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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory autonomous systems Stability

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Vibration Transfer Function of Railway Vehicle system and its Spatial Coherence Under Vertical Track Irregularity Conditions

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Chinese Journal of Mechanical Engineering 2025年第2期 380-399页

作者： Peng Lu Xi Wang Yu Hou State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong University Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University School of Mechanical Electronic and Control EngineeringBeijing Jiaotong University

Current research on rail vehicle system vibrations primarily relies on numerical methods, with vibration transfer functions commonly derived through data fitting. However, the physical mechanisms underlying these vibrations are not well understood. To clarify the vibration transfer function and its characteristics, four basic input vectors are defined, and an analytical method is proposed. The vibration transfer functions of the vehicle system are solved, and their spatial coherence is analyzed. The results show that there are two spatial scales and four coherent modes in the vehicle system. The track irregularity wavelengths are combined with two spatial scales to alter the proportions of basic input vectors and then show the characteristics of spatial coherence. Four coherent modes are involved in wheel-rail force and primary suspension force; two coherent modes are involved in bogie vertical motion; and their dominant modes vary with the input frequency. On the other hand, the coherent modes involved in the bogie pitching motion and vehicle body motion are single and fixed over the whole range of frequency. This study presents an analytical method for the rapid solution of dynamic responses in vehicle systems and systematically analyzes the coherence behavior of vibration transfer functions with respect to tracking irregularity wavelengths.

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Online Flow Scheduling in Virtualized Time-Sensitive networks: A Joint Admission control and VNF Embedding Approach

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IEEE Transactions on Mobile Computing 2025年第6期24卷 4651-4667页

作者： Zhang, Yajing Chen, Cailian Li, Mingyan You, Chaoqun Guan, Xinping Quek, Tony Q. S. Shanghai Satellite Network Research Institute Co. Ltd. Shanghai200120 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Chongqing University College of Computer Science Chongqing400044 China Fudan University School of Computer Science Shanghai200433 China Singapore University of Technology and Design 487372 Singapore

Time-sensitive networking (TSN) is proposed to satisfy the increasingly stringent demands of Industrial 4.0 for deterministic transmission. This is achieved by generating a series of centrally configured gate control lists to strictly restrict the forwarding time of arriving flows. However, such a centralized scheme requires prior information of all flows, severely impeding TSN from providing an online response to dynamic industrial applications. To solve this problem, we innovatively propose to use admission control (AC) to realize deterministic transmission in the virtualized TSN network. In this approach, AC is distributively executed on each node and link, whereby flows of applications are served by passing through a series of virtual network functions (VNFs). This distributed AC execution is regarded as a VNF embedding (VNE) process. Specifically, we propose a two-stage online framework, Smart Admission control (SmartAC), to cater to dynamic applications. The first stage, referred to as the static stage, obtains a deterministic VNE solution by synthesizing AC decisions of individual TSN nodes and links. The second stage, referred to as the dynamic stage, fine-tunes VNE solutions obtained from the static stage to adapt to the harsh environment with insufficient resources or limited VNF migration budgets. Simulation results demonstrate the effectiveness of SmartAC in improving response rate and resource utilization ratio. Notably, SmartAC reduces runtime by 90% compared to existing algorithms and exhibits robustness across different network topologies. © 2002-2012 IEEE.

关键词： Budget control

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Efficient Trajectory Generation Based on Traversable Planes in 3D Complex Architectural Spaces

arXiv

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arXiv 2025年

作者： Zhang, Mengke Tian, Zhihao Xia, Yaoguang Xu, Chao Gao, Fei Cao, Yanjun The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou Key Laboratory of Autonomous System Huzhou313000 China China Tobacco Zhejiang Industrial Co. Ltd. Hangzhou310024 China

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have rapidly developed, the challenge remains to generate efficient, smooth, comprehensive, and high-quality trajectories in these areas. In this paper, we propose a novel efficient planner for ground robots to autonomously navigate in large complex multi-layered architectural spaces. Considering that traversable regions typically include ground, slopes, and stairs, which are planar or nearly planar structures, we simplify the problem to navigation within and between complex intersecting planes. We first extract traversable planes from 3D point clouds through segmenting, merging, classifying, and connecting to build a plane-graph, which is lightweight but fully represents the traversable regions. We then build a trajectory optimization based on motion state trajectory and fully consider special constraints when crossing multi-layer planes to maximize the robot’s maneuverability. We conduct experiments in simulated environments and test on a CubeTrack robot in real-world scenarios, validating the method’s effectiveness and practicality. Copyright © 2025, The Authors. All rights reserved.

