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Distributed Identification With Input Design for Network Systems

IEEE Transactions on control of Network Systems 2025年

作者： Mao, Xiangyu He, Jianping Fang, Chongrong Shanghai Jiao Tong University The Dept. of Automation China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

The distributed identification of network systems under local observation has recently become one of the research hot spots. Due to the unobservable influence of other subsystems and the noise, it is difficult for local subsystems to achieve convergent identification under local observations. This paper proposes a distributed identification algorithm for local subsystems to identify their parameter matrices under local observation with a guarantee of convergence. We obtain the necessary and sufficient conditions for the convergence of local identification. We prove that by injecting an independent random signal to the local subsystem, which is easy to implement, using a simple least-squares method to identify local systems can achieve convergent identification for a certain probability. Meanwhile, we give the minimal level of variance of the injected signal that can still guarantee the convergence of the identification. Next, we add the designed input as a vector of Gaussian noises with decreasing variance to a known controller, proving that it can converge to the original controller. Simulations demonstrate the effectiveness of the proposed algorithms. © 2025 IEEE.

关键词： Least squares approximations

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Curvature Adaptive control Based Path Following for Automatic Driving Vehicles in Private Area

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 690-698页

作者： SHI Qiang ZHANG Jianlin YANG Ming Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Path following refers to traveling along the desired path with automatic steering control,which is a crucial technology for automatic driving *** in private areas are highly irregular,resulting in a large curvature variation,which reduces the control accuracy of the path following.A curvature adaptive control(CAC)based path-following method was proposed to solve the problem mentioned ***,CAC takes advantage of the complementary characteristics in response to the path curvature fluctuation of pure pursuit and front-wheel feedback and by combining the two methods further enhances the immunity of the control accuracy in response to a curvature *** CAC,the quantitative indices of the path curvature fluctuation and control accuracy were *** model between the path curvature fluctuation and a dynamic parameter was identified using the quantitative index of the control accuracy as the optimization *** experimental results of a real vehicle indicate that the control accuracy of path following is further enhanced by its immunity in response to curvature fluctuation improved by the *** addition,CAC is easy to deploy and requires low demand for hardware resources.

关键词： automatic driving vehicles path following adaptive control

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Jointly Learning Time-Structure-History Graph Embedding for Temporal Knowledge Graph Reasoning 19

Jointly Learning Time-Structure-History Graph Embedding for ...

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2022 IEEE SmartWorld, 19th IEEE International Conference on Ubiquitous Intelligence and Computing, 2022 IEEE International Conference on Autonomous and Trusted Vehicles Conference, 22nd IEEE International Conference on Scalable Computing and Communications, 2022 IEEE International Conference on Digital Twin, 8th IEEE International Conference on Privacy Computing and 2022 IEEE International Conference on Metaverse, SmartWorld/UIC/ATC/ScalCom/DigitalTwin/PriComp/Metaverse 2022

作者： Duan, Hao Jin, Haoyu Chen, Kang Du, Shaochong Fang, Tao Huo, Hong Shanghai Jiao Tong University Department of Automation Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

ISBN: (纸本)9798350346558

The Temporal Knowledge Graph(TKG) reasoning is an imperative task for various applications of TKG. However, reasoning over TKGs which aims to predict future facts has been less explored. Intuitively, entities and relations in TKG change differently over time, and the variations are different. It also can be observed that what happens in the past may affect the future. Apart from these, structure information that exists in the neighborhood of a given entity in a KG has been proven to be important. Inspired by these, a novel graph embedding method for TKG reasoning, called time-structure-history graph embedding (TSHGE), is proposed in this paper. TSHGE consists of three progressive learning units. The first time information learning unit employs a novel time-aware mechanism to encode the time influence on entities and relations. Then a relation-aware GAT (Graph Attention Network) is used in the structure information learning unit to model the 1-hop neighborhoods of all entities in a KG at each timestamp in TKG. Finally, the history information learning unit utilizes GRU (Gated Recurrent Unit) to learn history information from various facts. Then the ultimate embedding representations of entities and relations can be obtained for the prediction of future facts. The evaluations on three public TKG datasets have demonstrated the effectiveness and superiority of TSHGE for predicting future facts. © 2022 IEEE.

关键词： Forecasting

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Safety Protection Analysis with Formal Verification for Process control System Under Cyberattacks

Safety Protection Analysis with Formal Verification for Proc...

