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Designing a completely distributed observer with robustness against disturbances

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2024年第12期34卷 7912-7935页

作者： Wang, Xiaoling Zhang, Ankang Su, Housheng Chen, Guanrong Nanjing Univ Posts & Telecommun Coll Automat & AI Nanjing 210003 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing Peoples R China East China Univ Sci & Technol Minist Educ Key Lab Smart Mfg Energy Chem Proc Shanghai Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China City Univ Hong Kong Dept Elect Engn Hong Kong Peoples R China

Distributed observer is an effective scheme for state estimation of a targeted system, utilizing a network of sensors to perform local output measurements. In this article, the problem of designing a distributed observer for a linear time-invariant system with external disturbances is addressed. The objective is to perform state estimation of such a system while simultaneously mitigating the impact of external disturbances and maintaining the distributed communication characteristics among the sensors. To achieve this, a completely distributed observer with robustness against disturbances is developed by combining the high-gain observer technique and the adaptive coupling strength strategy. Initially, a traditional high-gain observer is used for the state estimation on the observable subsystem, and subsequently a high-gain observer without peaking is introduced to avoid the peaking phenomenon. Finally, numerical simulations are presented to verify the theoretical results.

关键词： adaptive coupling gain distributed observer external disturbance high-gain observer robustness

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Research on Vessel Segmentation and Extraction Based on 2-D Gabor Features and U-Net

Research on Vessel Segmentation and Extraction Based on 2-D ...

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2022 International Conference on Biomedical and intelligent Systems, IC-BIS 2022

作者： Shi, Mao Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering Nanjing University of Aeronautics & Astronautics Jiangsu Nanjing China

ISBN: (纸本)9781510660212

This paper proposed a vessel segmentation method based on Gabor features and U-Net. According to the eigenvectors of Hessian matrix of each pixel in the image, the vessel direction of each point was obtained to set the direction of Gabor filter, and the Gabor features of different vessel width at each point were extracted to establish the 6-D vectors of each point. By reducing the dimension of the 6-D vector, the 2-D vector of each point was obtained and fused with the original image G channel. U-Net was used to classify the fused image to segment vessels. The experimental results of this method in DRIVE dataset showed that this method had a good effect on the detection of small vessels and vessels at the intersection. © 2022 SPIE. All rights reserved.

关键词： Gabor filters

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A Robust Distributed Interval Observer for LTI Systems

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2023年第3期68卷 1337-1352页

作者： Wang, Xiaoling Su, Housheng Zhang, Fan Chen, Guanrong Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOT Robot Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China Sun Yat Sen Univ Sch Aeronaut & Astronaut Shenzhen 518107 Peoples R China City Univ Hong Kong Dept Elect Engn Hong Kong 999077 Peoples R China

In this article, the state estimation problem of a continuous-time linear time-invariant system is investigated for the situation with unknown external disturbance and measurement noise. A robust distributed interval observer is designed, which consists of a group of sensors communicating with others through a directed graph where each sensor can only access partial information from the output of the plant. The communication among the sensors together with the heterogeneity and undetectability of the sensors result in some stringent requirements on the robust distributed interval observer construction. To resolve these restrictions, the internally positive representation originated from a single agent system is introduced into the robust distributed interval observer. After presenting detailed design and analysis, numerical simulations are demonstrated to verify the theoretical results.

关键词： Observers Linear systems Noise measurement Pollution measurement Intellectual property Sensors Uncertainty Bounding information distributed interval observer Index Terms external disturbance internally positive representation (IPR) linear time-invariant (LTI) system

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Cascaded fault model of power grid with active defense strategy 34

Cascaded fault model of power grid with active defense strat...

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34th Chinese Control and Decision Conference (CCDC)

作者： Liu, Gang Song, Yurong Li, Ruqi Nanjing Univ Posts & Telecommun Sch Comp Sci Nanjing 210046 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210046 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOT Robot Nanjing 210023 Peoples R China

ISBN: (纸本)9781665478960

With the rapid development of power system, its potential hazards are also increasing. Paying attention to grid cascading faults and building a robust smart grid have become a hot topic in current research. Based on the complex network theory system and the existing electrical betweenness model, a cascading failure model with active defense strategy has been proposed and its robustness has been analyzed. When the node is attacked and fails, the distribution principle of "the capable nodes are always busy" is adopted to distribute the failure load. That is, the larger the residual load capacity of adjacent nodes, the more load will be distributed. An active defense strategy has been proposed to artificially remove a small number of nodes with a large "removal ratio", reduce the electrical betweenness of other nodes, and prevent the propagation of cascading faults and power grid collapse. Through IEEE118 and IEEE300 power grid system simulation, the effects of key factors such as attack mode, allocation strategy and tolerance parameters on network robustness have been studied. The experimental simulation shows that the power grid cascade failure model with active defense strategy can better inhibit the further spread of power grid cascade faults.

