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

作者： Lin Yang Yuanlong Li Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Based on fully actuated system approach, this paper proposes a design scheme for integrated guidance and control systems subject to actuator saturation. By elimination elevation-order way, the integrated guidance and control model in the pitch channel is transformed into a high-order fully actuated system with uncertain disturbances and actuator saturation. Firstly, a disturbance observer is constructed to estimate the disturbances generated by model nonlinearities, unknown target maneuvers, variations of aerodynamic parameters, etc. Then, an observer-based fully actuated controller is designed to stabilize the integrated guidance and control system and perform disturbance attenuation. Since the missile’s deflection angle for pitch control is constrained by actuator saturation, an anti-windup compensator is introduced into the designed fully actuated controller to reduce the negative impact of saturation. Moreover, the stability conditions of the closed-loop system are established by the Lyapunov stability theory and the invariant set principle. Finally, a numerical simulation is provided to verify the effectiveness of the proposed design scheme.

关键词： