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Observer-based event-triggered formation tracking control for second-order multi-agent systems in constrained region

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Science China(Information Sciences) 2025年第2期68卷 151-169页

作者： Fenglan SUN Zhonghua XU Wei ZHU ■ KURTHS Key Lab of Intelligent Analysis and Decision on Complex Systems School of ScienceChongqing University of Posts and Telecommunications Key Lab of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of Complexity Science Potsdam Institute for Climate Impact Research Institute of Physics Humboldt University of Berlin

In this paper, an event-triggered time-varying formation tracking control for a class of second-order nonlinear multiagent systems(MAS) operating within a constrained region is investigated. To mitigate the negative effects of external unknown disturbance, a novel disturbance observer with performance guarantees is proposed, enabling precise disturbance *** the artificial potential field(APF) method, a repulsive potential function is introduced to prevent inter-agent collisions as well as collisions with environmental obstacles. To reduce continuous communication and frequent system updates, a sliding mode technique is incorporated into the formation tracking controller, utilizing an event-triggered mechanism. The controller is also applicable to the formation control of MAS in switching-constrained regions. The achievement of the specified timevarying geometric formation is rigorously demonstrated through the Lyapunov framework. Numerical simulations are presented to validate the effectiveness of the theoretical results.

关键词： formation tracking control region constraints repulsive potential function event-triggered mechanism

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Flexible region aggregation of adjustable loads via an adaptive convex hull strategy

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Global Energy Interconnection 2025年第1期8卷 106-120页

作者： Yisha Lin Zongxiang Lu Ying Qiao Ruijie Chen State Key Lab of Power Systems Operation and Control (Department of Electrical Engineering Tsinghua University)BeijingPR China State Grid Quanzhou Electric Power Supply Company QuanzhouPR China

Increasing interest has been directed toward the potential of heterogeneous flexible loads to mitigate the challenges associated with the increasing variability and uncertainty of renewable *** the aggregated flexible region of load clusters managed by load aggregators is the crucial basis of power system scheduling for the system *** is because the aggregation result affects the qual-ity of the scheduling schemes.A stringent computation based on the Minkowski sum is NP-hard,whereas existing approximation meth-ods that use a special type of polytope exhibit limited adaptability when aggregating heterogeneous *** study proposes a stringent internal approximation method based on the convex hull of multiple layers of maximum volume boxes and embeds it into a day-ahead scheduling optimization *** numerical results indicate that the aggregation accuracy can be improved compared with methods based on one type of special polytope,including boxes,zonotopes,and ***,the reliability and economy of the power sys-tem scheduling can be enhanced.

关键词： Aggregation Flexible region Heterogeneous load Power system scheduling

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Study on the Characteristics of Natural Grounding Resistance of Underground Tunnels 11th

Study on the Characteristics of Natural Grounding Resistance...

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11th Frontier Academic Forum of Electrical Engineering, FAFEE 2024

作者： Ma, Pengyu Li, Benliang Zou, Jun State Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua University Beijing100084 China State Power Economic Research Institute Beijing102200 China

ISBN: (纸本)9789819787791

With the development of cities, underground tunnels are more and more widely used, and the reinforced concrete in their walls can be used as the natural grounding body of the tunnels. However, underground tunnels have curved structures, multiple cross-sections and deep-buried structures, and the electrical conductivity of the concrete is different from that of the soil, etc., and the traditional analytical method has limitations in calculating the grounding resistance of the tunnels in these cases. In order to satisfy the needs of practical engineering, this paper adopts a numerical method based on the MoM numerical method to analyze the grounding system of underground tunnels with complex geometries and to calculate the grounding resistance of reinforced concrete systems in underground tunnels. In order to assess the difference between the analytical solution and the exact solution, the article introduces a correction factor to measure the ratio between the two. Simulations are carried out for real cases, and the results show that the accuracy of the analytical solution can be improved by introducing the correction factor. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： correction factor grounding resistance numerical method Underground tunnels

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Variations in Rural PM2.5 Sources and Composition in the Post Coal-to-Gas Period Based on a Three-Year Observation

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Aerosol and Air Quality Research 2025年第1期25卷 1-13页

作者： Ning, Zhi Li, Zhiyong Wei, Jihong Liu, Jinming Ma, Huichun Ren, Zhuangzhuang Ma, Xiaohua Liu, Chen Chen, Lan Liu, Aiqin Wang, Binglin Wang, Jiaqi Gao, Huiying Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China Department of Pediatrics Affiliated Hospital of Hebei University Baoding071000 China Hebei Key Lab of Mineral Resources and Ecological Environment Monitoring Hebei Research Center for Geoanalysis Baoding071051 China School of Control Science and Engineering North China Electric Power University Baoding071003 China China Environmental United Certification Center Co. Ltd. Beijing100029 China

