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Reduced-order interval observer-based coordination control for discrete-time multi-agent systems

AUTOMATICA 2025年 174卷

作者： Su, Housheng Luo, Miaohong Zeng, Zhigang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Luoyu Rd 1037 Wuhan 430074 Peoples R China

In this paper, the coordination control problem of discrete-time multi-agent systems (MASs) with uncertainties is studied by the output feedback technique, where the uncertainties are unknown disturbances and initial states. Firstly, a reduced-order neighborhood framer is constructed by using the boundary information of uncertainties. Secondly, a control protocol that depends on the absolute information of the agent framer is proposed by solving a modified algebraic Riccati equation. The results demonstrate that the control protocol can render a reduced-order neighborhood framer as a reduced-order neighborhood interval observer, which can not only realize the interval-valued estimation on the sum of the relative states between each agent and its neighbors in real time, but also realize the cooperative behavior of MASs under some sufficient conditions involving network synchronization and the instability degree of the agent. In addition, direct and indirect methods are proposed to eliminate the nonnegative constraint. Finally, the theoretical results are verified by two numerical simulations. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Coordination control Discrete-time multi-agent systems Uncertainty Reduced-order interval observer

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Memristive Circuit Design of Brain-Like Emotional Learning and Generation

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第1期53卷 222-235页

作者： Wang, Zilu Wang, Xiaoping Zeng, Zhigang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

In this work, a bionic memristive circuit with the functions of emotional learning and generation is proposed, which can perform brain-like emotional learning and generation based on various types of input information. The proposed circuit is designed based on the brain emotional learning theory in the limbic system, which mainly includes three layers of design: 1) the bottom layer is the design of the basic unit modules, such as neuron and synapse;2) the middle layer is the design of the functional modules related to emotional learning in the limbic system, such as the amygdala, thalamus, and so on;and 3) the top layer is the design of the overall circuit, which is used to realize the function of the emotional generation. A 2-D emotional space composed of valence and arousal signals is adopted. According to the above bottom-up circuit design method, the valence and arousal signals can be generated, respectively, by designing corresponding emotional learning circuits, so as to form continuous emotions. The volatile and nonvolatile memristors are mainly used to mimic the functions of the neuron and synapse at the bottom layer of the circuit to achieve the core emotional learning function of the middle layer, thereby constructing a brain-like information processing architecture to realize the function of the emotional generation in the top layer. The simulation results in PSPICE show that the proposed circuit can learn and generate emotions like humans. If the proposed circuit is applied to a humanoid robot platform through further research, the robot may have the ability of personalized emotional interaction with humans, so that it can be effectively used in emotional companionship and other aspects.

关键词： Memristors Neurons Brain Synapses Limbic system Integrated circuit modeling Biological system modeling 2-D emotional space circuit implementation emotional learning and generation limbic system memristor

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Resilient Secondary control and Stability Analysis for DC Microgrids Under Mixed Cyber Attacks

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第2期71卷 1938-1947页

作者： Liu, Xiao-Kang Wang, Si-Qing Chi, Ming Liu, Zhi-Wei Wang, Yan-Wu Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

Distributed control technology has significantly improved the regulation of dc microgrid systems. However, it also introduces potential cyber-security threats during the communication process. In particular, the system is vulnerable to two types of attacks: denial-of-service (DoS) and false data injection (FDI) attacks. If both attacks occur simultaneously, they can destabilize the dc microgrid and jeopardize its safe operation. To ensure system stability under mixed DoS and unbounded FDI attacks, a consensus-based secondary control strategy is proposed. This strategy includes an adaptive feedback term to counteract FDI signals in the presence of DoS attacks. The stability of the system is rigorously analyzed using the Lyapunov method. Finally, numerical and experimental tests confirm the effectiveness of the proposed strategy.

关键词： Direct current (dc) microgrid (MG) denial-of-service (DoS) attack false data injection (FDI) attack resilient control

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Towards fast embedded moving horizon state-of-charge estimation for lithium-ion batteries

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JOURNAL OF ENERGY STORAGE 2024年 78卷

作者： Wan, Yiming Du, Songtao Yan, Jiayu Wang, Zhuo Huazhong Univ Sci & Technol Engn Res Ctr Autonomous Intelligent Unmanned Syst Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent ControlMinist Ed Wuhan 430074 Hubei Peoples R China

