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检索条件"机构=Key Laboratory of Intelligent Analysis and Decision On Complex Systems"

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Collaborative SLAM System Based on Shared Priori Maps

Collaborative SLAM System Based on Shared Priori Maps

引用

International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Wu, Chunxu Shou, Yicheng Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789811966125

Multi-robot system outperforms in efficiency for cooperative task, where the challenging burden of information exchange for surrounding environment is facilitated by collaborative simultaneous localization and mapping (SLAM). However, the utilization of environmental information, i.e., mapping, should be specifically put into efficient use and merged from the viewpoint of computation saving and localization accuracy improvement. Towards these issues, this paper proposes the Collaborative SLAM system based on shared priori maps which includes multi-agent initialization and a new map sharing and reuse mechanism among various active agents in an incremental way. Finally, based on the data set recorded in the actual laboratory environment, the proposed Collaborative SLAM system is evaluated from the perspectives of localization accuracy and computational power consumption. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mapping

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Spatially Dense Multi-Target Track Segment Association Algorithm 42

Spatially Dense Multi-Target Track Segment Association Algor...

引用

42nd Chinese Control Conference, CCC 2023

作者： Yao, Yan Yan, Liping Xia, Yuanqing School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

In the field of radar data processing, track interruption seriously affects target tracking, track fusion, and other tasks. The existing track segment association algorithms have low correlation accuracy in dense distributed or long-time interruption situations. To this purpose, a dense multi-target track segment association (DMTTSA) algorithm is proposed. Firstly, two identical networks based on the multi-head probability sparse (ProbSparse) self-attention are used to capture the long-term dependencies of the tracks. Then, the bidirectional quadruplet hard sample loss (BiQuaHard loss) is constructed to make the tracks belonging to the same targets closer and the tracks belonging to the different targets farther. Finally, DMTTSA takes the closest track pairs in the feature space as the associated tracks and divides the unassociated tracks into the birth and dead tracks in chronological order. Some comparative experiments are carried out to show the anti-noise performance of the DMTTSA, as well as the effectiveness of solving the problem of dense multi-target track interruption. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Target tracking

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Data-Driven Discovery of Nonlinear Dynamical systems from Noisy and Sparse Observations

Data-Driven Discovery of Nonlinear Dynamical Systems from No...

引用

2024 International Conference on New Trends in Computational Intelligence, NTCI 2024

作者： Zhu, Wei Pei, Chao Liang, Yulan Chen, Zhang Li, Jingsui School of Science Chongqing University of Posts and Telecommunications Chongqing China Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing China College of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9798331517021

Sparse Identification of Nonlinear Dynamics (SINDy) is a data-driven algorithm for interpretability mod-eling. SINDy has a strong ability to learn dynamical systems from time series data. Sparse Identification of Nonlinear Dynamics (SINDy) can extract equations from data, but its performance will degrade when data has noise or sparse. In order to deal with this case, the idea of Monte Carlo Markov Chain (MCMC) is introduced, which is used to optimally select models. The SINDy with MCMC (MCMC-SINDy) can comprehensively discover model structures by employing random samples in data space. Simulation results show that MCMC-SINDy is more robust than SINDy with 1 % -15 % levels of noise or sparse 0.5. These results are promising for the discovery of governing equations for complex systems in neuroscience, power grids, epidemiology, finance or ecology, where governing equations have remained elusive. mportantly, compared to existing machine learning methods, the accuracy of modeling using MCMC SINDy is higher. © 2024 IEEE.

关键词： Markov chains

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Interpretable Fourier Neural Ordinary Differential Equations

Interpretable Fourier Neural Ordinary Differential Equations

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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Hanlin Bian Wei Zhu Zhang Chen Jingsui Li Chao Pei Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Numerous interacting elements can form complex systems. However, describing complex systems is extremely challenging and lacks interpretability. The construction of models still heavily relies on scientists’ understanding of complex systems. This paper explores the use of neural ordinary differential equations in the field of complex system modeling. The proposed Fourier neural ordinary differential equations offer interpretability and a relatively simple structure. By building upon interpretable modeling, the scale is significantly reduced. It is possible to deduce the system’s expression from the model’s parameters. Finally, a real-world system is provided to illustrate the effectiveness of the proposed model, demonstrating its commendable robustness.

