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Distributed Proportional-Integral Algorithms for Multiple Coalition Games under Limited Communication Resources

IEEE Transactions on Signal and Information Processing over Networks 2025年 11卷 450-459页

作者： Liu, Jiaxun Wang, Dong Liu, Jiashuo Dong, Xiwang Ludong University School of Mathematics and Statistics Science Yantai264025 China Dalian University of Technology School of Control Science and Engineering Dalian116024 China Optimization for Industrial Equipment of Ministry of Education Key Laboratory of Intelligent Control China Beihang University Institute of Unmanned System Institute of Artificial Intelligence School of Automation Science and Electrical Engineering Beijing100191 China

This paper studies the algorithm design for multiple coalition games under limited communication resources, in which the players in the same coalition cooperatively optimize the summation of cost functions in this coalition and do not care about the costs of other coalitions. To address this game, we develop a distributed proportional-integral algorithm based on the coalition estimate strategy and the proportional-integral principle. Furthermore, when the communication resource is concretely quantified by bit rates in communication channels, we propose a coding-decoding-based distributed proportional-integral algorithm based on the distributed proportional-integral algorithm and coding-decoding rules for seeking the Nash equilibrium of multiple coalition games. It proves that both algorithms linearly and precisely converge to the Nash equilibrium in spite of limited communication resources. Then, the necessary and sufficient condition for the linear convergence of the proposed algorithm about the requirement of bit rates is presented. Moreover, the relationship between the bit rate and the convergence speed of the proposed algorithm is also theoretically explained. Lastly, the simulation in formation problems of unmanned vehicle swarms is presented to demonstrate the effectiveness of proposed algorithms. © 2015 IEEE.

关键词： Cost functions

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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 Seamless Pedestrian Localization system Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite system (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation system (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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Modeling and Experimental Study of an Open Two-Phase Loop Driven by Osmotic Pressure and Capillary Force

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Frontiers in Heat and Mass Transfer 2025年第1期23卷 55-70页

作者： Hanli Bi Zheng Peng Chenpeng Liu Zhichao Jia Guoguang Li Yuandong Guo Hongxing Zhang Jianyin Miao National Key Laboratory of SpacecraftThermal Control Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China School of Aeronautical Science and Engineering Beihang UniversityBeijing100083China School of Energy and Environment Engineering University of Science and Technology BeijingBeijing100083China

As space technology advances,thermal control systems must effectively collect and dissipate heat from distributed,multi-source *** heat pipe is a highly reliable two-phase heat transfer component,but it has several limitations when addressing multi-source heat *** by the transport and heat dissipation system of plants,large trees achieve stable and efficient liquid supply under the influence of two driving forces:capillary force during transpiration in the leaves(pull)and root pressure generated by osmotic pressure in the roots(push).The root pressure provides an effective liquid supply with a driving force exceeding 2 MPa,far greater than the driving force in conventional capillary-pumped two-phase *** has shown that osmotic heat pipes offer a powerful driving force,and combining osmotic pressure with capillary force has significant ***,this paper designs a multi-evaporator,dual-drive two-phase loop,using both osmotic pressure and capillary force to solve the multi-source heat dissipation ***,a transmembrane water flux model for the osmotic pressure-driven device was established to predict the maximum heat transfer capacity of the dual-drive two-phase ***,an experimental setup for a multi-evaporator“osmotic pressure+capillary force”dual-drive two-phase loop was constructed,capable of transferring at least 235 W of power under a reverse gravity condition of 20 *** study also analyzed the effects of reverse gravity height,heat load distribution among the three evaporators,startup sequence,and varying branch resistances on the performance of the dual-drive two-phase loop.

关键词： Multi-heat sources osmotic pressure two-phase loop dual-drive loop heat pipe

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Coprime Factorization-Based Encryption and Attack Detection for Nonlinear Cyber-Physical systems Using Deep Learning Approach

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IEEE Transactions on Automation science and engineering 2025年 22卷 14020-14029页

作者： Wu, Shimeng Luo, Hao Zhang, Jiusi Qiao, Xinyu Tian, Jilun Jiang, Yuchen Harbin Institute of Technology Department of Control and Simulation Center Harbin150001 China National Key Laboratory ofComplex System Control and Intelligent Agent Cooperation Harbin150001 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper presents a data-driven framework for integrating encryption transmission and attack detection in cyber-physical systems (CPS) with nonlinear physical plants. The main focus of this research is to use deep neural networks to realize the coprime factorization (CF) of nonlinear systems. The definition of the CF guides the network training and designing process, and the model’s topology is designed in the state-space form, which improves the interpretability of the data-driven CF. Based on the CF-aided neural networks, an encrypted transmission module is designed that projects information related to system dynamics into a perpendicular data space, which complements existing encryption methods from a control theory perspective. Subsequently, an anomaly detector are designed using the same CF pairs. This detector not only provides high-accuracy detection of attacks but also distinguishes between attacks and faults, thereby reducing the false positive rate and enhancing the reliability of the attack detection. The proposed method has been validated in a real CPS using a mecanum-wheeled vehicle as the physical plant, demonstrating its effectiveness and applicability. © 2004-2012 IEEE.