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第35届中国过程控制会议

作者： Xuqing Liang Chunjie Zhou Yu-Chu Tian Xin Du Peihang Xu School of Artificial Intelligence and Automation Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Computer Science Queensland University of Technology

The safety protection of process control systems plays a crucial role in the overall safety of critical *** have increased the complexity of existing safety protection analysis. Traditional safety analysis methods fall short in accounting for cyberattack factors, making it challenging to conduct safety protection analysis under cyberattacks. To address this issue, this paper presents a new safety protection analysis method that considers multiple safety factors explicitly including cyberattacks using formal verification. The method consists of three main components: exhaustive system safety specifications,formal models, and system safety validation. The system safety specification component adds a cyberattack factor to system safety requirements based on the system theory process analysis(STPA) method. The formal model component considers the system's dynamic operation process, and safety protection behaviors under typical attack behaviors. The system safety validation component validates the effectiveness of system safety protection under cyberattacks by the UPPAAL tool, from the perspective of whether system safety constraints are triggered and whether the change curve of process variables is compliant. Finally, the effectiveness of the presented approach is carried out for a simplified fluid catalytic cracking(FCC) fractionating system.

关键词： Safety protection analysis Formal verification Cyberattacks System theory process analysis(STPA)

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Integrated Framework for Test and Evaluation of Autonomous Vehicles

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 699-712页

作者： SU Yimin WANG Lin Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Autonomous vehicles must pass effective standard tests to verify their reliability and ***-ingly,it is very important to establish a complete scientific test and evaluation system for autonomous vehicles.A comprehensive framework incorporating the design of test scenarios,selection of evaluation indexes,and estab-lishment of an evaluation system is proposed in this *** aims of the system are to obtain an objective and quantitative score regarding the intelligence of autonomous vehicles,and to form an automated process in the future *** proposed framework is built on a simulation platform to ensure the feasibility of the design and implementation of the test *** design principle for the test scenarios is also *** reduce subjective influences,the proposed framework selects objective indexes from four aspects:safety,comfort,driving performance,and standard *** order relation analysis method is adopted to formulate the index weights,and fuzzy comprehensive evaluation is used to quantify the ***,a numerical example is provided to visually demonstrate the evaluation results for the autonomous vehicles scored by the proposed framework.

关键词： test and evaluation scenario construction evaluation index autonomous vehicles

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Task Allocation and Path Planning for Multiple Destinations Oriented Towards Task Updates

Task Allocation and Path Planning for Multiple Destinations ...

引用

International Conference on Industrial Artificial Intelligence (IAI)

作者： Yong Yang Dingxin He Huantao Mao Hong Chen Hongtao Wu Zhi-Wei Liu School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

This study addresses the complexities of orchestrating multi-target transportation tasks within multi-agent systems, constrained by load capacity. The primary objective is to engineer an advanced path planning framework that assures collision avoidance and optimal load distribution. Diverging from conventional single-path strategies, this research incorporates load factors and requires continuous dynamic multi-target point and path planning to ensure agents can efficiently navigate through a series of predetermined key points. To address this complex requirement, a two-stage multi-agent task allocation and path planning method is proposed. First, an initial solution is obtained using a suboptimal algorithm, followed by optimization iterations using the large neighborhood search algorithm to improve task allocation. In the second stage, an accelerated algorithm based on priority search is used to plan optimal paths for each agent in a predetermined order. The proposed algorithm's effectiveness is comprehensively evaluated through a series of experimental evaluations and comparisons with the commercial solver Gurobi within a limited time. The results show that the proposed method achieves optimality in both running time and minimum path cost while ensuring the load balance of agents.

关键词： Costs Navigation Heuristic algorithms Transportation Path planning Robustness Planning Resource management Optimization Multi-agent systems

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An Unsupervised Person Search Method for Video Surveillance 22

An Unsupervised Person Search Method for Video Surveillance

引用

8th International Conference on Computing and Artificial Intelligence, ICCAI 2022

作者： Feng, Deying Yang, Jie Wei, Yanxia Xiao, Hairong Zhang, Laigang School of Mechanical and Automotive Engineering Liaocheng University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai China Liaocheng University China

ISBN: (纸本)9781450396110

We propose an unsupervised person search method for video surveillance. This method considers both the spatial features of persons within each frame and the temporal relationship of the same person among different frames. Thus, the spatial features are extracted by region convolutional neural network, and the temporal relationship is organized by gate recurrent unit. The spatio-temporal features are generated by the following average pooling layer and indexed by locality sensitive hashing. A surveillance video database is constructed to evaluate the proposed method, and the experimental results demonstrate that our method improves the search accuracy by utilizing the spatio-temporal features. © 2022 ACM.