关键词： Power system Cascade failure Active defense strategy Remove ratio Network robustness

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DISTRIBUTED GLOBAL CONSENSUS OF LTI MASS WITH HETEROGENEOUS ACTUATOR SATURATION AND COMMUNICATION NOISES

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SIAM JOURNAL ON CONTROL AND OPTIMIZATION 2024年第3期62卷 1690-1716页

作者： Wang, Xiaoling Qian, Juan Su, Housheng Lu, Xiujuan Lam, James Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Educ Minist China Wuhan 430074 Peoples R China Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China

In this paper, we focus on a general linear time-invariant multiagent system with heterogeneous actuator saturation to answer the main question: how to achieve global consensus under the premise of asymptotically null controllable with bounded controls of each agent so as to make breakthroughs from the perspectives of global consensus, heterogeneous actuator saturation, communication noises, and distributed characteristic preservation. We introduce a distributed control algorithm that incorporates a redesigned saturation function featuring a decentralized dynamic saturation level to achieve these objectives. Each component of the dynamic saturation level self-updates according to an adaptive strategy. The proposed method effectively eliminates heterogeneous actuator saturation by carefully selecting both the constant and time-varying saturation parameters in the adaptive strategy of the dynamic saturation level. Our approach achieves both state feedback--based and output feedback--based global consensus, with the latter utilizing a special coordinate decomposition. Numerical simulations demonstrate the efficacy of our method.

关键词： actuator saturation communication noise dynamic saturation level global consensus

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Designing a Completely Distributed Interval Observer for the LTI System

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2025年第3期70卷 1793-1808页

作者： Wang, Xiaoling Xu, Weichen Su, Housheng Gao, Zhiwei Chen, Guanrong Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China Univ Northumbria Fac Engn & Environm Newcastle Upon Tyne NE1 8ST England City Univ Hong Kong Dept Elect Engn Hong Kong 999077 Peoples R China

In this article, the distributed interval observer design problem for a continuous-time linear time-invariant system with unknown external disturbance and measurement noise is revisited. By performing detectability decomposition for partial outputs of each sensor from the system matrix, a classical interval observer and an internally positive representation-based interval observer are designed for the detectable and the undetectable subsystems, respectively, which reduces the order of the resulting distributed interval observer. Furthermore, with a dynamic coupling gain on the communications among the interval observers, a completely distributed interval observer is designed without any prerequisite, except for the joint detectability of the partial measurements and the strong connectivity of the properly defined directed sensor network. Finally, after detailed analyses, the theoretical results were validated through numerical simulations.

关键词： Observers Measurement uncertainty Uncertainty Noise measurement Linear systems Observability Noise Intellectual property Time measurement Performance evaluation Bounded information distributed interval observer internally positive representation linear time-invariant (LTI) system order reduction

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Target layer state estimation in multilayer complex dynamical networks using functional observability

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JOURNAL OF THE FRANKLIN INSTITUTE-engineering AND APPLIED MATHEMATICS 2023年第12期360卷 8178-8199页

作者： Wu, Yayong Wang, Xinwei Jiang, Guo-Ping Gu, Mengqi Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China

In large-scale complex dynamical networks, it is significant to estimate the states of target nodes with only a part of measured nodes. Meanwhile, multilayer complex dynamical networks exist widely in society and engineering. Therefore, it has important theoretic meaning and practical value to study the state estimation of target nodes in multilayer complex dynamical networks with limited node measurements. In this paper, with the measurable state information of a portion of nodes in one layer in the multilayer complex dynamical network, the state estimation of target nodes in other layers is studied. First, we build the model of the multilayer complex dynamical network which includes some target nodes and sensor nodes. Second, auxiliary nodes are selected by using the maximum matching principle in graph theory to construct the augmented node set. Third, we discuss the relationship between the minimum number of auxiliary nodes and interlayer connection probability in the multilayer complex dynamical network. Forth, an appropriate functional state observer is designed with limited number of measured nodes according to a typical model-based algorithm. Finally, numerical simulations are given to demonstrate the accuracy of the proposed method. The proposed method can achieve the accurate estimation with less placement of observers and fewer computational costs in the multilayer complex dynamical network.(c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.