关键词： Training Atmospheric modeling Fitting Time series analysis Ordinary differential equations Predictive models Mathematical models

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm 42

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

引用

42nd Chinese Control Conference, CCC 2023

作者： Wang, Tianyi Ma, Liling Wang, Junzheng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

With the aim of 2-AMT electric vehicles, a comprehensive shift schedule that considers both power and economy is proposed. First, the objective function of the comprehensive shift schedule is constructed, which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit distance. Second, Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift schedule. Finally, AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an NEDC. The results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance, and the economy is optimized by 3%. The feasibility of the comprehensive shift schedule is verified. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Electric vehicles

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Electric Dual Variable Pump Controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

引用

42nd Chinese Control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Backstepping

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Robust Model Predictive Control for PMSM Drives Against Parameter Mismatch 41

Robust Model Predictive Control for PMSM Drives Against Para...

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第41届中国控制会议

作者： Luwei Shao Wei Shen Fan Li Chuanyu Ge State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an advanced control method of permanent magnet synchronous motor(PMSM),finite control set model predictive control(FCS-MPC) has earned widespread attention for its advantages of intuitive concept,splendid dynamic performance and capability of handling the constraints and ***,the dependence on the model parameter accuracy is the main barrier for FCS-MPC to be applied to the industry *** order to solve this issue,this paper presents a robust FCS-MPC against parameter *** proposed strategy utilizes the prediction error in the d-and q-axis currents during the past instant to calculate the compensation which should be added to the predicted currents in the next ***,the cost function in the proportional-integral form is designed as ***,the simulation results and experimental results prove the proposed method's effectiveness in suppressing the influence of model parameter mismatch on the control performance of PMSM.

关键词： permanent magnet synchronous motor finite control set model predictive control parameter mismatch

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An Adaptive Fault Isolation and Tolerant Control Method Based on Consistency Error for Multi-agent systems 41

An Adaptive Fault Isolation and Tolerant Control Method Base...

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第41届中国控制会议

作者： Shanshan Fu Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is aimed at the second-order linear multi-agent formation *** to the failure of the actuator in a node,the wrong interactive information is transmitted between nodes,so that the entire system cannot complete the expected task.A distributed adaptive fault isolation and fault tolerance method based on consistency theory is *** the consistency error variable is designed according to the connection relationship between nodes and the faulty node,which eliminates the influence of the faulty node on the neighbor ***,an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor *** stability of the designed approach is proved by constructing a reasonable Lyapunov *** results show that the proposed adaptive control approach has good robustness.

关键词： Fault Isolation Adaptive Control Fault Tolerant Control Uniformity

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LAUNet:A Latent Action Units Network for Facial Expression Recognition 41

LAUNet:A Latent Action Units Network for Facial Expression R...

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第41届中国控制会议

作者： Junlin Zhang Kaoru Hirota Yaping Dai Sijie Yin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The inter-class similarity of facial expressions is one of the key challenges in Facial Expression Recognition(FER).In this manuscript,a Latent Facial Action Units Network(LAUNet) is proposed for the problem of inter-class similarity of facial expressions in *** proposed method recognizes subtle differences between facial expressions by learning Latent Facial Action Units Features(LAUFs).Specifically,LAUNet is composed of two parts:the Latent Facial Action Units Features Extraction Network(LEN) and the Latent Facial Action Units Selection Network(LSN).Firstly,LEN extracts LAUFs from the feature map of the backbone using the spatial attention ***,taking advantage of the channel attention mechanism,LSN captures the latent relationships between features from LAUFs to select effective features for *** are performed on the dataset after removing the invalid data of non-face images from the original FER2013 *** with some previous state-of-the-art methods,LAUNet achieves the highest accuracy rate of 71.31%.Depending on the backbone,LAUNet can improve the accuracy by up to 5.46% compared to the original architecture of the backbone.

关键词： Facial Expression Recognition Attention Mechanism Computer Vision

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Improved Model-Predictive Current Control of Permanent Magnet Synchronous Motor Drives with Designed Cost Function 41

Improved Model-Predictive Current Control of Permanent Magne...

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第41届中国控制会议

作者： Yi Yang Wei Shen Dan Li Luwei Shao State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Model predictive current control(MPCC) is widely applied in electrical drives and power electronics because of its simplicity and ***,steady-state errors are always present because of the inaccurate prediction induced by changing actual *** paper proposes a simple strategy for improving MPCC performance,which reduces steadystate errors and eliminates the additional prediction *** cost function,which is made up of tracking mistakes,is used in MPCC to choose the best switching *** paper introduces a new cost function that also includes actual current *** is a coefficient of actual current errors that enhances the appropriateness of permanent magnet synchronous motor(PMSM) *** results show superior performance of the proposed MPCC to that of conventional MPCC.

关键词： PMSM MPCC Cost function Current errors

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