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Data-driven output regulation control for constrained linear systems

science China(information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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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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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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A Non-Calibration Nonlinear Errors Correction Method for Phase-shifting Patterns

A Non-Calibration Nonlinear Errors Correction Method for Pha...

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2024 China Automation Congress, CAC 2024

作者： Zheng, Yujie Chen, Bin Wu, Shiqian Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350368604

To reduce phase errors caused by nonlinear responses in the measurement system, we propose a non-calibration correction method for nonlinear errors in phase-shifting patterns. First, the captured grating fringes are transformed using a Fourier transform to convert the images from the gray scale to the frequency domain. The first harmonic frequency is then determined using an appropriate method. Second, the appropriate filter cutoff frequency is calculated by combining the phase-shift algorithm's sensitivity to different harmonics with frequency response curves. Low-pass filtering is then performed on the phase-shift patterns to suppress high frequencies caused by nonlinear responses, thus reducing phase errors in the actual measurement process. Finally, the standard plane and other irregularly shaped objects were reconstructed using the proposed method and other techniques. Measurement errors under different conditions were then compared. Experimental results show that the proposed method significantly suppresses gamma nonlinear responses and achieves high measurement accuracy and efficiency. © 2024 IEEE.

关键词： Low pass filters

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Learning Scalable Task Assignment with Imperative-Priori Conflict Resolution in Multi-UAV Adversarial Swarm Defense Problem

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Journal of systems science & Complexity 2024年第1期37卷 369-388页

作者： ZHAO Zhixin CHEN Jie XIN Bin LI Li JIAO Keming ZHENG Yifan School of Electronics and Information Engineering Tongji UniversityShanghai 201804China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201804China School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing 100081China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201804China.

The multi-UAV adversary swarm defense(MUASD)problem is to defend a static base against an adversary UAV swarm by a defensive UAV *** the problem into task assignment and low-level interception strategies is a widely used ***-based approaches for task assignment are a promising *** studies on learning-based methods generally assume decentralized decision-making architecture,which is not beneficial for conflict *** contrast,centralized decision-making architecture is beneficial for conflict resolution while it is often detrimental to *** achieve scalability and conflict resolution simultaneously,inspired by a self-attention-based task assignment method for sensor target coverage problem,a scalable centralized assignment method based on self-attention mechanism together with a defender-attacker pairwise observation preprocessing(DAP-SelfAtt)is ***,an imperative-priori conflict resolution(IPCR)mechanism is proposed to achieve conflict-free ***,the IPCR mechanism is parallelized to enable efficient *** validate the algorithm,a variant of proximal policy optimization algorithm(PPO)is employed for training in scenarios of various *** experimental results show that the proposed algorithm not only achieves conflict-free task assignment but also maintains scalability,and significantly improve the success rate of defense.

关键词： Conflict resolution reinforcement learning scalability task assignment.

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Quadruped robot target following based on a gimbal mechanism 18

Quadruped robot target following based on a gimbal mechanism

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Chen, Xiuqi Cheng, Lei Xie, Zongquan Wuhan University of Science and Technology School of Information Science and Engineering Wuhan China Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan China

ISBN: (纸本)9798350312201

Human-robot collaboration is gradually becoming the way of life and production in the future. In this work, we focus on promoting the application scenarios of robots that can autonomously follow users, and propose a quadruped robot that can achieve autonomous following in complex environments. To address the problem that traditional quadruped robots using fixed visual sensors easily lose track of the target, we propose a method of using a gimbal mechanism equipped with a visual sensor for visual servoing tracking. By combining the chassis direction to plan the target servo strategy and controlling the gimbal rotation, we can achieve visual target following. On this basis, this paper controls the foot trajectory by using the cubic spline interpolation method, so that the robot can walk along various expected trajectories to achieve target following. This paper uses a field-of-view evaluation index to evaluate the tracking performance of this method and proves the effectiveness of the proposed target following method through experiments. © 2023 IEEE.

关键词： Computer vision

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A Directed Jump Point Search with Improved Preprocess for Path Planning 18

A Directed Jump Point Search with Improved Preprocess for Pa...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Xie, Zongquan Cheng, Lei Li, Xiang Chen, Xiuqi Wuhan University of Science and Technology School of Information Science and Engineering Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350312201

We introduce a new algorithm called directed JPS+(Jump Point Search Plus) that addresses the large memory overheads of JPS+ and improves its performance in cases where the obstacle scale is small. Our approach involves two main modifications. First, we reduce memory usage by recording only jump points in the preprocessing stage instead of eight labels for each nodes in JPS+. And we introduce a technique to connect these precomputed jump points into jump point set. Second, we apply an optimization to JPS+ that speeds up path planning in maps with small obstacle scale and it has no negative impact on other cases. We implement our algorithm in Python and evaluate its performance in terms of memory usage and planning time. Our results demonstrate that it saves memory and speeds up the path planning, particularly in maps with small obstacle scale. © 2023 IEEE.

