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Dynamic Event-Triggered Model Predictive control for Multiple Platoons under Non-Ideal Communications

IEEE Internet of Things Journal 2025年

作者： Han, Qiaoni Xu, Chengfei Wang, Xiaocheng Yang, Hongjiu Zuo, Zhiqiang Yang, Bo Guan, Xinping Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin 300072 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai 200240 China Tianjin University School of Electrical and Information Engineering Tianjin 300072 China Tianjin Normal University Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission College of Electronic and Communication Engineering Tianjin 300387 China Shanghai Jiao Tong University Department of Automation Shanghai 200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai 200240 China

The uncertainty of wireless communication seriously affects the control performance of the platoon. In this paper, a model predictive control (MPC) method based on dynamic event-triggering is proposed to address the impact of non-ideal communications on multi-vehicle systems. Firstly, a hierarchical platoon architecture combining backbone layer and sub-platoon layers is proposed to achieve efficient coordination among multiple platoons, and a communication-aware control mechanism is designed for each vehicle to effectively mitigate the adverse effects of non-ideal communication scenarios. Secondly, a dynamic event-triggering mechanism is established for each vehicle, which is related to time-varying delay and random packet loss parameters, so as to effectively reduce the frequency of MPC solutions and data transmission. Additionally, based on different communication topologies, distributed model predictive controllers are suggested for backbone layer and sub-platoon layer to achieve precise and comfortable tracking. Then, sufficient conditions are provided to ensure the recursive feasibility of the MPC algorithm and the stability of the platoon system. Finally, extensive simulations are conducted, and the results demonstrate the effectiveness of the proposed algorithm in terms of control performance and low computational complexity under non-ideal communication conditions. © 2014 IEEE.

关键词： Dynamic event-triggering Model predictive control Multiple vehicle platoon Non-ideal communication

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A time-coded multi-concentration microfluidic chemical waveform generator for high-throughput probing suspension single-cell signaling

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Chinese Chemical Letters 2022年第6期33卷 3091-3096页

作者： Yiran Guo Peng Chen Zhaolong Gao Yiwei Li Shunji Li Xiaojun Feng Bi-Feng Liu The Key Laboratory for Biomedical Photonics of MOE at Wuhan National Laboratory for Optoelectronics-Hubei Bioinformatics and Molecular Imaging Key Laboratory Systems Biology ThemeDepartment of Biomedical EngineeringCollege of Life Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

The cellular response to the complex extracellular microenvironment is highly dynamic in time and type of extracellular *** reconstructing this process and analyzing the changes in receptor conformation on the cell membrane surface and intracellular or intercellular signaling has been a major challenge in analytical chemistry and biophysical *** this paper,a time-coded multiconcentration microfluidic chemical waveform generator was developed for the dynamic signaling probing with single-cell array of high temporal resolution,high throughput,and multi-concentration combination *** on innovative microchannel structure,sophisticated external control methods and multiplexing technology,the system not only allowed for temporally sequential permutations of the four concentrations of stimuli(time code),but also generated pulsed and continuous waveforms at different frequencies in a highly controllable ***,the single-cell trap array was set up to efficiently capture cells in suspension,dramatically increasing throughput and reducing experiment preparation *** maximum frequency of the platform was 1 Hz,and one cell could be stimulated at multiple *** show the ability of the system to investigate rapid biochemical events in high throughput,pulse stimulation and continuous stimulation of different frequencies and different time codes,combined with four concentrations of histamine(HA),were generated for probing G protein-coupled receptor(GPCR)signaling in He La ***,statistical analysis was performed for the mean peak height and mean peak area of the cellular *** believe that the time-coded multi-concentration microfluidic chemical waveform generator will provide a novel strategy for analytical chemistry,biophysics,cell signaling,and individualized medicine applications.

