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Best Linear Controllers for Decentralized Linear Quadratic systems

Journal of systems Science & Complexity 2025年第1期38卷 210-237页

作者： AFSHARI Mohammad MAHAJAN Aditya Institute for Robotics and Inteligent Machines Georgia Institute of TechnologyAtlanta 30332-0530USA Department of Electrical and Computer Engineering McGill UniversityMontreal H3A 0G4Canada

In this paper,the authors revisit decentralized control of linear quadratic(LQ)*** of imposing an assumption that the process and observation noises are Gaussian,the authors assume that the controllers are restricted to be *** authors show that the multiple decentralized control models,the form of the best linear controllers is identical to the optimal controllers obtained under the Gaussian noise *** main contribution of the paper is the solution ***,optimal controllers for decentralized LQ systems are identified using dynamic programming,maximum principle,or spectral *** authors present an alternative approach which is based by combining elementary building blocks from linear systems,namely,completion of squares,state splitting,static reduction,orthogonal projection,(conditional)independence of state processes,and decentralized estimation.

关键词： Decentralized estimation decentralized stochastic control linear quadratic systems team theory

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A New Approach to Determine Feasible Operating Region of Unbalanced Distribution Networks with Distributed Photovoltaics

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IEEE Transactions on Power Delivery 2025年第3期40卷 1493-1504页

作者： Prasad, Manorath Rather, Zakir Hussain Razzaghi, Reza Doolla, Suryanarayana Indian Institute of Technology Bombay Department of Energy Science and Engineering Mumbai India Monash University Department of Electrical and Computer Systems Engineering Melbourne Australia

Amidst rising distributed generation and its potential role in grid management, this article presents a new realistic approach to determine the operational space and flexibility potential of an unbalanced active distribution network. The feasible operating region of an active distribution network is constituted by its range of active-reactive power exchanges with the bulk power system without breaching network constraints. This study explores the potential of highly penetrated single- and three-phase distributed photovoltaics and voltage-sensitive loads to determine the feasible operating region at different operating points. The cumulative response of Volt-Var controlled distributed photovoltaics and voltage-sensitive loads determines the power flow at the bulk power system-active distribution network interconnection, ensuring feasibility with respect to voltage magnitude and unbalance constraints. Further, the correspondence of feasible operating region with the tap-settings of substation transformer enables a novel feature to traverse throughout the available operating region and facilitate bulk power system-active distribution network power coordination. Additionally, a nodal sensitivity-based adjustable Volt-Var control scheme is proposed for distributed photovoltaics, improving the feasible operating region. The proposed strategy is validated on bulk power systemactive distribution network integrated test system. Bulk power system: IEEE-9 bus system-Active distribution network: (highly unbalanced IEEE-13 bus distribution system (medium voltage) + modified CIGRE low voltage system). © 1986-2012 IEEE.

关键词： Power distribution networks

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Fuzzy clustering for electric field characterization and its application to thunderstorm interpretability

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Digital Communications and Networks 2025年第2期11卷 299-307页

作者： Xu Yang Hongyan Xing Xinyuan Ji Wei Xu Witold Pedrycz School of Electronics and Information Engineering Nanjing University of Information Science and Technology Department of Electrical and Computer Engineering University of Alberta Systems Research Institute Polish Academy of Sciences Department of Computer Engineering Faculty of Engineering and Natural Sciences Istinye University

Changes in the Atmospheric Electric Field Signal(AEFS) are highly correlated with weather changes, especially with thunderstorm activities. However, little attention has been paid to the ambiguous weather information implicit in AEFS changes. In this paper, a Fuzzy C-Means(FCM) clustering method is used for the first time to develop an innovative approach to characterize the weather attributes carried by AEFS. First, a time series dataset is created in the time domain using AEFS attributes. The AEFS-based weather is evaluated according to the time-series Membership Degree(MD) changes obtained by inputting this dataset into the FCM. Second, thunderstorm intensities are reflected by the change in distance from a thunderstorm cloud point charge to an AEF apparatus. Thus, a matching relationship is established between the normalized distance and the thunderstorm dominant MD in the space domain. Finally, the rationality and reliability of the proposed method are verified by combining radar charts and expert experience. The results confirm that this method accurately characterizes the weather attributes and changes in the AEFS, and a negative distance-MD correlation is obtained for the first time. The detection of thunderstorm activity by AEF from the perspective of fuzzy set technology provides a meaningful guidance for interpretable thunderstorms.

