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Nested Saturated control of Uncertain Complex Cascade Systems Using Mixed Saturation Levels

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1163-1174页

作者： Meng Li Zhigang Zeng Wuhan National Laboratory for Optoelectronics Wuhan 430074 School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074 Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074China

This study addresses the problem of global asymptotic stability for uncertain complex cascade systems composed of multiple integrator systems and non-strict feedforward nonlinear systems. To tackle the complexity inherent in such structures, a novel nested saturated control design is proposed that incorporates both constant saturation levels and state-dependent saturation levels. Specifically, a modified differentiable saturation function is proposed to facilitate the saturation reduction analysis of the uncertain complex cascade systems under the presence of mixed saturation levels. In addition, the design of modified differentiable saturation function will help to construct a hierarchical global convergence strategy to improve the robustness of control design scheme. Through calculation of relevant inequalities, time derivative of boundary surface and simple Lyapunov function,saturation reduction analysis and convergence analysis are carried out, and then a set of explicit parameter conditions are provided to ensure global asymptotic stability in the closed-loop systems. Finally, a simplified system of the mechanical model is presented to validate the effectiveness of the proposed method.

关键词： method saturation differentiable

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Online Learning Based Shape control for a Soft Manipulator Based on Spatial Features Feedback

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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年第11期9卷 10081-10088页

作者： Shen, Yi Zhang, Jinghao Yuan, Ye Zhang, Fumin Ding, Han Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipmentand Technol Wuhan 430074 Peoples R China Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Clear Water Bay Hong Kong 430074 Peoples R China Huazhong Univ Sci & Technol Sch Mech Sci & Engn StateKey Lab Digital Mfg Equipment & Technol Wuhan 430074 Peoples R China

Although soft manipulators are endowed with compliance and flexibility, most control strategies focus on end-effector control and lack shape control ability. This letter aims to design a shape controller for the soft manipulator. Firstly, we establish a modified forward kinematics model (FKM) based on the long-short-term-memory (LSTM) neural network to describe the mapping between actuation inputs and spatial features. The spatial features consist of the backbone curve and contour features. The backbone curve is represented by the piecewise Bezier curve under geometrically continuous constraint. The contour features are extracted from the camera-generated point cloud. Besides, an adaptive online learning based shape controller (OLSC) is designed by online back-propagating shape error. The stability of OLSC is proved based on the Lyapunov theorem. Finally, the random excitation model validation experiment demonstrates the prediction accuracy of the proposed modified FKM, and the shape control experiments in air and water validate the effectiveness of the proposed OLSC.

关键词： Shape Shape control Atmospheric modeling Vectors Adaptation models Feature extraction Deformation Analytical models Visualization Kinematics Soft manipulator shape control learning-based control contour feature

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Improving Reconstruction of Structured Illumination Microscopy images via Dual-Domain Learning

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IEEE JOURNAL OF SELECTED TOPICS IN QUANTUM ELECTRONICS 2023年第6期29卷 1页

作者： Liu, Tao Liu, Jiahao Li, Dong Tan, Shan Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Minist Educ China Wuhan 430074 Peoples R China Chinese Acad Sci Inst Biophys CAS Ctr Excellence Biomacromolecules Natl Lab Biomacromol Beijing 100101 Peoples R China Univ Chinese Acad Sci Coll Life Sci Beijing 100049 Peoples R China

Structured illumination microscopy (SIM) provides an enhanced resolving power surpassing the optical diffraction limit by optical modulation of patterned illuminations. Although end-to-end deep learning techniques have recently advanced the reconstruction of SIM images, the reconstruction fidelity of existing networks is still moderate. We experimentally point out the crux lies in the inability of these models for faithful frequency learning. As a remedy, we propose a dual-domain learning strategy for SIM reconstruction, namely DDL-SIM, which learns to reconstruct SIM images from raw images in the spatial domain and raw image spectra in the frequency domain simultaneously, with the goal of narrowing the reconstruction gaps in both domains, thereby better recovering modulated frequencies and resolving more fine structures. Reconstruction experiments across various biological structures demonstrate the proposed DDL-SIM significantly improves the reconstruction fidelity of SIM images and shows great robustness against reconstruction artifacts.

