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Distributed Solver for Discrete-Time Lyapunov Equations over Dynamic Networks with Linear Convergence Rate

IEEE Transactions on Cybernetics 2022年第2期52卷 937-946页

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

The problem of solving discrete-Time Lyapunov equations (DTLEs) is investigated over multiagent network systems, where each agent has access to its local information and communicates with its neighbors. To obtain a solution to DTLE, a distributed algorithm with uncoordinated constant step sizes is proposed over time-varying topologies. The convergence properties and the range of constant step sizes of the proposed algorithm are analyzed. Moreover, a linear convergence rate is proved and the convergence performances over dynamic networks are verified by numerical simulations. © 2013 IEEE.

关键词： Convex optimization

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Multi-UAV Coverage Path Planning Method Based on Improved Particle Swarm Optimization

Multi-UAV Coverage Path Planning Method Based on Improved Pa...

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2024 China Automation Congress, CAC 2024

作者： Zhou, Yan Xiong, Yonghua School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798350368604

The widespread application of unmanned aerial vehicle (UAV) has made the coverage path planning problem for multiple UAV systems a research hotspot. In this paper, we propose a multi-UAV solution to achieve complete coverage of multi-region. Based on this solution, we present an improved particle swarm optimization (PSO) algorithm that combines PSO algorithm, greedy strategy, and back-and-forth (BAF) algorithm. Its purpose is to plan the optimal paths for multi-UAV while achieving the shortest total distance and the highest UAV cooperation efficiency with the minimum number of UAVs, thereby enhancing the multi-UAV coverage cooperation and path optimization capabilities. Simulation results demonstrate the feasibility and superiority of this algorithm. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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Optimal Tracking Performance of Networked control systems Under DoS and Its Applications

Optimal Tracking Performance of Networked Control Systems Un...

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2024 China Automation Congress, CAC 2024

作者： Ren, Xinyu Li, Bo Zhao, Feng Chen, Xiangyong Zhang, Xianhe Jiang, Xiaowei School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China School of Automation and Electrical Engineering Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (纸本)9798350368604

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system. © 2024 IEEE.

关键词： White noise

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Tea Picking Path Planning Based on Ant Colony Algorithm 41

Tea Picking Path Planning Based on Ant Colony Algorithm

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第41届中国控制会议

作者： Guangjun Wang Yi Zhao Zhi Wang Yangzheng Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In order to improve the efficiency of tea picking,a scheme combining ant colony algorithm and tea picking technology is proposed to plan the picking *** this scheme,k-means clustering algorithm is used to divide the tea picking regions with irregular *** ant colony algorithm is used to carry out path planning for tea in different picking areas,and the best picking effect is selected according to the simulation *** solve the problem of long searching time of ant colony algorithm,the condition of iteration termination is changed to adaptive value,and the optimal route after the last iteration is recorded as the initial value of the next *** simulation results show that the best effect is to divide two picking *** improved ant colony algorithm reduces the operation time and the planned picking path is shorter,which can enhance the real-time tea picking and improve the efficiency of tea picking.

关键词： Tea plucking Path planning Ant colony algorithm K-means clustering

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Optimized Hybrid control for Attitude Adjustment of Downhole Directional Drilling Tools 50

Optimized Hybrid Control for Attitude Adjustment of Downhole...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Xiao, Jing Wang, She Cai, Zhen School of Information Engineering Wuhan City Polytechnic University Wuhan430064 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (纸本)9781665464543

This study delves into the critical role of attitude control in downhole directional drilling tools, focusing on the complex coupling between inclination and azimuth in the motion model, particularly the time-varying nature of azimuth adjustments. By implementing separate control strategies for inclination and azimuth, the research integrates a comprehensive hybrid control system. It rigorously examines the stability of the closed-loop systems and validates the effectiveness and applicability of the hybrid control method through extensive simulations. The system demonstrates significant robustness and adaptability, enhancing drilling precision and efficiency. © 2024 IEEE.

