu, Yi-Hung University of Toronto Centre for Addiction and Mental Health TorontoONM5S 1A1 Canada University of Texas Southwestern Medical Center DallasTX75390 United States University of Florida Department of Occupational Therapy GainesvilleFL32611 United States University of Florida Center for Cognitive Aging and Memory McKnight Brain Institute GainesvilleFL32611 United States University of Angers LARIS SFR MATHSTIC AngersF-49000 France University of California Institute for Neural Computation Institute of Engineering in Medicine La Jolla CA92093 United States National Yang Ming Chiao Tung University Department of Computer Science Hsinchu City30010 Taiwan National Taipei University of Technology Graduate Institute of Manufacturing Technology College of Mechanical and Electrical Engineering Taipei10608 Taiwan Vietnam National University Department of Information and Communication Technology Faculty of Nontraditional Security HSB Hanoi720325 Viet Nam National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering Hsinchu City30010 Taiwan

Mild cognitive impairment (MCI) is an early stage of non-age-related cognitive decline with an increased risk of progressing to dementia. Early detection of MCI is essential for implementing preventative strategies that can delay or prevent the onset of dementia, ultimately improving patient outcomes and reducing healthcare costs. Electroencephalograms (EEGs) and event-related potentials (ERPs) have shown significant promise in detecting MCI due to their affordability, real-time monitoring capabilities, and noninvasiveness. EEG provides continuous brain activity data, while ERPs offer insights into specific cognitive processes by analyzing brain responses to stimuli. These methods can complement each other in MCI diagnosis by providing a comprehensive view of overall brain function and detailed information on specific cognitive processes. However, EEG and ERP are susceptible to noise and interindividual variability, which can hinder their reliability. In addition, applying machine learning models on EEG or ERP for MCI detection presents challenges such as the risk of overfitting and difficulties in interpreting the underlying decision-making process. This review emphasizes recent advancements in signal processing and feature extraction methods applied to EEG and ERP data and explores the use of machine learning and deep learning techniques to enhance diagnostic accuracy and interpretative depth. By integrating these methodologies, the review highlights how EEG and ERP can contribute to a more effective understanding and monitoring of cognitive changes associated with MCI, underscoring the importance of early diagnosis for timely intervention and improved patient care. Finally, the review focuses on future research directions, including the development of advanced analytical techniques and multimodal integration approaches involving EEG and ERP to further improve diagnostic accuracy and clinical application. © 2024 IEEE.

关键词： Deep learning

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