关键词： Structured illumination microscopy super-resolution complex neural network deep learning

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Learning Second-Order Attentive Context for Efficient Correspondence Pruning

arXiv

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arXiv 2023年

作者： Ye, Xinyi Zhao, Weiyue Lu, Hao Cao, Zhiguo Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology China

Correspondence pruning aims to search consistent correspondences (inliers) from a set of putative correspondences. It is challenging because of the disorganized spatial distribution of numerous outliers, especially when putative correspondences are largely dominated by outliers. It is more challenging to ensure effectiveness while maintaining efficiency. In this paper, we propose an effective and efficient method for correspondence pruning. Inspired by the success of attentive context in correspondence problems, we first extend the attentive context to the first-order attentive context and then introduce the idea of attention in attention (ANA) to model second-order attentive context for correspondence pruning. Compared with first-order attention that focuses on feature-consistent context, second-order attention dedicates to attention weights itself and provides an additional source to encode consistent context from the attention map. For efficiency, we derive two approximate formulations for the naive implementation of second-order attention to optimize the cubic complexity to linear complexity, such that second-order attention can be used with negligible computational overheads. We further implement our formulations in a second-order context layer and then incorporate the layer in an ANA block. Extensive experiments demonstrate that our method is effective and efficient in pruning outliers, especially in high-outlier-ratio cases. Compared with the state-of-the-art correspondence pruning approach LMCNet, our method runs 14 times faster while maintaining a competitive accuracy. Copyright © 2023, The Authors. All rights reserved.

关键词： Efficiency

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Asynchronous Impulsive Protocols With Asymmetric Feedback Saturation on Leader-Based Formation control of Multiagent Systems

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IEEE TRANSACTIONS ON CYBERNETICS 2022年第9期52卷 9931-9942页

作者： Han, Yiyan Zeng, Zhigang Huazhong Univ Sci & Technol Inst Artificial Intelligence Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Educ Minist China Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

Saturation phenomena often exist due to limited system resources, and impulsive protocols can lead to a reduction in communication cost. From these issues, this article investigates a leader-based formation control problem of multiagent systems via asynchronous impulsive protocols with saturated feedback. General linear system models with and without finite time-varying time delays under asymmetric saturated feedback control are concurrently considered. The asynchronous impulsive protocols only permit communication at impulsive instants and each agent has its own communication instants independently. Moreover, to improve system performance, an offset only containing desired formation information is introduced. Finally, because the feedbacks are saturated, admissible regions are proved to exist, which are also estimated by a mean of optimization. Numerical simulations are presented to demonstrate the validity of the proposed schemes.

关键词： Protocols Multi-agent systems Target tracking Optimization Numerical stability Nonlinear dynamical systems Linear systems Admissible region asynchronous impulsive protocols feedback saturation formation control linear time-delayed multiagent systems

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Structure-free containment control for uncertain underactuated multiple Euler-Lagrange systems

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Science China(Information Sciences) 2023年第11期66卷 150-168页

作者： Housheng SU Yali WU Liren ZHANG Xia CHEN Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology

This article studies the problem of structure-free distributed containment control for uncertain underactuated multiple Euler-Lagrange systems(MELSs) considering disturbances by using a layered approach. First, the second layer is the virtual layer constructed artificially for hierarchical control. We move all virtual nodes to the convex hull formed by leaders in the first layer by implementing containment control algorithms on all virtual nodes. Then, the third layer is the following layer, and we propose an adaptive robust tracking controller to ensure that each follower in the third layer tracks the corresponding virtual node in the second layer. So far, the underactuated MELSs can achieve containment control. Furthermore,through the theoretical derivation, sufficient conditions are obtained to achieve the objective of structure-free containment control. Finally, the effectiveness of the proposed stratified structure-free containment control method is verified by a simulation example.

关键词： Euler-Lagrange systems underactuated system containment control adaptive-robust control

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Battery state-of-charge estimation combining extended Kalman filter and RLS with adaptive directional forgetting 17

Battery state-of-charge estimation combining extended Kalman...

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IEEE 17th International Conference on control and Automation (ICCA)

作者： Zhu, Kun Zhang, Cong Zhang, Sihang Wan, Yiming Huazhong Univ Sci & Technol Sch Articial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Beijing Inst Control Engn Beijing 100094 Peoples R China

ISBN: (数字)9781665495721

ISBN: (纸本)9781665495721

Accurate estimation of battery state-of-charge (SOC) is important for safe and reliable operations of batteries. To account for time-varying model parameters, recursive least squares and extended Kalman filter (EKF) are usually combined to jointly estimate model parameters and SOC. However, in practice, the level of excitation in the online data varies with the working condition. In case that the online data are not persistently exciting, the recursive parameter estimation with various forgetting strategies suffers from covariance blowup, To address this issue, a novel adaptive directional forgetting strategy is proposed and used in combination with EKF. Different from forgetting all old data as in the conventional forgetting methods, only the direction with sufficient excitation is forgotten. The forgetting factor is also adjusted adaptively according to the prediction error, which enhances the capability to capture the parameters variations. Using experimental data on three different working conditions, the proposed approach demonstrates improved SOC estimation accuracy compared to using the conventional exponential forgetting.

关键词： Employee welfare Adaptation models Parameter estimation Automation Estimation Batteries State of charge

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A Dual-branch Model for Early Detection of Alzheimer’s Disease Using Resting-State fMRI

A Dual-branch Model for Early Detection of Alzheimer’s Dise...

