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第32届中国控制与决策会议

作者： Jianwei Gui Lu Zhang Shihua Li Xiangyu Wang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

In this paper,the permanent magnet synchronous motor（PMSM） servo system with backlash is *** the mechanical transmission of the servo system uses gears,screw rods,on the one hand,the proper backlash can ensure the normal operation of the transmission mechanism;on the other hand,the existence of backlash nonlinearity will redu.e the rigidity of the transmission mechanism,affect the tracking performance of the system,and even lead to mechanical *** order to eliminate the influence of the backlash nonlinearity,the modeling and identification of the backlash nonlinearity are introduced,and the influence of the backlash is compensated in the *** addition,in order to reject the possible model deviation and uncertain interference,redu.e steady states fluctuations,a high-order sliding mode observer（HOSMO） based nonsingular terminal sliding mode control（NTSMC） is *** simulation verification,the compound controller proposed in this paper can effectively redu.e the influence of the backlash nonlinearity and improve the position tracking performance of the system.

关键词： Permanent Magnet Synchronous Motor（PMSM） Servo System Backlash Nonsingular Terminal Sliding Mode control（NTSMC） High-order Sliding Mode Observer（HOSMO）

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Skeleton-prompt: A cross-dataset transfer learning approach for skeleton action recognition

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Pattern Recognition 2026年 169卷

作者： Mingqi Lu Xiaobo Lu Jun Liu School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing 210096 China School of Computing and Communications Lancaster University UK

This paper presents Skeleton-Prompt, a novel tuning method designed to tackle cross-dataset transfer issues in skeleton action recognition models. Given the scarcity of large-scale 3D skeleton datasets and the variability in keypoint structures across datasets, existing methods often rely on training models from scratch, necessitating extensive labeled data and exhibiting high sensitivity to occlusion. Our approach aims to fine-tune pre-trained models to adapt to limited real-world skeleton data. We use 2D skeletons as inputs and leverage a large human motion dataset for 2D to 3D pose estimation to learn generalizable motion features. A lightweight prompt generator produces instance-level prompts, and we employ dynamic queries with cross-attention to refine the semantic information of the input data. Additionally, we introduce a joint-enhanced multi-stream fusion mechanism based on self-attention to improve robustness against incomplete skeletons. Skeleton-Prompt represents a significant advancement in efficient fine-tuning for skeleton action recognition, effectively addressing cross-dataset generalization challenges in a data-efficient and parameter-efficient manner.

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Data Quality Improvement Method of Distributed PV Generation Based on Time Correlation and Spatial Correlation

Data Quality Improvement Method of Distributed PV Generation...

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第33届中国控制与决策会议

作者： Min CAO Zhifeng LIANG Zhi LI Yi QU Kaifeng ZHANG Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University National Electric Power Dispatching and Control Center Department of Dispatch Center State Grid Anhui Electric Power Co. Ltd.

In order to solve the problem of data anomaly and data missing in distributed photovoltaic(PV) active power,this paper proposes a data quality improvement method based on time correlation and spatial *** terms of anomaly detection,back propagation(BP) neural network is used to establish a correlation model based on the correlation among active power and meteorological data on the time scale,and the difference method is used to detect and eliminate anomaly *** terms of missing data repair,Random Forest is used to establish a correlation model based on the spatial correlation among active power of power station to be repaired and its surrounding power station's,and the direct repair method is adopted to repair the missing *** experimental results show that the anomaly detection method based on time correlation can achieve an AUC value of more than 0.93,and the repair method based on spatial correlation can achieve more accurate repair results.

关键词： Distributed Photovoltaic Correlation Data Quality Improvement

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Stochastic DoS attack allocation against collaborative estimation in sensor networks

Stochastic DoS attack allocation against collaborative estim...

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作者： Zhang, Ya Du, Lishuang Lewis, Frank L. School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China University of Texas at Arlington Research Institute Fort WorthTX76118 United States

In this paper, denial of service DoS attack management for destroying the collaborative estimation in sensor networks and minimizing attack energy from the attacker perspective is studied. In the communication channels between sensors and a remote estimator, the attacker chooses some channels to randomly jam DoS attacks to make their packets randomly dropped. A stochastic power allocation approach composed of three steps is proposed. Firstly, the minimum number of channels and the channel set to be attacked are given. Secondly, a necessary condition and a sufficient condition on the packet loss probabilities of the channels in the attack set are provided for general and special systems, respectively. Finally, by converting the original coupling nonlinear programming problem to a linear programming problem, a method of searching attack probabilities and power to minimize the attack energy is proposed. The effectiveness of the proposed scheme is verified by simulation examples. © 2014 Chinese Association of Automation.

关键词： Denial-of-service attack

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Continuous finite-time TSM control for electronic throttle system

Continuous finite-time TSM control for electronic throttle s...

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2019 Jiangsu Annual Conference on Automation, JACA 2019

作者： Agbaje, Oluwatoyin Timothy Li, Shihua Sun, Hao Zhang, Lu Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

This article examines the position tracking difficulties of the electronic throttle (ET) system and presents a continuous finite-time terminal sliding mode (TSM) control method. The development of this control method involves two procedu.es: (i) designing a global finite-time observer to estimate the derivative and higher order derivatives of the ET system output, and the total disturbances;and (ii) construction of a continuous finite-time TSM controller based on observer estimations, to ensure the realisation of fast finite-time convergence of system output with a comparatively smooth control action. Comprehensive stability proof, simulation study, and experimental implementation are provided to affirm the applicability of the proposed method. © 2019 Institution of engineering and Technology. All rights reserved.