Introduction: Various studies were conducted focused on the coal-to-gas (CTG) impacts on urban PM2.5 during its implementation. However, the continuity of CTG effectiveness on PM2.5 control in the post CTG remained unclear, especially in rural area, retarding the further emission-control policy optimization. To address this gap, we examined the wintertime rural PM2.5 variations within the Beijing–Tianjin–Hebei during the non-epidemic-lockdown period of winter 2020–2022. Of which, 2020 holds the most stringent CTG enforcement, 2021 marks the conclusion of CTG, and 2022 represents the post CTG. Methods: In this study, the PM2.5 levels in rural areas of the Beijing–Tianjin–Hebei region were monitored during the winters of 2020, 2021, and 2022. Meanwhile, multiple chemical analysis methods were employed to determine its chemical components. The Positive Matrix Factorization (PMF) modeling and Potential source contribution function (PSCF) analysis were employed to analyze the contributions of different sources to PM2.5. Results and Discussion: PM2.5 exhibited an average decrease of 30.4%, and PMF modeling indicated the contributions of coal combustion (CC) to PM2.5 fell from 22.4% in 2020 to 17.8% in 2021, and further to 10.8% by 2022, highlighting the enduring CTG effectiveness. The continuously decreasing CC-specific As, Pb, and SO42– was another evidence for scattered coal prohibition. Reluctantly, the biomass burning (BB) contributions held higher increase of 17.2% in 2021–2022 than 8.86% in 2020–2021, and it has leapt to be the largest PM2.5 contributor (25.4%) in winter 2022. The natural gas shortage and subsidy reduction in winter 2022, as well as the man, and forced demolition of coal-stoves in winter 2022 should be the main inducements. Contrary to the recent upward trend of secondary aerosols, SO42–, NO3–, and NH4+ showed a downward trend, with annual average dropped of 52.6%, 23.4%, and 53.8%, respectively. This should be ascribed to the enhanced primary emiss

关键词： Coal

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Adaptive Dynamic Programming for Optimal control of Unknown LTI System via Interval Excitation

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IEEE Transactions on Automatic control 2025年

作者： Ma, Yong-Sheng Sun, Jian Xu, Yong Cui, Shi-Sheng Wu, Zheng-Guang The National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing100081 China The Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

This paper investigates the optimal control problem for an unknown linear time-invariant (LTI) system. To solve this problem, a novel composite policy iteration (CPI) algorithm based on adaptive dynamic programming is developed to adaptively learn the optimal control policy from system data. The existing methods require the initial stabilizing control policy, the persistence of excitation (PE) condition and the data storage to ensure the algorithm convergence. Fundamentally different from them, these restrictions can be relaxed in the proposed method. Specifically, an adaptive parameter is elaborately designed to remove the requirement of the initial stabilizing control policy. Besides, an online data calculation scheme is proposed, which can not only replace the stored historical data by online data, but also can relax the PE condition to the interval excitation (IE) condition. The simulation results demonstrate the efficacy of the proposed algorithm, and its superiority is also demonstrated by comparing it with existing algorithms. © 1963-2012 IEEE.

关键词： Dynamic programming

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CT-NeRF: Incremental Optimization of Neural Radiance Field and Camera Poses with Complex Trajectory

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Ran, Yunlong Li, Yanxu Ye, Qi Huo, Yuchi Cui, Zhaopeng Bai, Zechun Sun, Jiahao Chen, Jiming Zhejiang University College of Control Science and Engineering Hangzhou China Zhejiang University College of Control Science and Engineering State Key Laboratory of Industrial Control Technology China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China Zhejiang University State Key Lab of CAD and CG China

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF, their applicability is limited to simple trajectory scenes. Existing methods struggle while tackling complex trajectories involving large rotations. To address this limitation, we propose CT-NeRF, an incremental reconstruction and optimization pipeline using only RGB images without pose and depth input. In this pipeline, we first propose a local-global bundle adjustment under a pose graph connecting neighboring frames to enforce the consistency between poses to escape the local minima caused by only pose consistency with the scene structure. Further, we instantiate the consistency between poses as a reprojection error constraint resulting from pixel-level correspondences between input image pairs. Through the incremental reconstruction, CT-NeRF enables the recovery of both camera poses and scene structure and is capable of handling scenes with complex trajectories. We evaluate the performance of CT-NeRF on two real-world datasets, NeRF-Buster and Free-Dataset, which feature complex trajectories. Results show CT-NeRF outperforms existing methods in novel view synthesis and pose estimation accuracy. © 1991-2012 IEEE.

