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Observer-based stabilization for discrete nonlinear semi-Markov jump singularly perturbed models with mode-switching delay

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Science China(Information Sciences) 2025年第4期68卷 389-390页

作者： Wenhai QI Runkun LI Ju H.PARK Zheng-Guang WU Huaicheng YAN School of Engineering Qufu Normal University Department of Electrical Engineering Yeungnam University Institute of Cyber-Systems and Control Zhejiang University Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education East China University of Science and Technology

Semi-Markov jump systems(S-MJMs) not only characterize hybrid systems but also address the limitations of Markov jump systems(MJMs) [1–3]. Due to their ability to exhibit multi-time-scale features, singularly perturbed models(SPMs) effectively model practical systems influenced by multiple time-scale phenomena [4]. In this study, the observer-based output feedback controller is asynchronous with the original system due to the time delay in the controller mode switching. A nonlinear plant with singularly perturbed parameters(SPPs) is represented using an interval type-2(IT2) fuzzy model [5].

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Two-Stage Hierarchical Motion Planning with Basis-Splines in Highway Environments

Two-Stage Hierarchical Motion Planning with Basis-Splines in...

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18th IEEE International Conference on Advanced Motion control, AMC 2024

作者： Dorpmuller, Philip Bertram, Torsten Institute of Control Theory and Systems Engineering Tu Dortmund University Dortmund44227 Germany

ISBN: (纸本)9798350342819

Road environments can include several local optimal solutions to be explored by a motion planning algorithm, which can be computationally complex. This work proposes a two-stage approach, where each stage solves the same basis-spline parameterized optimal control problem. In the first step, a solution is selected from a discrete set of trajectory candidates. In the second one, the trajectory is refined by a nonlinear optimization algorithm in the continuous solution space. The non-uniform basis-spline parameterization guarantees the trajectory's time-continuous feasibility. Final costs are introduced to ensure convergence towards a final manifold. The approach is evaluated in a highway scenario where other vehicles must be circumnavigated to reach a specified velocity and lane center. © 2024 IEEE.

关键词： Motion planning

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Research on Integrated Mission Planning and Design Method for China’s Manned Lunar Exploration

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Advances in Astronautics Science and Technology 2024年第1期7卷 19-35页

作者： Zhou, Wanmeng Zhou, Wenyan Deng, Xinyu Li, Gefei China Astronauts Research and Training Center Beijing100094 China Beijing Institute of Spacecraft System Engineering Beijing100094 China Beijing Institute of Astronautical Systems Engineering Beijing100076 China Beijing Aerospace Control Center Beijing100094 China

Aiming at the requirements of top-level mission planning for manned lunar exploration, an integrated mission planning and design method is proposed for China’s manned lunar exploration. By decomposing the whole flight profile, an integrated method based on the circumlunar perturbation is proposed. Then, the three key constraints of sunlight condition, lunar orbit and return landing sites are identified and analyzed. According to the analysis results and the different time scale constraints, the mission monthly window, daily window and hourly window are gradually selected to meet the engineering requirements. In the end, the method has been verified by the co-simulation of manned lunar exploration on the integration platform. It has been proved that the proposed method can solve the comprehensive window design problem for standard and delayed mission, and also provides an effective pathway for rapid planning in a large time scale. This is an English translated version of "Research on Integrated Mission Planning and Design Method for China’s Manned Lunar Exploration" originally published in Journal of Astronautics. © Chinese Society of Astronautics 2024. corrected publication 2024.

关键词： Lunar missions

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An interaction-fair semi-decentralized trajectory planner for connected and autonomous vehicles

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Autonomous Intelligent systems 2025年第1期5卷 1-20页

作者： Liu, Zhengqin Lei, Jinlong Yi, Peng Hong, Yiguang Department of Control Science and Engineering Tongji University Shanghai201804 China The Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201804 China Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai201804 China