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Intermittent Formation control of Multi-agent systems under Strongly Connected Communication Topologies

Intermittent Formation Control of Multi-agent Systems under ...

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International Conference on control and Automation (ICCA)

作者： Ke Zhou Yang-Yang Chen Faxiang Zhang School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper addresses the intermittent formation control problem of multi-agent systems (MASs) under directed topologies. To achieve the ideal formation effectively, (i.e., tracking a given set of closed orbits) when the communication is intermittent. The intermittent control approach is applied to deal with such situation. The main contribution is that the proposed controller can achieve global stable formation in the Lyapunov sense based on the consensus strategy. The simulation results obtained for an example demonstrate the feasibility and effectiveness of the proposed method (i.e, if the time length of communication is larger than a threshold value, the formation can be realized).

关键词： Orbits Mathematical model Topology Target tracking Stability analysis Trajectory Switches

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Optimization Method of Target Detection and Tracking System for Mobile Robot

Optimization Method of Target Detection and Tracking System ...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Ziqi Liu Fang Fang Kun Qian Bo Zhou Yahui Gan Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

The existing target detection and tracking methods, as an underlying design of service robot, are highly dependent on the computing ability, which will limit the transplantation to the robot platform. To solve the problem, this paper proposes a detection and tracking system suitable for mobile robot. For the target detection, an optimization method for feature extraction is proposed, by redu.ing the dimensionality of feature vectors to improve detection speed. For the target tracking, a multi-scale optimization method is proposed, which can accurately obtain all the characteristics of the upper body of the target. The last section is the experiment of the integrated system, which will resist the interference and robustly dynamically tracking the target.

关键词： Target tracking Feature extraction Robots Optimization methods Real-time systems Object detection Histograms

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Spherical Formation Tracking control of Spacecraft Flying Under Directed Communication Topology and External Disturbance

Spherical Formation Tracking Control of Spacecraft Flying Un...

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International Conference on control and Automation (ICCA)

作者： Rui Yu Yang-Yang Chen Fa-Xiang Zhang School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper addresses the formation tracking control problem for spacecrafts flying spherically with certain formation. Compared to existing works that deal with bidirectional communication topology and disturbance-free scenarios, this paper proposes a brand-new formation tracking control protocol with directed network and unknown external disturbance with a known upperbound. Moreover, spacecraft flying model is introduced to the system dynamics. The formation tracking law of spacecraft is designed, and the uniform ultimate boundedness is proven through Lyapunov functions as well. To avoid the "explosion of terms" caused by time derivative, the dynamic surface control (DSC) technology is employed to the designing procedu.e of control input. Numerical simulation results are presented to demonstrate the effectiveness of the proposed scheme.

关键词： Space vehicles Orbits Topology Trajectory Explosions Aerospace electronics Vehicle dynamics

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An Event-Triggered χ2-Detector for Cyber-Physical systems under False Data Injection Attacks

An Event-Triggered χ2-Detector for Cyber-Physical Systems u...

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International Conference on control and Automation (ICCA)

作者： Guoxi Chen Ya Zhang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

Attacks on the cyber-physical systems (CPSs) are increasing recently, which makes the research of CPSs' security issues more urgent. χ 2 -detector, the most common attack detector, has a fatal defect, that it requires all the covariance matrices of observation residual be reversible. In this paper, we propose a novel method to construct an attack detection variable obeying χ 2 distribution without special requirements, and develop an event-triggered mechanism to redu.e the adverse impact of the detection error. Observer-based state feedback controller is applied and a sufficient condition of stability on the alarm probability of the detector and the parameter in the event-triggered mechanism are further given. Finally, a simulation example is given to verify the effectiveness of the proposed attack detector.

关键词： Detectors Covariance matrices Stability analysis control systems Time measurement Security Mathematical model

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Consensus Kalman Filtering for Sensor Networks Based on FDI Attack Detection

Consensus Kalman Filtering for Sensor Networks Based on FDI ...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Jiali Hao Ya Zhang School of Automation Southeast University and with Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

This paper studies the consensus Kalman filtering algorithm with distributed attack detection for redu.ing the effects of false data injection attacks in wireless sensor networks. The FDI attacks are randomly injected into communication channels or sensors with certain probabilities, which undermines the accuracy of the transmission data and the accuracy of measurement data respectively. χ 2 detector is applied, and if the received data is determined to be attacked, it is omitted in consensus Kalman filtering. It is proved that if the FDI attack is randomly injected into communication channels, under the consensus Kalman filtering algorithm with adaptive weighting protocol and attack detection, the estimation errors of the sensor network can be bounded in probability. If the FDI attack is randomly injected into sensors, a probability condition on the attacks is given to guarantee the estimation errors of the sensor network bounded in mean square sense. Numerical simulations are conducted to demonstrate the performance of the proposed algorithms.

关键词： Covariance matrices Kalman filters State estimation Wireless sensor networks Robot sensing systems Distributed databases Detectors

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