For state-of-charge (SOC) estimation with high precision, moving horizon estimation (MHE) has recently emerged as a competitive alternative to various Kalman filters or observers due to its significantly improved accuracy and robustness. However, MHE demands considerably higher computational complexity, preventing its deployment on a low-cost embedded microcontroller. To address this challenge, we propose a fast moving horizon SOC estimation algorithm to retain the benefits of MHE at a vastly reduced computational cost. In particular, we consider joint SOC and parameter estimation for an SOC-dependent equivalent circuit model subject to model mismatch. The proposed fast joint MHE (jMHE) algorithm performs a fixed number of Gauss-Newton (GN) iterations to approximate the fully converged solution. At each iteration, the GN Hessian matrix is factorized by exploiting its block tridiagonal structure to construct computationally efficient forward-backward recursions. To further speed up computations, another fast jMHE algorithm wtih an Event-Triggered Relinearization strategy (jMHE-ETR) is proposed to avoid refactorizing the GN Hessian matrix at each iteration. Using experimental datasets under different operating conditions, it is verified on both laptop and Raspberry Pi microcontroller that compared to the conventional optimal MHE solved with an off-the-shelf solver, the proposed fast jMHE and jMHE-ETR algorithms both have a slight loss of performance (still significantly better than extended Kalman filtering) while reducing its computational cost by an order of magnitude.

关键词： State-of-charge estimation Moving horizon estimation Real-time computation Lithium-ion battery

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Dual Attention Mechanism Based Outline Loss for image Stylization

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NEURAL procESSING LETTERS 2023年第1期55卷 537-549页

作者： Tu, Pengqi Sang, Nong Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Minist Educ Image Proc & Intelligent Control Key Lab Wuhan Peoples R China

image stylization has attracted considerable attention from various fields. Although impressive results have been achieved, existing methods pay less attention to the preservation of outline and putting constraint on it when training, which makes generated images suffering from different degrees of distortion. To address this issue, we propose a dual attention mechanism based outline loss to enhance the restriction of outline consistency by incorporating an outline detection module and a dual attention module. Specifically, an outline detection module is used to detect outlines of the source image and the stylized image, which are further compared and enforced to be consistent with each other by a carefully-elaborated outline loss. Additionally, the dual attention module first guides the model to focus on regions of the source image whose style has the biggest difference from the target image during stylization based on the style attention feature map obtained by the auxiliary classifier. Then, an outline attention map is predicted to highlight regions where the outlines are prone to distort during stylization, which further facilitates the outline loss to execute stronger constraint on these regions. Experimental results show the superiority of our method compared to the existing state-of-the-art methods

关键词： image stylization Dual attention mechanism Outline loss

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Local and Global Finite-Time Synchronization of Fractional-Order Complex Dynamical Networks via Hybrid Impulsive control

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2025年第3期55卷 2312-2321页

作者： Wei, Chen Wang, Xiaoping Ren, Fangmin Zeng, Zhigang Huazhong Univ Sci & Technol Minist China Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Educ Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Hubei Key Lab Brain Inspired Intelligent Syst Wuhan 430074 Peoples R China

This article focuses on achieving the finite-time synchronization (FTS) for fractional complex dynamical networks (FCDNs) using hybrid impulsive control. Initially, a novel framework for local FTS is developed, building upon the relaxed inequality tkCDt V-alpha ( t ) <= chi V (t)- eta . To expand the attraction domain within the local FTS framework, a piecewise fractional-order differential inequality based on impulsive control systems is proposed. Subsequently, a new hybrid control strategy is designed by integrating a simple feedback controller with an impulsive controller involving a finite number of impulses, which can be accurately calculated using the proposed impulsive degree. Additionally, a set of local/global FTS criteria is formulated, and the settling time can be explicitly estimated. Lastly, an illustrative example is presented to demonstrate the effectiveness of the derived results.

关键词： Synchronization Multiplexing Linear matrix inequalities Vectors Couplings Calculus Transportation Training Thermal stability Symbols Fractional-order complex dynamical networks (FCDNs) hybrid impulsive control local and global finite-time synchronization (FTS) settling-time

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Formation tracking of multiple rectangular agents based on fully distributed observer

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2024年第9期361卷

作者： Chi, Jun Su, Housheng Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Mini Luoyu Rd 1037 Wuhan 430074 Hubei Peoples R China

In most existing studies, formation tracking algorithms are generally based on state feedback strategies and assume that agents are treated as points. However, in practical scenarios, directly obtaining the state of the target can often be challenging, and agents may have their own shapes. In this paper, we model agents as rectangles, allowing each agent to establish a safety zone to avoid collisions during formation. Based on these rectangular agents, we design formation tracking algorithms for a mobile target using only local output information. Specifically, two layers of control algorithms are designed for each agent. (1) Upper -level algorithm: two types of fully distributed mobile observers are constructed based on only a portion of the target's output information. This is achieved by applying node -based adaptive coupling gains and edgebased adaptive gains to the consensus -based term in the state estimation algorithm, respectively. (2) Lower -level algorithm: a leader -following formation tracking algorithm is constructed. By cascading these two layers of algorithms, all agents track the target in formation at the same speed as the target. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed theoretical results.

