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Data-Driven Learning and control with Event-Triggered Measurements

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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Dual and reduced-order observer based attack-free protocols for consensus of multi-agent systems with Markovian switching topologies

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systems and control Letters 2025年 202卷

作者： Gao, Tian-Yu Li, Zhao-Yan Zhou, Bin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China School of Mathematics Harbin Institute of Technology Harbin150001 China Zhengzhou Research Institute of HIT Zhengzhou450000 China

This paper studies the output feedback consensus problem of linear multi-agent systems with Markovian switching topologies. To avoid reconstructing the Markovian switching topologies during designing the observers or adding the state of the observers to the information exchange loop, dual and reduced-order observer based attack-free consensus protocols are proposed, which only utilizes the relative outputs of neighboring agents. It is shown that, under certain mild conditions, a necessary and sufficient condition for the solvability of the mean square consensus problem is that the union of switching topologies has a spanning tree. Finally, numerical examples are given to illustrate the effectiveness of the proposed approaches. © 2025 Elsevier B.V.

关键词： Markov processes

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Hybrid optimization of dynamic deployment for networked fire control system

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Journal of systems Engineering and Electronics 2013年第6期24卷 954-961页

作者： Chen Chen Jie Chen Bin Xin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

With applying the information technology to the military field, the advantages and importance of the networked combat are more and more obvious. In order to make full use of limited battlefield resources and maximally destroy enemy targets from arbitrary angle in a limited time, the research on firepower nodes dynamic deployment becomes a key problem of command and control. Considering a variety of tactical indexes and actual constraints in air defense, a mathematical model is formulated to minimize the enemy target penetration probability. Based on characteristics of the mathematical model and demands of the deployment problems, an assistance-based algorithm is put forward which combines the artificial potential field （APF） method with a memetic algorithm. The APF method is employed to solve the constraint handling problem and generate feasible solutions. The constrained optimization problem transforms into an optimization problem of APF parameters adjustment, and the dimension of the problem is reduced greatly. The dynamic deployment is accomplished by generation and refinement of feasible solutions. The simulation results show that the proposed algorithm is effective and feasible in dynamic situation.

关键词： deployment optimization artificial potential field （APF） constraint handling generation of feasible solutions memetic algorithm

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Trajectory synchronization of multi-cylinder electrohydraulic lift system with huge load

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Journal of Beijing Institute of Technology 2013年第2期22卷 228-234页

作者：何玉东王军政李静赵江波 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was es- tablished and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was pro- posed to fit each cylinder＇ s tracking performance and multi-cylinder＇ s trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift sys- tem with load of 100 tons verified the effectiveness of the proposed method.

关键词： hydraulic cylinder lift system trajectory synchronization

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Effective approach for outdoor obstacle detection by clustering LIDAR data context

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Journal of Beijing Institute of Technology 2016年第4期25卷 483-490页

作者：王军政乔佳楠李静 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.

关键词： context modeling clustering algorithm based on fast search and discovery of densitypeaks（CBFD） Hull algorithm obstacle detection obstacle fusion

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Motion Planning Method for Obstacle Avoidance of 6-DOF Manipulator Based on Improved A* Algorithm

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Journal of Donghua University(English Edition) 2015年第1期32卷 79-85页

作者：汪首坤朱磊 Key Laboratory of Intelligent Control and Decision for Complex System Beijing Institute of Technology

The conventional A* algorithm may suffer from the infinite loop and a large number of search data in the process of motion planning for manipulator. To solve the problem,an improved A* algorithm is proposed in this paper by the means of selecting middle points and applying variable step segments searching during the searching process. In addition,a new method is proposed for collision detection in the workspace. In this paper,the MOTOMAN MH6 manipulator with 6-DOF is applied for motion plan. The algorithm is based on the basis of the simplification for the manipulator and obstacles by cylinder enveloping. Based on the analysis of collision detection,the free space can be achieved which makes it possible for the entire body to avoid collisions with obstacles. Compared with the Conventional A*,the improved algorithm deals with less searching points and performs more efficiently. The simulation developed in VC + + with OpenGL and the actual system experiments prove effectiveness and feasibility of this improved method.

关键词： manipulator collision detection A* algorithm variable step segments searching OpenGL

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An online sparse least square support vector regression and particle filter for remaining useful life prediction of capacitive-type pressure transducer 3

An online sparse least square support vector regression and ...

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2024 3rd International Conference on Aerospace and control Engineering, ICoACE 2024

作者： Wang, Senlin Dai, Lingfeng Guo, Mingzhe Lu, Yikang Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Fujian Fuzhou362200 China Fujian Provincial Key Laboratory of Intelligent Identification and Control of Complex Dynamic System Quanzhou362200 China Fujian College University of Chinese Academy of Sciences Fujian Fuzhou350002 China School of Advanced Manufacturing Fuzhou University Fujian Quanzhou350108 China School of College of Computer and Cyberspace Security Fujian Normal University Fujian350007 China

This paper proposes a novel online sparse least square support vector regression without bias for forecasting capacitive type pressure transducer remaining useful life prediction (RUL). The proposed approach is based on mechanism and statistical knowledge. The impedance variables are applied to calibrate the correlation between pressure capacitance capacity degradation and the resistance value to improve the prediction precision. Furthermore, a particle filter algorithm is proposed to estimate the pressure capacitance impedance fade parameters, and then the probability density function of the predicted RUL value is obtained by Gaussian. Lastly, experimental results consider #5 and #6. The pressure capacitance data set verifies the hybrid RUL prognostics strategy with high accuracy and robust stability. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Support vector regression

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Molecular dynamics study of the effects of deposition parameters on Si0.5Ge0.5 film growth on Ge(100) substrate

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Computational Materials Science 2025年 256卷

作者： Xie, Jianan Lin, Tao Wang, Cailin College of Automation and Information Engineering Xi'an University of Technology Xi'an710048 China Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China

With the widespread application of SiGe films in the semiconductor field, precisely controlling the growth process to obtain high-quality films has become an important research direction. This study focuses on the growth of Si0.5Ge0.5 films on Ge (100) substrates and investigates the effects of different deposition parameters (such as deposition interval, incident energy, incident angle, and substrate off-angle) on film quality. Through molecular dynamics simulations, the effects of these deposition parameters on the crystal structure, dislocation density, and surface roughness of the films are systematically analyzed. The results show that shorter deposition intervals lead to faster atomic deposition, increasing the proportion of disordered atoms;longer deposition intervals effectively reduce the proportion of disordered atoms, but excessively long intervals may increase surface roughness and form island-like structures. Additionally, appropriate incident energy, incident angle, and substrate off-angle can significantly optimize the film quality, with the surface roughness being minimized when the incident energy is 1 eV. © 2025 Elsevier B.V.

关键词： Crystal atomic structure

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Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

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Chinese Journal of Aeronautics 2016年第3期29卷 722-737页

作者： Liu Xiangdong Xin Xing Li Zhen Chen Zhen Sheng Yongzhi School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators, This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the oniline near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

关键词： Actuator saturation Attitude control Identification Momentum transfer Satellites

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control method on serial type pump-valve coordinated electro-hydraulic servo system

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Journal of Beijing Institute of Technology 2016年第1期25卷 100-107页

作者：谢文汪首坤王军政吴建 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.

关键词： pump-valve coordinated grey prediction adaptive robust control efficiency

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