关键词： Atmospheric electric field (AEF) Thunderstorm Fuzzy C-means (FCM) Attribute

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Data-driven output regulation control for constrained linear systems

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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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A Novel Technology for Semiautomatic and Automatic Stem–Stake Coupling of Seedlings and Plants

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 254-262页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonN6A 5B9 Canada Western University Department of Electrical and Computer Engineering LondonN6A 3K7 Canada Advanced Robotics and Mechatronic Systems Laboratory LondonN6A 5B9 Canada

This article introduces a novel mechatronic system for coupling the stems of seedlings and plants to wooden stakes or ropes, a crucial process for supporting them during growth, transportation, and fruiting in plant propagation facilities and greenhouses. The stem–stake coupling device utilizes interconnected mechanisms and an impedance control method to adjust motor torque and speed, shaping metallic wire into clips of various shapes and dimensions, effectively securing plant stems to stakes or ropes. In a robotic system, a claw-shaped arm mechanism, a stereo camera, and real-time vision techniques are integrated into the stem–stake coupling device to identify the optimal coupling point and automate the coupling task. This innovation addresses the labor-intensive task of manual coupling, offering a scalable solution for growers through handheld devices or fully automated robotic systems. In the context of increasing labor shortages and rising costs, the technology offers a sustainable and efficient alternative with significant potential to enhance operational efficiency in greenhouses and propagation facilities. © 2023 IEEE.

关键词： Seed

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Automatic emotion recognition using deep neural network

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Multimedia Tools and Applications 2025年 1-30页

作者： Sujatha, R. Chatterjee, Jyotir Moy Pathy, Baibhav Hu, Yu-Chen School of Computer Science Engineering and Information Systems Vellore Institute of Technology Vellore India Department of CSE Graphic Era University Dehradun India School of Electrical Engineering Vellore Institute of Technology Vellore India Department of Computer Science Tunghai University Taichung City Taiwan

Emotions are a vital semantic part of human correspondence. Emotions are significant for human correspondence as well as basic for human–computer cooperation. Viable correspondence between people is possibly achieved when both the importance and the emotion of the correspondence are perceived by all groups included. Understanding the significance of language has generally been concentrated on in natural language processing (NLP) as a semantic examination. In NLP, the text can be handled appropriately for classification. Emotion detection from facial emotion is the subfield of social signal processing applied in a wide assortment of regions, explicitly for human and PC collaboration. Many researchers have proposed various approaches, generally utilizing machine learning concepts. Automatic emotion recognition (AER) is significant for working with consistent intuitiveness between a person and a smart device toward fully acknowledging an intelligent society. Many researchers examined cross-lingual and multilingual speech emotion as a stage toward language-free emotion acknowledgment in natural speech. In the present work, we are proposing a deep learning-based AER system using four openly accessible datasets, namely Basic Arabic Vocal Emotions Dataset (BAVED), Acted Emotional Speech Dynamic Database (AESDD), Urdu written in Latin/Roman Script (URDU), and Toronto Emotional Speech Set (TESS), by utilizing the Jupyter notebook and a Python library for music and audio synthesis named Librosa. The experimental results exhibited that the proposed approach achieves better than the existing approaches, i.e., the accuracy of the proposed system with the URDU dataset is 96.24%, the TESS dataset is 99.10%, the AESDD dataset is 65.97%, and the BAVED dataset is 73.12%. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Semantics

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Design and Development of a Small UGV for Object Retrieval in Domestic Environments

Design and Development of a Small UGV for Object Retrieval i...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Jogeshwar, Bhaavin Kishore Bohannon, Joshua Sevil, Hakki Erhan Department of Intelligent Systems and Robotics PensacolaFL32514 United States Department of Electrical and Computer Engineering PensacolaFL32514 United States

ISBN: (纸本)9798331504847

The objective of this project is to develop an unmanned ground vehicle (UGV) prototype capable of retrieving small objects in domestic environments. As the robotics field continues to advance, the demand for autonomous systems that enhance daily life is rapidly increasing. Autonomous systems have the potential to improve efficiency by performing routine tasks, thereby reducing human effort and promoting convenience in household settings. This study explores the development of a small UGV designed to identify, navigate toward, and retrieve small objects while autonomously avoiding obstacles such as walls and furniture in domestic environments. The system utilizes neural networks for real-time object detection. The UGV design consists of an object retrieval mechanism suitable for handling items typically left scattered in domestic environments. The proof-of-concept results show the potential of designed UGV domestic, and could potentially enable further advancements in autonomous household assistance technologies. © 2025 IEEE.

关键词： Object detection

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Generalized Two-Point Visual Control Model of Human Steering for Accurate State Estimation1

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ASME Letters in Dynamic systems and Control 2025年第1期5卷 011004页

作者： Mai, Rene E. Sears, Katherine Roessling, Grace Julius, Agung Mishra, Sandipan Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute TroyNY12180 United States Department of Cognitive Science Rensselaer Polytechnic Institute TroyNY12180 United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States

We derive and validate a generalization of the two-point visual control model, an accepted cognitive science model for human steering behavior. The generalized model is needed as current steering models are either insufficiently accurate or too complex for online state estimation. We demonstrate that the generalized model replicates specific human steering behavior with high precision (85% reduction in modeling error) and integrate this model into a human-as-advisor framework where human steering inputs are used for state estimation. As a benchmark study, we use this framework to decipher ambiguous lane markings represented by biased lateral position measurements. We demonstrate that, with the generalized model, the state estimator can accurately estimate the true vehicle state, providing lateral state estimates with under 0.15 m error across participants. However, without the generalized model, the estimator cannot accurately estimate the vehicle's lateral state. © 2024 by ASME.

关键词： Man machine systems

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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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