Lately, there has been a lot of interest in game-theoretic approaches to the trajectory planning of autonomous vehicles (AVs). But most methods solve the game independently for each AV while lacking coordination mechanisms, and hence result in redundant computation and fail to converge to the same equilibrium, which presents challenges in computational efficiency and safety. Moreover, most studies rely on the strong assumption of knowing the intentions of all other AVs. This paper designs a novel autonomous vehicle trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated trajectory planning by exploiting vehicle-to-everything (V2X) technology. Firstly, the trajectory planning for connected and autonomous vehicles (CAVs) is formulated as a game with coupled safety constraints. We then define the interaction fairness of the planned trajectories and prove that interaction-fair trajectories correspond to the variational equilibrium (VE) of this game. Subsequently, we propose a semi-decentralized planner for the vehicles to seek VE-based fair trajectories, in which each CAV optimizes its individual trajectory based on neighboring CAVs’ information shared through V2X, and the roadside unit takes the role of updating multipliers for collision avoidance constraints. The approach can significantly improve computational efficiency through parallel computing among CAVs, and enhance the safety of planned trajectories by ensuring equilibrium concordance among CAVs. Finally, we conduct Monte Carlo experiments in multiple situations at an intersection, where the empirical results show the advantages of SVEP, including the fast computation speed, a small communication payload, high scalability, equilibrium concordance, and safety, making it a promising solution for trajectory planning in connected traffic scenarios. To the best of our knowledge, this is the first study to achieve semi-distributed solving of a game with coupled constr

关键词： Autonomous vehicles

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Relaxed Stability Criteria for Time-Delay systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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Voltage and power control for distributed generation units in islanded microgrids 6th

Voltage and power control for distributed generation units i...

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6th International Conference on Renewable Energies Offshore, RENEW 2024

作者： Rouch, T. Bagheri M’zoughi, F. Aboutalebi, P. Ahmad, I. Garrido, A.J. Garrido, I. Institute of Research and Development of Processes—IIDP Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao University of the Basque Country Bilbao Spain

ISBN: (纸本)9781032905570

This article presents an optimized control strategy tailored for DC islanded microgrids, featuring a voltage controller based on mixed H2/H∞ state feedback using linear matrix inequalities (LMIs) and a power controller guided by droop characteristics. A polytopic modeling approach addresses system uncertainties and nonlinearities. The controller aims to stabilize the system, reject disturbances, equitably distribute power among distributed generation units (DGUs), and minimize energy consumption. Regional pole placement ensures welldamped transient responses. Simulation results demonstrate effective management of load perturbations and DGU disconnections, with a comparative analysis against an H∞ controller offering additional insights into performance. © 2025 The Author(s).

关键词： Microgrids

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Nested Sliding Mode control Based Impact Angle Guidance with Bounded Input

Nested Sliding Mode Control Based Impact Angle Guidance with...

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

作者： Surve, Prajakta Kumar, Shashi Ranjan Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this paper, a nonlinear guidance law for impact angle-constrained interception of nonmaneuvering targets, respecting the bounds on the control input - the commanded interceptor lateral acceleration, is proposed. By modeling the required interceptor lateral acceleration as a first-order dynamics, which is a function of the maximum permissible value of control input and guidance command, the control input is maintained within the predefined bounds. The dynamics is chosen in such a way that the resulting input will never violate the prescribed bounds. To design the guidance command, also known as commanded lateral acceleration, we employ a sliding surface based on the error between actual and desired line-of-sight (LOS) angles and the LOS rate, facilitating a collision course with zero miss distance. A secondary sliding surface is designed as a function of the primary sliding surface and its rate. This sliding surface enables the control over the required interceptor lateral acceleration. An effective guidance command for precise interception at given impact angle, considering the bounds on control input, is then derived using the sliding mode control technique. Numerical simulations validate the merits and claims of the presented guidance approach. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Sliding mode control

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Adaptive Unscented Kalman Filter Based Sensor Fusion for Aircraft Positioning Relative to Unknown Runway

Adaptive Unscented Kalman Filter Based Sensor Fusion for Air...

