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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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science China(information sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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A trajectory-level robot skill learning method based on fuzzy systems

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science China(information sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Fractal autoencoder with redundancy regularization for unsupervised feature selection

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science China(information sciences) 2025年第2期68卷 89-102页

作者： Meiting SUN Fangyu LI Honggui HAN School of Information Science and Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education Beijing Institute of Artificial Intelligence

Feature selection is a crucial step in data preprocessing because feature selection reduces the dimensionality of data by eliminating irrelevant and redundant features. Since manual labeling is expensive, unsupervised feature selection has received increasing attention in recent years. However, existing unsupervised feature selection methods tend to prioritize selecting highly correlated features over exploring feature diversity. Thus, a regularized fractal autoencoder(RFAE) method is proposed to select informative features in an unsupervised way. Specifically, the fractal autoencoder network extends autoencoders to construct a correspondence neural network and a selection neural network. The correspondence neural network exploits interfeature correlations and the selection neural network selects the informative features. A redundancy regularization strategy consists of a redundancy elimination regularization term based on the dependency between features and a sparse regularization term based on the group lasso. The redundancy regularization strategy eliminates feature subset redundancy and enhances network generalization ability. Extensive experimental results on six publicly available datasets show that the proposed RFAE outperforms the compared methods regarding clustering accuracy and classification accuracy. Moreover, the proposed RFAE achieves acceptable computation efficiency.

关键词： unsupervised feature selection fractal autoencoder correspondence neural network selection neural network redundancy regularization strategy

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Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems Control theory Autonomous systems Stability

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H∞ fault-tolerant fuzzy intermittent control for nonlinear hyperbolic PDE systems with multiple delays and actuator failures

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ISA Transactions 2025年 156卷 39-60页

作者： Zhang, Xu Gao, Xuan Wang, Zi-Peng Luo, Biao Han, Ke-Zhen Yan, Xue-Hua School of Automation Central South University Changsha410083 China School of Electrical Engineering University of Jinan Jinan250022 China School of Information Science and Technology Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System and Beijing Institute of Artificial Intelligence Beijing University of Technology Beijing100124 China

This study presents an H∞ fault-tolerant fuzzy intermittent control approach for the nonlinear hyperbolic partial differential equation (PDE) systems with multiple delays and actuator failures (MDAFs). Firstly, the nonlinear hyperbolic PDE systems with MDAFs are characterized by the Takagi–Sugeno (T–S) fuzzy delayed hyperbolic PDE model. Next, by employing the Lyapunov direct method, this paper demonstrates the robust exponential stability using spatial linear matrix inequalities (SLMIs) based on a new switching Lyapunov functional (LF). Furthermore, the H∞ fault-tolerant fuzzy intermittent control issue for nonlinear hyperbolic PDE systems with MDAFs is transformed into the LMI feasibility problem to deal with the SLMIs. Lastly, the feasibility of the constructed control strategy is demonstrated by two illustrative examples. © 2024 International Society of Automation

关键词： Lyapunov functions

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Secure-by-Construction Synthesis for Control systems

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IEEE Transactions on Automatic Control 2025年第6期70卷 4170-4177页

作者： Zhong, Bingzhuo Liu, Siyuan Caccamo, Marco Zamani, Majid Thrust of Artificial Intelligence Information Hub The Thrust of Intelligent Transportation System Hub China KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Technical University of Munich TUM School of Engineering and Design Germany University of Colorado Boulder Department of Computer Science United States Ludwig Maximilian University Department of Computer Science Munich Germany

In this note, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which characterizes the system's ability to maintain plausible deniability of its secret behavior in the presence of an intruder. These controllers are synthesized based on a concept of so-called (augmented) control barrier functions. We propose conditions that facilitate the construction of the desired (augmented) control barrier functions and their corresponding secure-by-construction controllers. To compute these functions, we propose an iterative scheme that leverages iterative sum-of-square programming techniques. This approach enables efficient computation of these functions, particularly for polynomial systems. Finally, we validate the effectiveness of our results through a case study of a vehicle. © 1963-2012 IEEE.

关键词： Iterative methods

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Research on Entity Recognition Method for Quality Standards of Concrete Prefabricated Components 1

Research on Entity Recognition Method for Quality Standards ...

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1st International Conference on intelligent Manufacturing and Cloud Computing, ICIMCC 2024

作者： Zhang, Tingshu Tu, Ming Wang, Gefan Chen, Bingyong Zhao, Yishi Shang, Jianga School of Computer Science China University of Geosciences Wuhang China Intelligent Construction System Research Institute China Construction Third Engineering Buerau Group Co.L Wuhang China Engineering Research Center of Natural Resource Information Management and Digital Twin Engineering Software Ministry of Education School of Computer Science China University of Geosciences Wuhang China

ISBN: (纸本)9781643685779

In recent years, the country has released a large number of standard documents related to prefabricated concrete components. Due to the dispersion and complexity of these standards, it is difficult for industry managers to implement them. Therefore, it is imperative to establish a knowledge graph in the field of quality standards for precast concrete components to achieve knowledge management. The construction of knowledge graph first requires named entity recognition, but due to the specificity of the construction industry, entity recognition of the text in this field still suffers from the problems of low recognition accuracy and high resource consumption. Aiming at the low recognition accuracy and high resource consumption in named entity recognition due to the specificity of the industry, this paper proposes a named entity recognition model ALBERT-BiLSTM-SA-CRF for the field of precast concrete component quality standard, which can capture the full text and local feature information more effectively through the combination of BiLSTM and self-attention mechanism, and accurately recognize entities in the standard. Meanwhile, using ALBERT as the word embedding layer can play the role of reducing resource consumption and improving processing efficiency. © 2025 The Authors.