关键词： Distributed observer Formation tracking Rectangular agents

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Resilient interval observer-based coordination control for multi-agent systems under stealthy attacks

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AUTOMATICA 2024年 167卷

作者： Luo, Miaohong Su, Housheng Zeng, Zhigang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Luoyu Rd 1037 Wuhan 430074 Peoples R China

In this paper, the coordination control problem of multi -agent systems (MASs) subjected to stealthy attacks and uncertainties is considered, where the uncertainties refer to unknown external disturbances and initial states. We consider a scenario in which the sensors are maliciously attacked, rendering the traditional interval observer's bounds ineffective for estimating the system states. By solving the linear programming problem, the maximum destructive attack sequences are generated. A distributed resilient interval observer composed of a resilient framer and a control protocol is designed, in which the construction of control protocol for each agent depends on the framer information of its own and its neighbors. It is demonstrated by the cooperativity theory and the Lyapunov stability theory that the distributed resilient interval observer can not only realize interval -valued state estimation for each agent but also drive the cooperative behavior of MASs. In addition, the observer gain matrix is selected and optimized by solving a semi -definite programming problem to provide tighter bounds for each agent. Meanwhile, the bounds of stealthy attacks are calculated. Finally, through a simulation example, the superiority of the distributed resilient interval observer and the effectiveness of the resilient interval observer -based consensus control algorithms are validated. (c) 2024 Published by Elsevier Ltd.

关键词： Coordination control Uncertainty Stealthy attacks Interval observer Multi-agent systems

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Deep probabilistic graphical modeling for robust multivariate time series anomaly detection with missing data

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RELIABILITY ENGINEERING & SYSTEM SAFETY 2023年第1期238卷

作者： Yang, Jingyu Yue, Zuogong Yuan, Ye Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automation Key Lab Image Proc & Intelligent Control Minist Educ Wuhan 430074 Peoples R China

Multivariate time series anomaly detection with missing data is one of the most pending issues for industrial monitoring. Due to scarcity of labeled anomalies, most advanced data-driven anomaly detection approaches fall in the unsupervised learning paradigm. As a premise in the presence of missing data, one needs to improve the data quality through data imputation with a separate model. Our concern lies in the consistency between data imputation and unsupervised learning for robust anomaly detection, regarding accurately discovering the spatiotemporal dependence among multiple variables over time. However, the existing practice tends to overlook this consistency and decouple the training process for these two closely linked tasks. This article novelly proposes a probabilistic multivariate time series anomaly detection framework that unifies data imputation and unsupervised learning. A deep probabilistic graphical model abbreviated SCNF is first devised for unsupervised density estimation. A tailored expectation maximization-based optimization scheme is then developed to achieve the joint training of data imputation and unsupervised learning with missing data. The efficacy is experimentally corroborated in several industrial applications, including chemical process, water treatment and network traffic. Briefly, the joint training framework enhances the AUROC of SCNF by averagely 6.34% for three applications under 50% data missing rate.

关键词： Multivariate time series Anomaly detection Missing data Probabilistic graphical model Expectation maximization

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Outlier-robust zonotope set-membership filter for discrete-time nonlinear system

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第14期33卷 8693-8714页

作者： Yang, Bo Chen, Xinxing Cheng, Rong Huang, Jian Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Minist Educ Image Proc & Intelligent Control Key Lab Wuhan Peoples R China Southern Univ Sci & Technol Dept Mech & Energy Engn Shenzhen Key Lab Biomimet Robot & Intelligent Syst Shenzhen Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

Transient sensor malfunction, improper replacement measures, and large non-Gaussian noise can cause data outliers in real-world scenarios. In this article, an outlier-robust zonotope set-membership filter is proposed for uncertain nonlinear systems susceptible to outliers. In order to linearize nonlinear systems, a linearization method based on Stirling's interpolation formula is proposed. Then, an outlier detector utilizing the linearization error bounds, the prediction domain, and the output feasible domain is constructed. Based on the linearized system, a tight strip construction method is given to reduce the conservatism of the estimated enclosure. Moreover, a prediction-correction-backward reconstruction filter structure is designed to improve estimation accuracy and reduce conservatism. The proposed structure fuses historical data to attenuate the impact of uncertainty on the system. The robustness, guarantee, and convergence of the proposed filter are investigated. Finally, the effectiveness of the proposed approach is evaluated by two simulation examples.

关键词： discrete-time nonlinear system outliers set-membership filter zonotope

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