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Model-Independent Robust Consensus for Multiple Euler-Lagrange Systems of an Uncertain Leader

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2024年第12期54卷 7279-7290页

作者： Long, Mingkang Su, Housheng Huazhong Univ Sci & Technol Educ Minist China Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

In this article, we introduce adaptive robust observers for the estimation of comprehensive state variables and model parameters of a leader system. In particular, we suppose that the communication network among followers suffers communication link faults (CLFs), and the leader contains uncertainty, which means no follower knows the model parameters of leader system. Then, by applying the proposed observers, we elaborate on the design of a robust model-independent controller tailored for the leader-follower consensus problem (LFCP) of multiple Euler-Lagrange systems (MELSs). In contrast to the controllers currently employed for the LFCP in MELSs, the controller developed herein exhibits robustness against bounded external disturbances. Besides, the controller does not rely on the specific structure or characteristics of the Euler-Lagrange (EL) system model. At last, we provide simulation examples to demonstrate the validity of the proposed observers and the robust controller in the context of the LFCP for MELSs.

关键词： Observers Adaptation models Vectors Adaptive systems Communication networks Robustness Eigenvalues and eigenfunctions Communication link faults (CLFs) leader-follower consensus problem (LFCP) model-independent multiple Euler-Lagrange systems (MELSs) robust control uncertain leader

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Deployment of Heterogeneous Multi-Agent Systems via a PDE Approach

Deployment of Heterogeneous Multi-Agent Systems via a PDE Ap...

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2023 China Automation Congress, CAC 2023

作者： Man, Jingtao Zeng, Zhigang Xiao, Qiang Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan China

ISBN: (纸本)9798350303759

Spatial deployment of large-scale heterogeneous multi-agent systems (HMASs) over desired 2D or 3D curves is investigated in this paper. With assumption that HMASs consist of numerous first-order agents (FOAs) and second-order agents (SOAs) that could obtain local information of desired curves and their positions relative to their closest neighbors, the collective dynamics of large-scale HMASs are modeled as heterogeneous partial differential equations (PDEs). In particular, this paper introduces series-dependent topological weights between neighboring agents, which are more versatile and practical than constant topological weights commonly used in previous studies. A novel single-point control scheme is proposed, where an informed agent is situated between the last FOA and first SOA. This operation could not only ensure successful implementation of spatial deployment, but also guarantee well-posedness of the constructed heterogeneous error PDEs. By utilizing inequality techniques, sufficient conditions for exponential convergence of error system are derived. A numerical example is presented to demonstrate effectiveness of the proposed approaches. © 2023 IEEE.

关键词： Multi agent systems

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Additive-state-decomposition-based model predictive tracking control for PMSM servo system with multiple disturbances

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JOURNAL OF THE FRANKLIN INSTITUTE 2023年第13期360卷 9378-9398页

作者： Jiang, Fuxi Cheng, Shanmei Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan Peoples R China

This paper presents an additive-state-decomposition-based model predictive tracking control and disturbance rejection method for a permanent magnet synchronous motor (PMSM) servo system subject to unknown parameter perturbations, unmodeled dynamics, and time-varying load torque. The basic idea of this method is to equivalently decompose the original system into a primary system for handling the tracking control subproblem and a secondary system for dealing with the robust stabilization subproblem. A model predictive controller is designed for the primary system to achieve high-accuracy tracking of the reference speed. As for the secondary system, a novel high-order generalized extended state observer (HGESO) is constructed to estimate the multiple disturbances simultaneously, and a state feedback control law incorporating a disturbance compensator is developed to eliminate the adverse effect of the multiple disturbances on the system output. By combining the control inputs of the two subsystems together, the control objectives of the original system can be achieved. Both the stability criterion and design procedure of the closed-loop control system are developed. Finally, hardware-in-the-loop-based comparative experiments are conducted to demonstrate that the proposed method effectively suppresses the influence of the multiple disturbances on motor speed tracking accuracy and that the control system has both satisfactory dynamic performance and robustness. (c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.

关键词： Closed loop control systems

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Protecting Multiple Types of Privacy Simultaneously in EEG-Based Brain-Computer Interfaces

Protecting Multiple Types of Privacy Simultaneously in EEG-B...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Meng, Lubin Jiang, Xue Jia, Tianwang Wu, Dongrui School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Wuhan China

ISBN: (纸本)9781665410205

A brain-computer interface (BCI) enables direct communication between the brain and an external device. Electroencephalogram (EEG) is the preferred input signal in non-invasive BCIs, due to its convenience and low cost. EEG-based BCIs have been successfully used in many applications, such as neurological rehabilitation, text input, games, and so on. However, EEG signals inherently carry rich personal information, necessitating privacy protection. This paper demonstrates that multiple types of private information (user identity, gender, and BCI-experience) can be easily inferred from EEG data, imposing a serious privacy threat to BCIs, To address this issue, we design perturbations to convert the original EEG data into privacy-protected EEG data, which conceal the private information while maintaining the primary BCI task performance. Experimental results demonstrated that the privacy-protected EEG data can significantly reduce the classification accuracy of user identity, gender and BCI-experience, but almost do not affect at all the classification accuracy of the primary BCI task, enabling user privacy protection in EEG-based BCIs. © 2024 IEEE.

关键词： Differential privacy

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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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Consensus of interconnected systems via event-triggered control with different cyber-physical topologies

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第12期33卷 6950-6968页

作者： Yu, Guan-Nan Xiao, Jiang-Wen Liu, Xiao-Kang Zeng, Ze-Hong Wang, Yan-Wu Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automation Wuhan Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Wuhan Peoples R China

In this paper, the consensus problem for a class of interconnected systems with different cyber-physical topologies is investigated. A two-layer control framework is proposed where two different connections exist among the systems in physical and cyber layers, respectively. The former directly reflects the physical coupling among systems, while the latter uses the states' information transferred by communication channels to generate control. The physical and cyber topologies are undirected and not required to be connected. An event-triggered protocol based on cyber local sampled information is designed with no need to solve any matrix equation or inequality. Theoretical sufficient conditions for consensus are derived in terms of algebraic inequality and Zeno behavior is excluded. A novel expandable construction scheme is proposed to construct switching topologies for cyber layer. Numerical simulation and comparison show the effectiveness of the proposed control method and the advantage on saving communication network constructions.

关键词： consensus cyber-physical framework event-triggered control interconnected system jointly connected topology

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

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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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