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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Duan, Mengmeng Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819733392

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Energy-Efficient Safety-Aware Scheduling of Real-Time control systems with Burst Tasks 22

Energy-Efficient Safety-Aware Scheduling of Real-Time Contro...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the random dropping of control computing subtasks, resulting in control failures and potential hazards. To address this issue, we propose an energy-efficient safety-aware task scheduling scheme based on mixed-integer programming. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks and adjusts the processor speed based on the dynamic voltage and frequency scaling technology (DVFS), ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called EESASA. Simulation results show that EESASA can minimize the overall cost of control and processor energy while ensuring the safety of the control system and the timely completion of burst computing tasks. © 2024 IEEE.

关键词： Dynamic frequency scaling

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Multi-Modal Based Fuzzy Atmosfield in Human-Robot Interaction 42

Multi-Modal Based Fuzzy Atmosfield in Human-Robot Interactio...

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42nd Chinese control Conference, CCC 2023

作者： Li, Xin-Heng Liu, Zhen-Tao Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789887581543

Recently, the emotional robot has basic functions of perceiving and expressing emotions, but it still hard to communicate naturally between humans and robots. One major reason is that communication atmosphere is seldom considered in Human-robot Interaction (HRI). We propose Multi-modal (i.e., music background, speech, and semantics) Based Fuzzy Atmosfield (FA), which can not only realize the dynamic adjustment of FA but also dynamically regulate human emotions. In the experiment, a Pepper robot is used and one hundred volunteers are invited for HRI, and soothing piano pieces are used as background music. Questionnaires were filled by the volunteers after the experiments, from which the results show that 90% of the volunteers felt the dynamic changes in the communication atmosphere and 77% of the volunteers felt significant emotional regulation, which demonstrates the effectiveness of our method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Semantics

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H8 Consensus control for High-Order Fully Actuated Multi-Agent systems with External Disturbances 3

H8 Consensus Control for High-Order Fully Actuated Multi-Age...

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3rd Conference on Fully Actuated system Theory and Applications, FASTA 2024

作者： Zhang, Qing-Hao Lu, Jun-Guo 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

ISBN: (纸本)9798350373691

This paper investigates the problems of H8 consensus control for high-order fully actuated multi-agent systems (HOFAMASs) with external disturbances. By utilizing the characteristics of high-order fully actuated systems (HOFASs), the distributed control protocols are designed, eliminating all nonlinear characteristics of open loop systems while establishing new closed-loop dynamic characteristics. Then, the H8 consensus problems of HOFAMASs are addressed. The corresponding parameters to be designed in the distributed control protocols are given by using linear matrix inequalities (LMIs). A novel multi-spacecraft attitude model is proposed based on HOFASs. An illustrative example of the multi-spacecraft attitude model is given, in order to demonstrate the effectiveness and application of the results proposed in this paper. © 2024 IEEE.

关键词： Multi agent systems

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Indefinite metacavities coupled to a mirror:bound states in the continuum with anomalous resonance scaling

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Photonics Research 2024年第3期12卷 598-607页

作者： QIANG ZHANG PEIXIANG LI ZHIYUAN GU SHAODING LIU ZEJUN DUAN College of Electronic Information and Optical Engineering Taiyuan University of TechnologyTaiyuan 030024China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

Indefinite metacavities(IMCs)made of hyperbolic metamaterials show great advantages in terms of extremely small mode volume due to large wave vectors endowed by the unique hyperbolic ***,quality(Q)factors of IMCs are limited by Ohmic loss of metals and radiative loss of leaked *** the fact that Ohmic loss of metals is inevitable in IMCs,the radiative loss can be further suppressed by leakage *** we propose a mirror coupled IMC structure which is able to operate at Fabry–Pérot bound states in the continuum(BICs)while the hyperbolic nature of IMCs is *** the BIC point,the radiative loss of magnetic dipolar cavity modes in IMCs is completely absent,resulting in a considerably increased Q factor(>90).Deviating from the BIC point,perfect absorption bands(>0.99)along with a strong near-field intensity enhancement(>1.8×10^(4))appear when the condition of critical coupling is almost *** proposed BICs are robust to the geometry and material composition of IMCs and anomalous scaling law of resonance is verified during the tuning of optical *** also demonstrate that the Purcell effect of the structure can be significantly improved under BIC and quasi-BIC regimes due to the further enhanced Q factor to mode volume *** results provide a new train of thought to design ultra-small optical nanocavities that may find many applications benefitting from strong light–matter interactions.

关键词： hyperbolic mirror definite

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Equilibrium analysis of networked game under best-response dynamics 43

Equilibrium analysis of networked game under best-response d...