关键词： Knowledge graph

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Resource Allocation for Fairness Enhancement in Multi-Cell Vehicular VLC system With Optical IRS: A Cooperative Transmission Approach

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IEEE Internet of Things Journal 2025年第11期12卷 16931-16946页

作者： An, Nan Yang, Fang Liu, Chang Cheng, Ling Song, Jian Han, Zhu Tsinghua University Beijing National Research Center for Information Science and Technology Department of Electronic Engineering Beijing100084 China Center of National Railway Intelligent Transportation System Engineering and Technology Beijing100081 China China Academy of Railway Sciences Corporation Limited Signal and Communication Research Institute Beijing100081 China University of the Witwatersrand School of Electrical and Information Engineering Johannesburg2050 South Africa Tsinghua University Department of Electronic Engineering Beijing National Research Center for Information Science and Technology Beijing100084 China Tsinghua University Shenzhen International Graduate School Shenzhen518055 China University of Houston Department of Electrical and Computer Engineering HoustonTX77004 United States Kyung Hee University Department of Computer Science and Engineering Seoul446-701 Korea Republic of

In multi-cell downlink vehicular visible light communication (VLC) systems, vehicles at a cell edge experience lower achievable data rates compared with those at a cell center, primarily due to the weaker channel gain and inter-cell interference, leading to unfairness among vehicles. In this paper, a cooperative transmission approach is proposed for a vehicular VLC system with optical intelligent reflecting surface (OIRS) to enhance the max-min fairness of the system by leveraging the additional OIRS-reflected channels and the interference-mitigating capabilities of cooperative transmission. To this end, the system model is established, followed by the formulation of a resource allocation problem aiming at enhancing max-min fairness, in which the minimum achievable data rate among vehicles is optimized. Then, an effective resource algorithm is proposed, transforming the original problem into an equivalent form and subsequently decomposing it into three subproblems, focusing on OIRS assignment, subchannel allocation, and power adjustment, respectively. By employing a block coordinate descent algorithm, the three subproblems are solved iteratively until convergence. In addition, simulation results confirm the improvement in max-min fairness brought by OIRS and the proposed cooperative transmission approach. Moreover, compared with various baselines, the proposed resource allocation algorithm significantly enhances in the max-min fairness for the vehicular VLC system, crucial for this application. © 2014 IEEE.

关键词： Resource allocation

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Risk Assessment Based Time-adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Hai Li, Baoquan Yin, Haolin Zhang, Xuebo Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion planning to achieve safe and fast flight. Firstly, based on parameterization for uniform B-spline trajectories, relationship of knot spans and UAV speeds is analyzed, and an iterative velocity restrict algorithm is introduced to tackle nonexecutable flight. Subsequently, combining start and target points in local planning, an evaluation criterion function is designed with control points of the above trajectory and directions of collision avoidance. On this basis, risk assessment is conducted according to surrounding environments, where four phases of passing obstacles is constructed by considering risk level variation. Then, the weight function in each phase is determined by relationship of obstacle and planned local trajectory. Moreover, time intervals of B-spline trajectories are adjusted to obtain nonuniform trajectories, so as to affect UAV speeds. Simulation and experiment are conducted with comparison to verify performance of the proposed method. © 2025 IEEE.

关键词： Risk assessment

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Automated Parts Segmentation of Sperm via a Contrastive Learning-Based Part Matching Network

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IEEE Transactions on Automation science and engineering 2025年 22卷 15314-15325页

作者： Chen, Wenyuan Song, Haocong Shan, Guanqiao Dai, Changsheng Liu, Hang Jiang, Aojun Sun, Chen Ru, Changhai Librach, Clifford Zhang, Zhuoran Sun, Yu University of Toronto Department of Computer Science TorontoONM5S 2E4 Canada University of Toronto Department of Mechanical and Industrial Engineering TorontoONM5S 3G8 Canada Dalian University of Technology Institute of Robotics and Intelligent Systems Liaoning Dalian China Suzhou University of Science and Technology School of Electronic and Information Engineering Suzhou215009 China CReATe Fertility Centre TorontoONM5G 1N8 Canada

Sperm morphology measurement is vital for diagnosing male infertility, which involves quantification of multiple subcellular parts for each sperm. Instance-aware part segmentation networks have been introduced to address this task by automatically identifying individual sperm and segmenting their subcellular parts. However, major limitations of state-of-the-art instance-aware part segmentation networks include: 1) they are time-consuming and computational expensive due to sequential processing and multi-stage frameworks;2) they perform poorly for densely packed sperm that overlap or cross over one another. To overcome these challenges, this paper proposes 1) integrating instance identification and subcellular part segmentation within a single-stage framework to save inference time and memory usage;2) dividing a sperm target into simpler components (head and tail) to improve prediction accuracy, followed by a contrastive learning-based matching method to pair the head and tail. Experimental results on our clinically collected human sperm dataset demonstrated that the proposed network not only outperformed state-of-the-art CP-Net (by 3.5% APpvol) but also achieved realtime inference (48.0 frames per second), effectively meeting the clinical requirements for automated parts segmentation of sperm. © 2004-2012 IEEE.

关键词： Image segmentation

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