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IEEE Advanced Information Technology, Electronic and Automation control Conference (IAEAC)

作者： Yixuan Wang Wei Li School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Image Processing and Intelligent Control Key Laboratory of the Education Ministry of China Wuhan China

Alzheimer’s disease (AD) is the most prevalent form of dementia, and early diagnosis is crucial for delaying and treating AD. Resting-state functional magnetic resonance imaging (rs-fMRI), a widely used medical imaging technique, offers rich temporal and spatial data, which has led researchers to explore various feature extraction methods based on rs-fMRI images for AD identification. However, the related work still suffers from insufficient utilization of temporal and spatial information which leads to unsatisfactory early diagnosis. In this study, we propose a dual-branch fusion model to extract spatial-temporal features from rs-fMRI images. Our proposed model can extract temporal features at different levels. We developed a Class Activation Sequence (CAS) branch, which is a structure that emphasizes the function of each temporal node throughout the whole time series. Additionally, we created a time-domain local branch for local feature extraction. Further, we designed a fusion module for the model to describe temporal contextual relationships and fuse features at various levels. We tested the performance of the model on the ADNI dataset, and the experimental results show that compared with other algorithms, the dual-branch fusion model achieves higher classification accuracy on several classification tasks including early diagnosis, which proves the advantage of the dual-branch fusion model in temporal and spatial feature extraction for rs-fMRI images, and our work also provides a foundation for the temporal domain characterization of rs-fMRI images.

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A Game Theory-Reinforcement Learning Approach to Cooperation for UAVs

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IEEE Transactions on Vehicular Technology 2025年第6期74卷 9864-9869页

作者： Tang, Changbing Pan, Linchao Chen, Jie Liu, Yang Lai, Jingang Zhejiang Normal University College of Physics and Electronic Information Engineering Jinhua321004 China Zhejiang Normal University School of Mathematical Sciences Jinhua321004 China National University of Defense Technology College of Electronic Engineering Hefei230037 China Zhejiang Normal University Hangzhou School of Automation Hangzhou311231 China School of Artificial Intelligence and Automation China Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Education Ministry of China Wuhan430074 China

To execute a variety of collaborative tasks, the cooperation for unmanned aerial vehicles (UAVs) with complicated interactions under dynamic environments is a challenging and critical issue. This paper studies the cooperation issue for UAVs under dynamic environments through an approach of game theory-reinforcement learning (GT-RL) approach, which combines the advantages of both game theory and reinforcement learning. First, to cope with the complicated interactions of UAVs, the cluster of UAVs is modeled as a public goods game with asymmetrical environmental feedback. Then, reinforcement learning is adopted to optimize decision-making of UAVs under unknown and dynamic environments through comparing the dynamic behaviors of UAVs, where a novel dynamics system offers a more comprehensive understanding on cooperative behavior among UAVs. Finally, the simulation results show that the GT-RL approach can effectively promote cooperation among UAVs in completing the collaborative tasks. © 1967-2012 IEEE.

关键词： Adversarial machine learning

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Spatiotemporal distance embedded hybrid ant colony algorithm for a kind of vehicle routing problem with constraints

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Frontiers of Information Technology & Electronic Engineering 2023年第7期24卷 1062-1079页

作者： Zhenhui FENG Renbin XIAO School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China Institute of Artificial Intelligence Huazhong University of Science and TechnologyWuhan 430074China Key Laboratory of Image Information Processing and Intelligent Control Ministry of EducationWuhan 430074China

We investigate a kind of vehicle routing problem with constraints(VRPC)in the car-sharing mobility environment,where the problem is based on user orders,and each order has a reservation time limit and two location point transitions,origin and *** is a typical extended vehicle routing problem(VRP)with both time and space *** consider the VRPC problem characteristics and establish a vehicle scheduling model to minimize operating costs and maximize user(or passenger)*** solve the scheduling model more accurately,a spatiotemporal distance representation function is defined based on the temporal and spatial properties of the customer,and a spatiotemporal distance embedded hybrid ant colony algorithm(HACA-ST)is *** algorithm can be divided into two ***,through spatiotemporal clustering,the spatiotemporal distance between users is the main measure used to classify customers in categories,which helps provide heuristic information for problem ***,an improved ant colony algorithm(ACO)is proposed to optimize the solution by combining a labor division strategy and the spatiotemporal distance function to obtain the final scheduling *** analysis is carried out based on existing data sets and simulated urban *** with other heuristic algorithms,HACA-ST reduces the length of the shortest route by 2%–14%in benchmark *** VRPC testing instances,concerning the combined cost,HACA-ST has competitive cost compared to existing VRP-related ***,we provide two actual urban scenarios to further verify the effectiveness of the proposed algorithm.

关键词： Vehicle routing problem with constraints(VRPC) Spatiotemporal distance function labor division strategy Ant colony algorithm(ACO)

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