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43rd Chinese control Conference, CCC 2024

作者： Xia, Yu Su, Qi 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

ISBN: (纸本)9789887581581

Both coordination, a behavioral pattern where individuals adopt the same behavior as the majority, and anticoordination, a behavioral pattern where individuals choose a behavior different from the majority, are prevalent in social and engineering scenarios. Examples include the spread of social norms or innovations for coordination and the division of labor and traffic congestion for anti-coordination. Exploring the large-scale interacting systems driven by coordination and anticoordination is of great significance in understanding, predicting, and optimizing the evolutionary outcomes. While existing studies have primarily focused on analyzing the convergence of networked systems and evaluating the time to reach equilibrium, our investigation delves into all possible states of a networked system and scrutinizes all equilibrium states. Notably, we observe that the number of equilibrium states increases exponentially with the network size. Accounting for network structure properties, homogeneous networks exhibit more equilibrium states than heterogeneous networks. Furthermore, for specific behavioral switching thresholds, the number of equilibrium states is surprisingly higher than at neighboring switching thresholds. Our work reveals the intricate interplay between evolutionary dynamics, system structure, and behavioral switching thresholds. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Traffic congestion

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Soft Robotics:Morphology and Morphology-inspired Motion Strategy

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

Robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

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Event-triggered-based self-organizing fuzzy neural network control for the municipal solid waste incineration process

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Science China(Technological Sciences) 2023年第4期66卷 1096-1109页

作者： HE HaiJun MENG Xi TANG Jian QIAO JunFei Faculty of Information Technology Beijing University of TechnologyBejing 100124China Beijing Laboratory of Smart Environmental Protection Beijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Bejing 100124China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Bejing 100124China Xi'an Institute of Electromechanical Information Technology Xi'an 710065China

Due to the large uncertainty in the municipal solid waste incineration(MSWI)process,the furnace temperature of the MSWI process is difficult to control and the controller is updated *** improve the accuracy and reduce the number of controller updates,a novel event-triggered control method based correntropy self-organizing TS fuzzy neural network(ETCSTSFNN)is ***,the neurons of the rule layer are grown or pruned adaptively based on activation intensity and control error to meet the dynamic change of the actual operating ***,the performance index is designed based on the correntropy of tracking errors,and the parameters of the controller are adjusted by gradient descent ***,a fixed threshold event-triggered condition is designed to determine whether the current controller is updated or *** stability of the control system is proved based on the Lyapunov stability ***,the furnace temperature control experiments are conducted based on the actual data of a municipal solid waste incineration plant in *** experimental results show that the proposed ET-CSTSFNN controller shows a better control performance,which can reduce the number of the controller update significantly while achieving accurate furnace temperature control compared with other traditional control methods.

关键词： municipal solid waste incineration furnace temperature fuzzy control event-triggered

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DISTRIBUTED REAL-TIME STATE ESTIMATION OF INTEGRATED POWER AND GAS system

DISTRIBUTED REAL-TIME STATE ESTIMATION OF INTEGRATED POWER A...

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CIRED 2022 Shanghai Workshop

作者： Lian, Jie Zhang, Wen Zhao, Qi Zhang, Tingting Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education School of Electrical Engineering Shandong University Jinan China

ISBN: (纸本)9781839538391

The integrated power and gas system (IPGS) is drawing a lot of attention owing to its superiority in improving energy efficiency. State estimation plays an important role in monitoring the states of IPGS. Considering the different time constants of the IPGS and privacy issues, this paper proposes a distributed real-time state estimation (D-RTSE) method of IPGS based on a cubature Kalman filter (CKF). First, a difference-based model is established for the gas system to depict its slow dynamic characteristics. Subsequently, an RTSE method based on CKF is developed for the IPGS to deal with the system nonlinearity while integrating both the historical and present measurement information. Then, a distributed scheme is designed for the RTSE of the IPGS to enhance computational efficiency and address privacy issues. The 13-bus power system and the 7-node gas system are integrated as the test system. Test results show that the proposed D-RTSE method can efficiently estimate the accurate states of IPGS. © 2022 IET Conference Proceedings. All rights reserved.

关键词： State estimation

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Polar-segmented vector optical field and its anomalous focal properties

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Optics Express 2025年第10期33卷 21030-21039页

作者： Gao, Xu-Zhen Song, Xin-Yu Chen, Jing-Rui Wang, Dan Xu, Shi-Tong Niu, Mingsheng Cao, Hongzhong Ma, Rende Pan, Yue School of Physics and Physical Engineering Qufu Normal University Qufu273165 China Shandong Provincial Key Laboratory of Laser Polarization and Information Technology Qufu Normal University Qufu273165 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Shanxi Taiyuan030024 China

In recent years, study of spatially structured light has become an attractive and promising area, providing more ways to explore unusual and anomalous effects in optics. Here, we propose a kind of polar-segmented vector optical field (VOF), and demonstrate anomalous focal properties. Due to the appearance of the longitudinal component in tight focusing processes, the transverse energy flow and transverse spin angular momentum (SAM) are achieved, which can be applied in areas such as manipulating particles, as the transverse energy can transport the particles and the SAM can spin the particles in more degrees. Overall, the proposed polar-segmented VOF and the corresponding anomalous focal properties are crucial for advancing theories and technologies in optics, underscoring its importance in both fundamental research and practical applications. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Focusing

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