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arXiv 2023年

作者： Liu, Wenjie Wakaiki, Masashi Sun, Jian Wang, Gang Chen, Jie Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chonqing401120 China Graduate School of System Informatics Kobe University Hyogo657-8501 Japan Department of Control Science and Engineering Tongji University Shanghai201804 China

This paper studies the problem of stabilizing a self-triggered control system with quantized output. Employing a standard observer-based state feedback control law, a self-triggering mechanism that dictates the next sampling time based on quantized output is co-developed with an output encoding scheme. If, in addition, the transmission protocols at the controller-to-actuator (C-A) and sensor-to-controller (S-C) channels can be adapted, the self-triggered control architecture can be considerably simplified, leveraging a delicate observer-based deadbeat controller to eliminate the need for running the controller in parallel at the encoder side. To account for denial-of-service (DoS) in the S-C channel, the proposed output encoding and self-triggered control schemes are further made resilient. It is shown that a linear time-invariant system can be exponentially stabilized if some conditions on the average DoS duration time are met. There is a trade-off between the maximum inter-sampling time and the resilience against DoS attacks. Finally, a numerical example is presented to demonstrate the practical merits of the proposed self-triggered control schemes and associated theory. © 2023, CC BY.

关键词： controllers

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Aerial battlefield targets grouping based on DTW-DBSCAN algorithm

Aerial battlefield targets grouping based on DTW-DBSCAN algo...

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第40届中国控制会议

作者： Shao Zhuang Chen Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

Targets grouping is the basis of second-level information fusion,which can effectively assist commanders to make *** aerial targets grouping algorithm only takes the radar acquisition data at the current time as the object and cannot update the clustering results automatically.A grouping method combining dynamic time warping(DTW) and the algorithm Density-Based Spatial Clustering of Applications with Noise(DBSCAN) is *** DTW distance of each attribute historical time-series data is used to measure the similarity between ***,an improved DBSCAN algorithm is used for *** simulation results show that the method has better grouping effect and can automatically cluster regularly.

关键词： targets grouping dynamic time warping density clustering

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Data-Driven Learning and control with Event-Triggered Measurements

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IEEE Transactions on Automatic control 2025年

作者： Feng, Shilun Shi, Dawei Chen, Tongwen Shi, Ling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Kowloon Hong Kong

Event-triggered control has attracted considerable attention for its effectiveness in resource-restricted applications. To make event-triggered control as an end-to-end solution, a key issue is how to effectively learn unknown system dynamics from event-triggered measurements and consequently, develop a learning-based event-triggered controller. Existing works learn system dynamics based on periodic time-triggered measurements, and it is yet to know how to learn a controller with performance guarantee based on event-triggered measurements. To address this issue, we consider the problem of learning an event-triggered state feedback controller for an unknown linear system based on event-triggered state measurements in this work. In particular, we first analyze the event-triggered measurements within a set-membership framework. We prove that the estimation error belongs to a bounded ellipsoid determined by the historical measurements and the event-triggering condition. Subsequently, we demonstrate that all admissible systems compatible with the collected data samples can be explicitly represented in the form of quadratic matrix inequalities using the state estimates. With the acquired set of admissible systems, a co-design problem for the data-driven controller and event-triggering condition is solved using the linear matrix inequality technique, with guaranteed closed-loop stability and L2-gain performance. Finally, numerical examples and comparisons are provided to illustrate the effectiveness of the proposed event-triggered learning and control approach. © 1963-2012 IEEE.

关键词： Networked control systems

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Meta-ZSDETR: Zero-shot DETR with Meta-learning

arXiv

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arXiv 2023年

作者： Zhang, Lu Zhang, Chenbo Zhao, Jiajia Guan, Jihong Zhou, Shuigeng Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China Department of Computer Science & Technology Tongji University China