关键词： Motion planning

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ViGT: proposal-free video grounding with a learnable token in the transformer

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science China(information sciences) 2023年第10期66卷 196-212页

作者： Kun LI Dan GUO Meng WANG School of Computer Science and Information Engineering Hefei University of Technology Key Laboratory of Knowledge Engineering with Big Data Ministry of Education Intelligent Interconnected Systems Laboratory of Anhui Province Institute of Artificial Intelligence Hefei Comprehensive National Science Center

The video grounding(VG) task aims to locate the queried action or event in an untrimmed video based on rich linguistic descriptions. Existing proposal-free methods are trapped in the complex interaction between video and query, overemphasizing cross-modal feature fusion and feature correlation for VG. In this paper, we propose a novel boundary regression paradigm that performs regression token learning in a transformer. Particularly, we present a simple but effective proposal-free framework, namely video grounding transformer(ViGT), which predicts the temporal boundary using a learnable regression token rather than multi-modal or cross-modal features. In ViGT, the benefits of a learnable token are manifested as follows.(1) The token is unrelated to the video or the query and avoids data bias toward the original video and query.(2) The token simultaneously performs global context aggregation from video and query ***, we employed a sharing feature encoder to project both video and query into a joint feature space before performing cross-modal co-attention(i.e., video-to-query attention and query-to-video attention) to highlight discriminative features in each modality. Furthermore, we concatenated a learnable regression token [REG] with the video and query features as the input of a vision-language transformer. Finally, we utilized the token [REG] to predict the target moment and visual features to constrain the foreground and background probabilities at each timestamp. The proposed ViGT performed well on three public datasets:ANet-Captions, TACoS, and YouCookⅡ. Extensive ablation studies and qualitative analysis further validated the interpretability of ViGT.

关键词： video grounding temporal sentence grounding boundary regression token learning proposal-free

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Adaptive Graph Embedding With Consistency and Specificity for Domain Adaptation

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IEEE/CAA Journal of Automatica Sinica 2023年第11期10卷 2094-2107页

作者： Shaohua Teng Zefeng Zheng Naiqi Wu Luyao Teng Wei Zhang School of Computer Science and Technology Guangdong University of TechnologyGuangzhou 510006China Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems Macao University of Science and TechnologyMacao 999078China School of Information Engineering Guangzhou Panyu PolytechicGuangzhou 511483China Faculty of Information Technology Monash University20 Exhibition Walk ClaytonVIC 3800Australia IEEE

Domain adaptation(DA) aims to find a subspace,where the discrepancies between the source and target domains are reduced. Based on this subspace, the classifier trained by the labeled source samples can classify unlabeled target samples *** approaches leverage Graph Embedding Learning to explore such a subspace. Unfortunately, due to 1) the interaction of the consistency and specificity between samples, and 2) the joint impact of the degenerated features and incorrect labels in the samples, the existing approaches might assign unsuitable similarity, which restricts their performance. In this paper, we propose an approach called adaptive graph embedding with consistency and specificity(AGE-CS) to cope with these issues. AGE-CS consists of two methods, i.e., graph embedding with consistency and specificity(GECS), and adaptive graph embedding(AGE).GECS jointly learns the similarity of samples under the geometric distance and semantic similarity metrics, while AGE adaptively adjusts the relative importance between the geometric distance and semantic similarity during the iterations. By AGE-CS,the neighborhood samples with the same label are rewarded,while the neighborhood samples with different labels are punished. As a result, compact structures are preserved, and advanced performance is achieved. Extensive experiments on five benchmark datasets demonstrate that the proposed method performs better than other Graph Embedding methods.

关键词： Adaptive adjustment consistency and specificity domain adaptation graph embedding geometrical and semantic metrics

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Knowledge Transfer Learning via Dual Density Sampling for Resource-Limited Domain Adaptation

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2269-2291页

作者： Zefeng Zheng Luyao Teng Wei Zhang Naiqi Wu Shaohua Teng the School of Computer Science and Technology Guangdong University of TechnologyGuangzhou 510006China the School of Information Engineering Guangzhou Panyu PolytechicGuangzhou 511483China the Faculty of Information Technology Monash University20 Exhibition Walk ClaytonVIC 3800Australia IEEE the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems Macao University of Science and TechnologyMacao 999078China

Most existing domain adaptation(DA) methods aim to explore favorable performance under complicated environments by ***,there are three unsolved problems that limit their efficiencies:ⅰ) they adopt global sampling but neglect to exploit global and local sampling simultaneously;ⅱ)they either transfer knowledge from a global perspective or a local perspective,while overlooking transmission of confident knowledge from both perspectives;and ⅲ) they apply repeated sampling during iteration,which takes a lot of *** address these problems,knowledge transfer learning via dual density sampling(KTL-DDS) is proposed in this study,which consists of three parts:ⅰ) Dual density sampling(DDS) that jointly leverages two sampling methods associated with different views,i.e.,global density sampling that extracts representative samples with the most common features and local density sampling that selects representative samples with critical boundary information;ⅱ)Consistent maximum mean discrepancy(CMMD) that reduces intra-and cross-domain risks and guarantees high consistency of knowledge by shortening the distances of every two subsets among the four subsets collected by DDS;and ⅲ) Knowledge dissemination(KD) that transmits confident and consistent knowledge from the representative target samples with global and local properties to the whole target domain by preserving the neighboring relationships of the target *** analyses show that DDS avoids repeated sampling during the *** the above three actions,confident knowledge with both global and local properties is transferred,and the memory and running time are greatly *** addition,a general framework named dual density sampling approximation(DDSA) is extended,which can be easily applied to other DA *** experiments on five datasets in clean,label corruption(LC),feature missing(FM),and LC&FM environments demonstrate the encouraging performance of KTL-DDS.

关键词： Cross-domain risk dual density sampling intra-domain risk maximum mean discrepancy knowledge transfer learning resource-limited domain adaptation

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