关键词： Multilayers

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Quasi-synchronization of heterogeneous Lur'e networks with uncertain parameters and impulsive effect

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NEUROCOMPUTING 2022年 482卷 252-263页

作者： Jin, Chongfang Wang, Zhengxin Gong, Longyan Xiao, Min Jiang, Guo-Ping Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun New Energy Technol Engn Lab Jiangsu Prov Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Peoples R China

The target of this paper is studying the problem of quasi-synchronization of heterogeneous Lur'e networks with uncertain parameters and impulsive effect. Considering the heterogeneity of Lur'e networks, quasi-synchronization instead of synchronization is discussed. Noting that the uncertain factors exist extensively in reality, uncertain parameters are introduced to the system in this paper. By using the Schur complement lemma, stability theory and the principle of comparison, the sufficient criteria for the heterogeneous networks to achieve quasi-synchronization are derived, and the upper bound of exponential quasi-synchronization errors is calculated. In addition, two corollaries are presented in consideration of homogeneous systems and weighted undirected graphs. Finally, three numerical simulations are given to illustrate the effectiveness of the control protocol and theoretical results. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Exponential quasi-synchronization Lur'e network Parameter uncertainties Impulsive effect

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Weighted Graph Convolutional Network for Collaborative Filtering Considering Entity Similarity

Weighted Graph Convolutional Network for Collaborative Filte...

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第34届中国控制与决策会议

作者： Yutao Shi Yurong Song Saisai Qu College of automation & College of artificial intelligence Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot)

The core idea of collaborative filtering is to use historical interaction data of users and items to find similar users or items for *** of the recommendation work based on the graph field is to directly use the Graph Convolutional Network(GCN) on the user-item bipartite *** kind of graph cannot reflect the similarity of information between the homogenous nodes of the users(items).To solve this problem,a Weighted Graph Convolutional Collaborative Filtering recommendation model(WGCCF) considering entity similarity is *** this work,the user-item bipartite graph will be transformed into two homogeneous ***,the user-item scoring matrix is decomposed by singular value decomposition,and the vector representation of users(items) is obtained to calculate the similarity between users(items).Then the similarity is used as the edge weight of nodes in user(item) homogeneous networks and a weighted network based on node similarity is ***,graph convolution operation is performed on the user(item) graph to extract the hidden layer representation of the user(item),and the vector inner product combination method is used to predict the *** results show that compared with the existing recommendation algorithms for matrix factorization and graph convolution,the index performance of RMSE and MAE can be improved up to 12.72% and 15.99%.

关键词： Collaborative filtering Graph convolutional network Weighted network Matrix decomposition Similarity

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Multi-Strategy Co-Ordination Aquila Optimizer For Optimization of Mechanical Structure

Multi-Strategy Co-Ordination Aquila Optimizer For Optimizati...

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Chinese Automation Congress (CAC)

作者： Yangzheng Li Dongmei Wu College of Automation & College of Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China Jiangsu Engineering Lab for IoT Intelligent Robots Nanjing University of Posts and Telecommunications Nanjing China

Aquila Optimizer(AO) is a recently proposed metaheuristic optimization algorithm. Although AO has significant global exploration capabilities, its local exploitation capabilities are weak. To address the problem of AO's tendency to experience sluggish convergence and local optimum, a Multi-Strategy Co-ordination Aquila Optimizer (MCAO) algorithm is proposed in this paper. The population is initially initialized using Bernoulli's chaotic map. Gaussian difference variation is applied for updating the population during iteration. The adaptive weight strategy based on Tent chaotic sequence is used to speed up the convergence speed of the algorithm. Finally, the parabolic foraging strategy is applied to escape from the local optimum. The proposed MCAO algorithm was tested using part of the CEC2021 test function. The findings demonstrate that MCAO outperforms AO in terms of convergence accuracy and convergence rate. Finally, MCAO is used in two industrial engineering problems, through experimental results, It has been proven that the MCAO is very applicable to solving real-world problems.

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