关键词： Microfluidics Dynamic stimulation Time code High-throughput Single-cell array

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Symport/antiport P systems with look-ahead mode

Symport/antiport P systems with look-ahead mode

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2010 IEEE 5th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2010

作者： Jiang, Yun Wang, Shuo Xu, Jinbang Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Huazhong University of Science and Technology Wuhan 430074 Hubei China

ISBN: (纸本)9781424464388

The look-ahead is a forbidding condition formalized by a set of forbidden rules that are checked after all assignment of objects to rules are done. The look-ahead mode can decrease the inherent non-determinism of P systems and helps to the practical implementation of P systems on computers. In this work, the computational power of P systems with symport/antiport rules working in the look-ahead mode are investigated. Communication P systems with 3 membranes and the weight of symport and antiport rules being 2 and 1, respectively, working in the look-ahead mode, can recognize any recursively enumerable languages;a characterization of context-sensitive languages is obtained by communication P systems with 2 membranes working in the look-ahead mode. © 2010 IEEE.

关键词： Context free languages

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A Robust CPD Approach Based on Shape Context 33

A Robust CPD Approach Based on Shape Context

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第三十三届中国控制会议

作者： YANG Yawen ZHANG Peng Peng QIAO Yu YANG Jie WANG Sheng Zheng The Key Laboratory of Ministry of Education for System Control and Information Processing Institute of Image Processing and Pattern RecognitionShanghai Jiao Tong University Merchant Marine College Shanghai Maritime University

ISBN: (纸本)9781479947249

Point matching is an important component of image *** years,Coherent Point Drift(CPD) method becomes a very popular point matching *** treats point matching as a probability estimation problem and speeds up the process of matching a *** this method,one set of points are thought to be sampled from a Gaussian Mixture Model(GMM),which is centered by the other set of ***,CPD is sensitive to outliers and noises,especially when the noise ratio increased or the number of outliers gets much *** deal with this problem,we introduce shape context into the step of searching for matching points and then improve the form of prior probabilities of GMM in this *** main idea of our method is that if the most points in a data set are likely to be matched to a particular centroid,this Gaussian component should be have a more influence to ***,we set prior probability of GMM with the similarity between GMM components and the data *** the computation of similarity is based on shape *** experiments on 2D and 3D images show that when noise ratio is low,our method performs as well as CPD does,but as the ratio increased,our method is more robust and satisfactory than CPD.

关键词： CPD,Shape context,image registration,Point matching

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Analysis of memory property on the memristor based on the current and constant of integration

Analysis of memory property on the memristor based on the cu...

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2011 International Conference on Information Science and Technology, ICIST 2011

作者： Bao, Gang Shen, Yi Zeng, Zhigang Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China Key Laboratory of Image Processing and Intelligent Control Education Ministry of China Wuhan Hubei 430074 China

ISBN: (纸本)9781424494408

Memristor has received significant attentions since Strukov et al released their invention on April 30, 2008 at Nature Letters. Based on the model of Strukov et al, analytic expression of the internal state is obtained by applying voltage to the device. By using the constant in the expression of the internal state, memory property of the memristor is explained. © 2011 IEEE.

关键词： Memristors

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Replaying Styles for Continual Semantic Segmentation Across Domains 7th

Replaying Styles for Continual Semantic Segmentation Across...

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7th Asian Conference on Pattern Recognition, ACPR 2023

作者： Deng, Yao Xiang, Xiang Key Lab of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9783031476365

In the context of Domain Incremental Learning for Semantic Segmentation, catastrophic forgetting is a significant issue when a model learns new geographical domains. While replay-based approaches have been commonly used to mitigate this problem by allowing the model to review past knowledge, they require additional storage space for old data, which may not be feasible in real-world applications. To address this limitation, we propose a style replay method that leverages the characteristics of low-level representations in CNN to require only one style feature for each domain, leading to a significant reduction in storage overhead. By fusing the style features of past domains with the semantic features of current data, our method enables style transfer for new domain data, thereby improving the model’s generalization ability to the domain. Through extensive experimental evaluations on various autonomous driving datasets, we demonstrate the efficacy of our proposed method in addressing the challenges of continual semantic segmentation under both label and domain shift, outperforming the previous state-of-the-art methods. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Semantic Segmentation