关键词： Monitoring

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PtNiCu nanowires with advantageous lattice-plane boundary for enhanced ethanol electrooxidation

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Nano Research 2022年第4期15卷 2877-2886页

作者： Shuna Li Yao Wang Yunrui Li Xu Fang Yujie Liu Mingxuan Li Zhen Wang Yufeng Gao Haixiao Sun Fei Gao Xin Zhang Xiaoping Dai State Key Laboratory of Heavy Oil Processing College of Chemical Engineering and EnvironmentChina University of PetroleumBeijing 102249China Department of Chemistry Tsinghua UniversityBeijing 100084China Jiangsu Key Laboratory of Vehicle Emissions Control School of the EnvironmentCenter of Modern AnalysisKey Laboratory of Mesoscopic Chemistry of Ministry of Education of ChinaSchool of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210093China

It is generally accepted that the interface effect and surface electronic structure of catalysts have vital impact on catalytic *** and tailoring the atomic arrangement of interface structure are of great importance for ***,we proposed a simple method to synthesize etching-PtNiCu nanowires(e-PtNiCu NWs)enclosed by both(110)and(100)facets evolving from PtNiCu nanowires(PtNiCu NWs)mainly with(111)facets by selectively etching *** acetic acid etching treatment,the e-PtNiCu NWs possess high total proportions(88.3%)of(110)and(100)facets,whereas the(111)facet is dominant in PtNiCu NWs(64%)by qualitatively and quantitatively *** the structure characterizations and performance tests of ethanol electrooxidation reaction(EOR),we find that the e-PtNiCu NWs display remarkably performance for EOR,which is nearly 4.5 times and 1.5 times enhancement compared with the state-of-the-art Pt/C catalyst,as well as 2.2 and 1.4 times of PtNiCu NWs,in specific activity and mass activity,*** improved performance of e-PtNiCu NWs is attributed to synergistic catalytic effect between(110)and(100)facets that not only significantly decreases the onset potentials of adsorbed CO(CO_(ads))but also favors the oxidation of CO_(ads)on the surface of ***,thermodynamics and kinetic studies indicate that the synergistic effect of both(110)and(100)facets in e-PtNiCu NWs can decrease the activation energy barrier and facilitate the charge transfer during the *** work provides a promising approach to construct catalysts with tunable surface electronic structure towards efficient electrocatalysis.

关键词： chemical etching crystal-facet engineering synergistic effect ethanol electrooxidation CO resistibility

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Joint Design of control and Transmission for Industrial CPS under Time Sensitive Networking 48

Joint Design of Control and Transmission for Industrial CPS ...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Lu, Xuanzhao Xu, Qimin Zhang, Jinglong Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

To improve the performance of industrial cyber-physical systems (ICPS), the joint design of control and transmission has been shown to be an effective mechanism. However, the existing joint design work lack completeness and accuracy, which brings challenges to improving the stability and network resource utilization of ICPS. In this paper, we propose a control and transmission joint design architecture for integrated multi-subsystem ICPS for multi-hop networks. We consider the timeliness of information through state delays, input delays, and event-triggered states in ICPS. To avoid the instability caused by input delay, we design an LQR-based controller and derive the feasible region of delay to guarantee the stability of the control system. Finally, we propose an event-triggered strategy that represents control and transmission costs to minimize the amount of data transfer while ensuring system stability. The evaluation results show that our strategy improves the stability of the control system while reducing the network burden compared with the traditional joint design method. © 2022 IEEE.

关键词： Cyber Physical System

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Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 722-730页

作者： SHEN Qiyue WANG Bing WANG Chunxiang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system to drive *** to the properties of being highly nonlinear and nonholonomic with complex dynamics,the tractor-trailer system poses great challenges to the development of motion-planning *** this study,an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer *** indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality,obstacle-free trajectory using quintic polynomial spline,speed profile optimization,forward simulation,and properly designed cost *** under different driving scenarios and trajectories with different driving requirements are conducted to validate the performance of the proposed framework.

关键词： trajectory planning tractor-trailer vehicle forward simulation on-road driving

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