关键词： State feedback

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LRDE:Long-Range Dependency and Salient Feature Enhancement for Co-SOD 41

LRDE:Long-Range Dependency and Salient Feature Enhancement f...

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第41届中国控制会议

作者： LongSheng Wei SiYuan Guo GuanYu Zong Jiu Huang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Different from other salient object detection(SOD) for the task of extracting salient obj ects in a image,collaborative saliency object detection(Co-SOD) targets a set of related image groups,and uses algorithms to find and locate the common collaborative salient objects in related image *** current SOD has achieved remarkable results,but most of the previous researches focus on how to obtain the consistency between images,while the contextual semantic information of images and the features of salient objects are less *** solve these problems,we propose a novel network to capture long-range dependencies on images and enhance(LRDE) the representation of salient ***,In LRDE,we capture the longrange dependencies by the Non-local module to obtain contextual semantic ***,in order to highlight the features of salient objects and enhance the representation of salient objects,we propose the Coordinate Attention module,which embeds the location-attention channel attention and encodes the feature maps as orientation-aware and position-aware attention maps,and It is applied complementary to the input feature map,thereby enhancing the representation of salient *** show that the method outperforms twelve improved methods on four publicly available datasets.

关键词： Co-SOD Long-Range Dependency Feature Enhancement Non-local Module Coordinate Attention Module

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Position Attention Network for Object Tracking 41

Position Attention Network for Object Tracking

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第41届中国控制会议

作者： Mingzhong Du Longsheng Wei Shiyu Liu School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In recent years,Siamese-based trackers have achieved excellent performance,most of them usually calculate the similarity of each position on the search region to the object through the cross-correlation layer for tracking obj *** solve the problem that the above method neglects the correspondence of the local information between the object and the search region and cannot adapt to the object deformation well,we propose a Siamese network-based tracker with position attention network(SiamPA).First,we use Siamese backbone network to extract template and search region ***,we adopt the boxguided object feature selection strategy to avoid similarity calculations for background *** addition,we introduce the position attention network instead of the cross-correlation layer to learn the part-level relationship between the object and the search region ***,the classification-regression sub-network is used to decode the similarity respond map obtained by the position attention network and predict the position of the *** contribution,one is to propose a box-guided method for refining object features,and the other is to introduce a position attention network for information *** on three challenging benchmarks including GOT-10 k,UAV123 and OTB-100 demonstrate that our SiamPA achieves excellent tracking performance with a real-time speed.

关键词： Object tracking Siamese network Box-guided Position attention network

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Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 2011-2026页

作者： Xiaolong Chen Biao Xu Manjiang Hu Yougang Bian Yang Li Xin Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082 Wuxi Intelligent Control Research Institute(WICRI)of Hunan University Wuxi 214115China College of Intelligence Science and Technology Institute of Unmanned SystemsNational University of Defense TechnologyChangsha 410073China

Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and *** paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and *** method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at *** algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization *** proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning *** intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic *** algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.

关键词： Autonomous driving decision-making reinforcement learning(RL) unsignalized intersection

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Tea Bud Recognition Based on Machine Learning 41

Tea Bud Recognition Based on Machine Learning

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第41届中国控制会议

作者： Guangjun Wang Zhi Wang Yi Zhao Yangzheng Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Due to the low efficiency and high cost of manual tea picking,as well as the development and application of machine vision and image recognition technology,the mechanization and intelligence of tea picking will become a *** of all,this paper analyzed the advantages and disadvantages of several common target detection methods by using Matlab ***,considering cost,accuracy and real-time performance,the method of combining K-means clustering and image morphology processing is finally selected to extract tea ***,the method is reproduced on STM32 single chip ***,the effect was verified in the actual tea garden,which laid a foundation for the subsequent intelligent picking.

关键词： Machine learning K-means clustering STM32

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Cooperative Output Regulation of Heterogeneous systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

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Journal of systems Science & complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

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