关键词： 3D Reconstruction bundle adjustment NeRF novel view synthesis structure from motion

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Performance-Aware control of Modular Batteries For Fast Frequency Response

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IEEE Transactions on Sustainable Energy 2025年

作者： He, Yutong Ruan, Guangchun Zhong, Haiwang Tsinghua University State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Beijing100084 China Massachusetts Institute of Technology Lab for Information and Decision Systems CambridgeMA02139 United States

Modular batteries can be aggregated to deliver frequency regulation services for power grids. Although utilizing the idle capacity of battery modules is financially attractive, it remains challenging to consider the heterogeneous module-level characteristics such as dynamic operational efficiencies and battery degradation. In addition, real-time decision making within seconds is required to enable fast frequency response. In order to address these issues, this paper proposes a performance-aware scheduling approach for battery modules to deliver fast frequency response (FFR) support. In particular, the conduction loss and switching loss of battery packs as well as converters are captured within a mix-integer quadratic constrained program (MIQCP). The cycle-based aging model identifies the aging cost of battery modules during frequent cycling by introducing the aging subgradient calculation and linearization. Case studies based on real-world battery data show that the proposed scheduling approach can effectively reduce power loss cost by nearly 28%-57% and battery aging cost by 4%-15% compared to conventional methods, which can also enhance the SoC balance. © 2010-2012 IEEE.

关键词： Battery management systems

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General electronic structure calculation method for twisted systems

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Physical Review B 2025年第7期111卷 075434-075434页

作者： Junxi Yu Shifeng Qian Cheng-Cheng Liu Centre for Quantum Physics Key Laboratory of Advanced Optoelectronic Quantum Architecture and Measurement (MOE) and Beijing Key Lab of Nanophotonics and Ultrafine Optoelectronic Systems School of Physics Beijing Institute of Technology Beijing 100081 China Anhui Province Key Laboratory for Control and Applications of Optoelectronic Information Materials Department of Physics Anhui Normal University Anhui Wuhu 241000 China

In recent years, two-dimensional twisted systems have gained increasing attention. However, calculating the electronic structures in twisted materials has remained a challenge. To address this, we have developed a general computational methodology that can generate twisted geometries starting from a monolayer structure and obtain a precisely relaxed twisted structure through a machine learning-based method. Then, the electronic structure properties of the twisted material are calculated using the tight-binding (TB) and continuum model methods; thus, the entire process requires minimal computational resources. We introduce the theoretical methods for generating twisted structures and computing their electronic properties, and further provide calculations and brief analyses of the electronic structure properties for several typical two-dimensional materials with different characteristics. This paper serves as a solid foundation for researchers interested in studying twisted systems.

关键词： Electronic properties

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Robust Offline Imitation Learning Through State-level Trajectory Stitching

arXiv

引用

arXiv 2025年

作者： Wang, Shuze Mei, Yunpeng Cao, Hongjie Yuan, Yetian Wang, Gang Sun, Jian Chen, Jie National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and suffer from covariate shift. To address these challenges, recent advances in offline IL have incorporated suboptimal, unlabeled datasets into the training. In this paper, we propose a novel approach to enhance policy learning from mixed-quality offline datasets by leveraging task-relevant trajectory fragments and rich environmental dynamics. Specifically, we introduce a state-based search framework that stitches state-action pairs from imperfect demonstrations, generating more diverse and informative training trajectories. Experimental results on standard IL benchmarks and real-world robotic tasks showcase that our proposed method significantly improves both generalization and performance. Videos are available on https://***/sbr. Copyright © 2025, The Authors. All rights reserved.

关键词： Trajectories

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RoG-SAM: A Language-Driven Framework for Instance-Level Robotic Grasping Detection

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IEEE Transactions on Multimedia 2025年

作者： Mei, Yunpeng Sun, Jian Peng, Zhihong Deng, Fang Wang, Gang Chen, Jie Beijing Institute of Technology State Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Tongji University Department of Control Science and Engineering Shanghai201804 China

Robotic grasping is a crucial topic in robotics and computer vision, with broad applications in industrial production and intelligent manufacturing. Although some methods have begun addressing instance-level grasping, most remain limited to predefined instances and categories, lacking flexibility for open-vocabulary grasp prediction based on user-specified instructions. To address this, we propose RoG-SAM, a language-driven, instance-level grasp detection framework built on Segment Anything Model (SAM). RoG-SAM utilizes open-vocabulary prompts for object localization and grasp pose prediction, adapting SAM through transfer learning with encoder adapters and multi-head decoders to extend its segmentation capabilities to grasp pose estimation. Experimental results show that RoG-SAM achieves competitive performance on single-object datasets (Cornell and Jacquard) and cluttered datasets (GraspNet-1Billion and OCID), with instance-level accuracies of 91.2% and 90.1%, respectively, while using only 28.3% of SAM's trainable parameters. The effectiveness of RoG-SAM was also validated in real-world environments. A demonstration video is available at https://***/playlist?list=PL7et4nGJAImLGytsJbglGbXl1hacA2dy. © 1999-2012 IEEE.

关键词： Robot vision

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