Zero-shot object detection aims to localize and recognize objects of unseen classes. Most of existing works face two problems: the low recall of RPN in unseen classes and the confusion of unseen classes with background. In this paper, we present the first method that combines DETR and meta-learning to perform zero-shot object detection, named Meta-ZSDETR, where model training is formalized as an individual episode based meta-learning task. Different from Faster R-CNN based methods that firstly generate class-agnostic proposals, and then classify them with visual-semantic alignment module, Meta-ZSDETR directly predict class-specific boxes with class-specific queries and further filter them with the predicted accuracy from classification head. The model is optimized with meta-contrastive learning, which contains a regression head to generate the coordinates of class-specific boxes, a classification head to predict the accuracy of generated boxes, and a contrastive head that utilizes the proposed contrastive-reconstruction loss to further separate different classes in visual space. We conduct extensive experiments on two benchmark datasets MS COCO and PASCAL VOC. Experimental results show that our method outperforms the existing ZSD methods by a large margin. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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Meta-ZSDETR: Zero-shot DETR with Meta-learning

Meta-ZSDETR: Zero-shot DETR with Meta-learning

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International Conference on Computer Vision (ICCV)

作者： Lu Zhang Chenbo Zhang Jiajia Zhao Jihong Guan Shuigeng Zhou Shanghai Key Lab of Intelligent Information Processing and School of Computer Science Fudan University China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China Department of Computer Science & Technology Tongji University China

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Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments

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Science China(Information Sciences) 2021年第7期64卷 132-147页

作者： Lele XI Zhihong PENG Lei JIAO Ben M.CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Peng Cheng Laboratory Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target's future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关键词： quadrotor target tracking trajectory generation B-spline convex optimization

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Model-Based and Data-Driven control of Event- and Self-Triggered Discrete-Time LTI systems

arXiv

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arXiv 2022年

作者： Wang, Xin Berberich, Julian Sun, Jian Wang, Gang Allgöwer, Frank Chen, Jie The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70550 Germany The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

The present paper considers the model-based and data-driven control of unknown linear time-invariant discretetime systems under event-triggering and self-triggering transmission schemes. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which also offers a way of co-designing the ETS matrix and the controller. To further alleviate the sampling burden of ETS due to its continuous/periodic detection, a self-triggering scheme (STS) is developed. Leveraging pre-collected input-state data, an algorithm for predicting the next transmission instant is given, while achieving system stability. Finally, numerical simulations showcase the efficacy of ETS and STS in reducing data transmissions as well as of the proposed co-design methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound for Multi-Target Tracking in Netted Colocated MIMO Radar systems

Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound ...

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第40届中国控制会议

作者： Sijian Liao Zhihong Peng Junqi Cai School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, an effective joint beam selection and power allocation（JBSPA） method is proposed to solve the online resource scheduling problem for multi-target tracking in distributed MIMO radar system. Overall target tracking performance can be improved by optimizing radar system beam selection and power allocation, since each MIMO radar can generate a timevarying beam, and adjust the quality of the observed signal by controlling the transmit power of each beam. In our method the feedback information of the target tracking period is used to complete the optimal radar-targets assignment and power allocation,the objective function is formulated based on the Bayesian Cramér-Rao lower bound, as the formulated JBSPA problem is nonconvex, a three steps solution method based on reward matrix is proposed to solve it effectively. Numerical results show that the proposed JBSPA method can deliver better performance than the competitors in overall MTT performance.

关键词： Resource Scheduling BCRLB Target Tracking Power Allocation MIMO Radar systems

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Efficient Multi-Robot Coverage of an Unknown Environment

Efficient Multi-Robot Coverage of an Unknown Environment

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第40届中国控制会议

作者： Zihao Chen Zhihong Peng Lei Jiao Yuanyuan Gui School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

This paper discusses the complete area coverage of multi-robots in unknown environments. Finding the optimal solution for the problem of area coverage with multiple robots has been proven to be NP-hard. This paper proposes the Multiagent Node Backtracking Area Coverage（MANBAC） algorithm, which uses improved BCD local area coverage method, and the node backtracking method that is based on the A* algorithm to achieve complete coverage of the entire unknown *** with the area coverage of a single robot, use multi robots can greatly improve the efficiency of area *** with the existing coverage algorithms in known area, this study can be applied to a wider range of area scenarios which are not known.

关键词： Area coverage Unknow environment Multirobot

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