关键词： Flight paths

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An Enhancing Stability control Strategy of VSG-Based Power Source Under PWM Rectifier Load

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IEEE Transactions on Consumer Electronics 2025年

作者： Li, Gaoxiang Liu, Bowen Song, Wenhao Jining, Chen Liu, Xiao Guangxi University Guangxi Key Laboratory of Power System Optimization and Energy Technology School of Electrical Engineering Nanning530004 China Guangxi Zhuang Autonomous Region Information Center Guangxi Key Laboratory of Digital Infrastructure Nanning530200 China Guangxi University Guangxi Key Laboratory of Multimedia Communications and Network Technology Guangxi Colleges and Universities Key Laboratory of Multimedia Communications and Information Processing School of Computer Electronics and Information Nanning530004 China

Under PWM rectifier load, the power source based on virtual synchronous generator (VSG) is prone to cause mid-frequency oscillation. Firstly, the system oscillation mechanism and characteristic of the VSG-based power source are analyzed based on impedance method. Due to the negative resistance and capacitive characteristic in the middle frequency range, the PWM rectifier load is prone to interact with the VSG-based power source, which can lead to impedance resonance. Secondly, to improve the stability of the VSG-based power source under the PWM rectifier load, a voltage differentiation feedforward control is proposed. In addition, since the mid-frequency impedance magnitude decrease obviously, the improved VSG-based power source is closer to the ideal voltage source, which can automatically suppress the middle harmonics induced by uncontrollable rectifier load. Finally, the proposed control and the corresponding theoretical analysis are verified by simulations and experiments. © 1975-2011 IEEE.

关键词： Synchronous generators

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A Quasi-Parallel Resonant Switched Capacitor DC-DC Converter with Wide Input Voltage Range Regulation and Enhanced Dynamic Performances

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Qi, Jingjing Wu, Xuezhi Sun, Kai Tsinghua University State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Beijing100084 China Beijing Jiaotong University National Active Distribution Network Technology Research Center Beijing100044 China

Wide-range and high-efficiency DC-DC converters are in high demand for various applications, such as distributed systems, electric vehicles, and DC buildings. Resonant switched capacitor converters (ReSCC) can achieve soft switching, have small passive device capacity, and exhibit low voltage stress, but the voltage ratio is difficult to be regulated continuously. In this paper, a quasi-parallel resonant switched capacitor DC-DC converter is proposed to satisfy the design requirements, which incorporates a ReSCC with soft-switching and variable voltage ratio, as well as a Buck converter. In addition, a simplified optimal trajectory controller for ReSCC is investigated, which can be combined with PI controller of Buck converter to enhance the load transient of the proposed converter. Moreover, the input voltage feedforward control is implemented with the optimized feedforward coefficient to suppress the input voltage disturbance. The proposed converter can achieve high efficiency and rapid dynamic response over a wide conversion range. The correctness of the theoretical analyses is verified by a 36V∼60V-5V/20A prototype. © 2013 IEEE.

关键词： Capacitor bank

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A Harmonic Current Self-Compensation control Strategy of DC Active Power Filter

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Li, Gaoxiang Wu, Huanchao Chen, Jining Liu, Xiao Guangxi University Guangxi Key Laboratory of Power System Optimization and Energy Technology School of Electrical En-gineering Nanning530004 China Guangxi Zhuang Autonomous Region Information Center Guangxi Key Laboratory of Digital Infrastructure Nanning530200 China Guangxi Key Laboratory of Multimedia Communications and Network Technology Guangxi Colleges and Universities Key Laboratory of Multimedia Communications and Information Processing School of Computer Electronics and Information Guangxi Uni-versity Nanning530004 China

Due to the diversity of nonlinear loads, the harmonic frequency of the DC microgrid is unpredictable, which poses a challenge to traditional DC active power filters (DC-APF). Firstly, the harmonic compensation mechanism and characteristics of the DC-APF with classical control strategy are analyzed. For the classical DC-APF, the voltage control and harmonic extraction are independent of each other, which may lead to their conflict and reduce the harmonic compensation performance. To address this issue, a harmonic current self-compensation control strategy of DC-APF is proposed, which uses a first-order inertia controller in the voltage loop and can simultaneously achieve voltage control and harmonic extraction. Then, the mechanism, characteristics, and parametric design method of the proposed harmonic current self-compensation control are introduced in detail. Compared with the classical DC-APF, the proposed DC-APF does not require any harmonic extraction filter and has better harmonic current compensation performance. Finally, the proposed control strategy and theoretical analysis are verified by simulation and experiment. © 2025 IEEE. All rights reserved.