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Optimal Ascent Guidance based on Direct Optimization Method

Optimal Ascent Guidance based on Direct Optimization Method

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2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Xuefang Lu Yongji Wang Candidate of Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Hu Key Laboratory of Ministry of Educationfor Image Processing and Intelligent Control Huazhong Univers

ISBN: (纸本)9781467315241

In this paper, an optimal guidance algorithm is proposed for atmospheric *** optimal guidance algorithm updates the reference trajectory to deal with the impact of disturbance by solving an optimal control problem *** the strong nonlinear ascent dynamic, the optimal control problem is transformed into nonlinear programming problem by trajectory *** direct optimization method is implemented for this nonlinear programming *** a segment of the reference trajectory is updated by the optimal guidance *** to the small amount of the discrete nodes and the initial guess solution which is close to the optimization solution, the direct optimization method is fast enough to generate a new reference *** simulation for the Generic Hypersonic Vehicle model and scramjet engine is done for different cases of the aerodynamic coefficient *** results show the accuracy and the effectiveness of this optimal guidance algorithm.

关键词： Optimal Guidance, Ascent, Direct Optimization

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Handling multi-objective in an HTN planner for emergency decision-making

Handling multi-objective in an HTN planner for emergency dec...

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2013 IEEE Conference Anthology, ANTHOLOGY 2013

作者： Li, Minglei Wang, Hongwei Qi, Chao Liu, Dan Wang, Jian Wang, Zhe Systems Engineering Institute Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9781479916603

There are many multi-objective planning problems in emergency decision-making domain. HTN planners were widely used in emergency decision-making, while they have limited ability to solve optimization, especially multi-objective optimization. Aimed to handling multi-objective in HTN planners, this paper proposes a novel method based on SHOP2, which is a domain-independent state-based forward HTN planner. The method uses a weighted vector to mirror the decision maker's performance for various objectives and an anytime search algorithm to improve the ability to find the best solution plan. Finally, a case of emergency evacuation is given to testify the effectiveness of the method. © 2013 IEEE.

关键词： Multiobjective optimization

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Fast KNN search for big data with set compression tree and best bin first 2

Fast KNN search for big data with set compression tree and b...

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2nd International Conference on Cloud Computing and Internet of Things, CCIOT 2016

作者： Chen, Zhenjie Yan, Jingqi Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of Ministry of Education for System Control and Information Processing China Shanghai China

ISBN: (纸本)9781467398213

This paper proposes k nearest neighbors (kNN) search based on set compression tree (SCT) and best bin first (BBF) to deal with the problem for big data. The large compression rate by set compression tree is achieved by compressing the set of descriptors jointly instead of compressing on a per-descript or basis. So set compression tree has a good performance in kNN search at a low bit rate. At the same time, the best bin first (BBF) is a very efficient algorithm to find the approximately kNN from a large number of high dimensional feature descriptors. SCT-BBF is a novel exploration and it improves search performance in three aspects: First, SCT-BBF requires less memory footprint, which is important in big data age. Second, it increases accuracy compared traditional method like KD-Tree and original SCT. SCT-BBF can be used with other data processing methods like PCA and SIFT to perform better. Third, this paper adopts finer search to increase accuracy at a slight loss of speed. And it can extend to big data easily. © 2016 IEEE.

关键词： Big data

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Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking control

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Journal of Shanghai Jiaotong university(Science) 2021年第4期26卷 446-453页

作者： ZHANG Lalu Xiangxiang Dong YAO Lixiu CAI Yunze Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong UniversityShanghai200240China

Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

关键词： mobile sensor network velocity-varying target tracking flocking control Kalman-consensus filtering

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