关键词： Factorization

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Relative Localizability and Localization for Multirobot systems

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IEEE Transactions on Robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Small Signal Stability-Guaranteed Moving Target Defense Against Load Redistribution Attack On IoT-based Smart Grid

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IEEE Internet of Things Journal 2025年第11期12卷 17413-17429页

作者： Wang, Bingdong Zhang, Zhenyong Wang, Mufeng Liu, Mengxiang Ye, Rui Deng, Ruilong Zhang, Xin Guizhou University State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Guizhou Power Grid Co. Ltd. Intelligent Operation Center China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou313000 China

Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed flexible AC transmission system. However, existing studies mainly focus on optimizing the performance of MTD and ignore the safety effect of it on the system’s operation. In this paper, we fill this gap by deeply analyzing the effect of MTD on the small signal stability and aim to alleviate the negative impact and guarantee its defending performance simultaneously. Firstly, the stability is formally described using the eigenvalue sensitivity. The relationship between the MTD-induced perturbation (MTDper) and the stability criteria is derived. Secondly, a new indicator is proposed to measure the effectiveness of MTDper. Thirdly, a constrained optimization problem is formulated to compute the bound of MTDper for guaranteeing the small signal stability. In addition, a surprising finding is that the stability margin can be improved and enhanced by optimizing the value of MTDper without losing the MTD’s effectiveness. Finally, we evaluate the performance of MTDper and its impact on the small signal stability with extensive simulations on the IEEE 30-bus, 39-bus, and 68-bus test power systems. © 2014 IEEE.

关键词： Constrained optimization

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Swarm-Based Dynamic Coverage of Multi-ASV systems in the Presence of Measurement Noises

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IEEE Transactions on Vehicular Technology 2025年第5期74卷 7237-7250页

作者： Liu, Lu Jiao, Shijian Han, Bing Li, Tieshan Peng, Zhouhua Dalian Maritime University School of Marine Electrical Engineering Dalian116026 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China Shanghai Ship and Shipping Research Institute National Engineering Research Center of Ship & Shipping Control System Shanghai200135 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) in the presence of static and dynamic obstacles, limited communication distance, and measurement noises. A modular control method including planning, guidance, and control is proposed. At the planning level, a swarm-based dynamic coverage strategy is developed to achieve the coverage of a given domain. Both the collision avoidance and connectivity preservation issues are solved by using artificial potential fields. At the kinematic level, novel adaptive line-of-sight guidance laws are presented based on cascade extended state observers (CESOs), such that accurate guidance signals are given by compensating for time-varying sideslip angle and suppressing measurement noises. At the kinetic level, two CESOs are developed to estimate the internal model uncertainties and external environmental disturbance, and antidisturbance kinetic control laws are designed subsequently. The proposed CESOs overcome the noises sensitivity problem of classical observers, and thus facilitate the practical implementation under measurement noises. The input-to-state stability of the closed-loop system is confirmed by the Lyapunov theory and cascade stability theory. Simulation and hardware-in-the-loop experiment results are provided to demonstrate the effectiveness of the proposed swarm-based dynamic coverage method. © 1967-2012 IEEE.

关键词： Velocity measurement

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Broadband Optical Nonlinearities and Ultrafast Carrier Dynamics of GO-CuS Hybrid Film

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Journal of Lightwave Technology 2025年第11期43卷 5381-5389页

作者： Zhang, Xuefeng Bai, Xuli Liu, Xiaofei Wang, Dan Han, Hong Xiao, Zhengguo Zhang, Jianguo Nie, Zhongquan Taiyuan University of Technology College of Materials Science and Engineering Institute of New Carbon Materials Taiyuan030024 China Taiyuan University of Technology Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Electronic Information and Optical Engineering Taiyuan030024 China Taiyuan Institute of Technology Department of Science Taiyuan030008 China Tongren University Department of Physics and Electronic Engineering Tongren China National University of Defense Technology College of Advanced Interdisciplinary Studies Changsha410073 China

We report the broadband optical nonlinearities and ultrafast carrier dynamics of GO doped with CuS nanoparticles (GO-CuS) following the femtosecond pulse lasers. Both the pure GO and GO-CuS hybrid films are first synthesized by the vacuum filter deposition method and their optical nonlinearities are then examined in the wide wavelength range (400 nm-1064 nm) based on the femtosecond Z-scan technique. The results reveal that, compared to the pristine GO, the introduction of CuS not only makes the GO-CuS hybrid film switched from saturated absorption to reverse saturated absorption possible, but also achieves strong broadband optical nonlinear absorption responses and optical limiting effects. It is demonstrated that the strongest nonlinear absorption coefficient (∼3.6×10-7 m/W) appears at 400 nm excitation, which is dozens of times larger than that under the illumination of 1064 nm. By leveraging the femtosecond pump-probe technique, we further study the ultrafast carrier dynamics of the GO-CuS hybrid film carrying the fast and slow relaxation processes. Moreover, the physical mechanisms behind these excellent nonlinear optical responses are elucidated. The findings presented here indicate that the GO-CuS hybrid film can be regarded as a potential promising candidate in various ultrafast photonics devices. © 1983-2012 IEEE.

关键词： Femtosecond lasers

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