关键词： Active filters

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Point-Plane Better than Point-Point – for Embedding-based USAD 8

Point-Plane Better than Point-Point – for Embedding-based U...

引用

8th International Conference on Video and Image Processing, ICVIP 2024

作者： Zhao, Zhirong Zhang, Yuanhao Yu, Zujun Zhu, Liqiang Science and-Technology Department Guoneng Shuohuang Railway Development Co Ltd. Cangzhou Cangzhou062350 China Frontiers Science Center for Smart High-Speed Rail System Beijing Jiaotong University Beijing100044 China State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong University Beijing100044 China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China

ISBN: (数字)9781510689244

ISBN: (纸本)9781510689237

As deep neural networks (DNNs) have advanced, high-quality pre-trained models have provided excellent feature extraction methods for embedding-based unsupervised anomaly detection (EUSAD). However, when calculating anomaly scores, common EUSAD models often rely on point-to-point distance computations between test features and reference features. This approach not only fails to fully utilize the carefully integrated reference feature library but may also increase pixel-level false positives due to the incorrect selection of reference points. To address this issue, this paper adopts the least squares method, evaluating anomalies by calculating the distance between test feature points and the reference feature plane. Experimental results demonstrate that this method not only performs well in global image detection but also significantly reduces pixel-level false positives, showing strong performance across many anomaly detection datasets. © 2025 SPIE.

关键词： Pixels

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Distributed Generalized Nash Equilibria Learning for Online Stochastic Aggregative Games

arXiv

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arXiv 2025年

作者： Du, Kaixin Meng, Min Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering College of Electronics and Information Engineering National Key Laboratory of Autonomous Intelligent Unmanned System Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper investigates online stochastic aggregative games subject to local set constraints and time-varying coupled inequality constraints, where each player possesses a time-varying expectation-valued cost function relying on not only its own decision variable but also an aggregation of all the players’ variables. Each player can only access its local individual cost function and constraints, necessitating partial information exchanges with neighboring players through time-varying unbalanced networks. Additionally, local cost functions and constraint functions are not prior knowledge and only revealed gradually. To learn generalized Nash equilibria of such games, a novel distributed online stochastic algorithm is devised based on push-sum and primal-dual strategies. Through rigorous analysis, high probability bounds on the regret and constraint violation are provided by appropriately selecting decreasing stepsizes. Moreover, for a time-invariant stochastic strongly monotone game, it is shown that the generated sequence by the designed algorithm converges to its variational generalized Nash equilibrium (GNE) almost surely, and the time-averaged sequence converges sublinearly with high probability. Finally, the derived theoretical results are illustrated by numerical simulations. Copyright © 2025, The Authors. All rights reserved.

关键词： Nash equilibrium

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Shape Embedding and Knowledge Mining network for Generalized Few-Shot Remote Sensing Segmentation

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IEEE Geoscience and Remote Sensing Letters 2025年

作者： Qiu, Zifeng Liu, Hongyu Xiong, Hang Di, Chengliang Fang, Hao Cong, Runmin Beijing Jiaotong University Institute of Information Science Beijing100044 China The54th Research Institute of CETC Shijiazhuang050081 China China Communication System Co. Ltd. Hebei Branch Shijiazhuang050081 China Shandong University School of Control Science and Engineering Jinan250061 China Ministry of Education Key Laboratory of Machine Intelligence and System Control Jinan250061 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China

In recent years, generalized few-shot segmentation (GFSS) has received widespread attention from scholars by virtue of its superiority in low-data regimes. Most of the existing research focuses on natural image processing, and few studies have been devoted to the practical but challenging topic of remote sensing image (RSI) understanding. In this paper, we propose a Shape Embedding and Knowledge Mining network (SKNet) for generalized few-shot RSI segmentation. Specifically, the framework is divided into two key stages: (a) In the base class learning stage, shape representation embedding is introduced to enhance the network's ability to perceive remote sensing objects. Simultaneously, we introduce the self-reconstruction constraint to prevent new unseen classes from merging, thereby improving the representation uniqueness of these classes. (b) In the novel class learning stage, a base class knowledge mining mechanism is designed to update the prototypes of the novel class by using the prototype representation of the base class, so as to enhance the discrimination ability of the network. We validated our methods on the adapted version of OpenEarthMap and iSAID datasets. In comparison with existing GFSS methods, the proposed approach demonstrates an advancement. © 2004-2012 IEEE.

关键词： Semantic Segmentation

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