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

作者： Ghosh, Nabarun Maity, Arnab Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Maharashtra Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper proposes an estimator to provide precise position, velocity, and orientation for a landing aircraft relative to the runway based on image sensors, IMU sensor data, and barometric sensor measurements. This work excludes GPS data, as it is expected that the proposed estimator can be used for fault detection in GPS and instrument landing systems. The runway is unknown, and hence, its width is estimated online. An adaptive UKF-based approach is adopted to estimate the states. In order to verify the nearer-to-practical performance and accuracy of bias estimation, realistically simulated data that constitute noises and biases from the sensors are taken into consideration. The proposed approach provides a solution for nonlinear state estimation in the presence of measurement noises that are non-additive. In addition to this, it provides estimates of the unknown measurement noise covariance. A comparative study is conducted between the conventional UKF and the proposed AUKF to analyze the adopted approach. Results show that the proposed algorithm gives comparable estimation results and faster convergence than the conventional UKF. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Fault detection

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Enhancing Data Labeling Through Integration of SS-DBSCAN Clustering and Human-in-the-Loop 24

Enhancing Data Labeling Through Integration of SS-DBSCAN Clu...

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6th Asia Conference on Machine Learning and Computing, ACMLC 2024

作者： Monko, Gloriana J. Kimura, Masaomi Department of Functional Control Systems Shibaura Institute of Technology Tokyo Japan School of Engineering Shibaura Institute of Technology Koto City Tokyo Japan

ISBN: (纸本)9798400710018

This study introduces a novel method for integrating Stratified Sampling for Density-Based Spatial Clustering of Applications with Noise (SS-DBSCAN) clustering with the human-in-the-loop approach to semi-supervised data labeling. We enhance the feature representation of text data using attention mechanisms, leading to the formation of more contextually relevant clusters. The clusters are then processed using SS-DBSCAN, where a custom similarity function aligns them closely with expert-labeled examples, facilitating efficient label propagation. Subsequently, human experts reevaluate the clustering outputs, refining the process by reassessing the feature similarities to the expert-labeled classes. This iterative process ensures high fidelity in label assignment and enhances the overall reliability of the semi-supervised learning approach. Applied to MIMIC III and Cancer Doc Classification datasets, this method not only aligns the data labels more closely with expert evaluations but also leverages human judgment to confirm the accuracy and reliability of the re-clustering process. Based on the BERT transformers model, the fine-tuned prediction model achieved 100% accuracy in predicting the correct label and evaluated the re-clustering technique's effectiveness, demonstrating 90.3% and 97.8% correctness in the re-clustered labels in MIMIC III and Cancer Doc Classification datasets, respectively. © 2024 Copyright held by the owner/author(s).

关键词： Self-supervised learning

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Cooperative Look-ahead Lane Change System for Improving Driving Intelligence of Automated Vehicles in Critical Scenarios

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 1-13页

作者： Kamal, Md Abdus Samad Bakibillah, A.S.M. Hayakawa, Tomohisa Yamada, Kou Imura, Jun-ichi Division of Mechanical Science and Technology Graduate School of Science and Technology Gunma University 1-5-1 Tenjincho Kiryu Japan Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

Traffic accidents often result in quick bottlenecks and increase injudicious lane changes near incidents (or lane blockage), worsening collision risks, congestion, and fuel consumption. As a practical solution, this paper proposes a novel cooperative look-ahead lane change (Co-LLC) system for automated vehicles (AVs) to mitigate sudden accident-induced traffic effects by improving driving intelligence and safety in critical scenarios. The proposed Co-LLC system comprises the state prediction model, safety and impact evaluation unit, and decision system. Firstly, we analyze the immediate impacts of traffic accidents and identify that a lack of anticipation causes a lane change hot spot near the incident. Consequently, most attempts to change lanes early are unsuccessful due to uncooperative behavior from vehicles in the destination lane. Secondly, we design anticipatory and cooperative lane change systems for AVs to decide the need and feasibility of a lane change in advance. Thus, the proposed system enables AVs to change lanes smoothly and cooperate with other vehicles during lane changes. Finally, we investigate the impact of different penetration rates of AVs using the proposed system on overall traffic performance. The performance of our proposed system is compared to the traditional driving system, and the results show that our proposed system improves the lane-changing behavior of AVs, assists traditional vehicles in changing their lanes smoothly, and mitigates sudden accident-induced traffic impacts. Moreover, the proposed system improves the overall traffic performance with increased penetration rates. Our proposed system is computationally efficient and suitable for real-time driving in critical traffic scenarios. IEEE

关键词： Traffic congestion

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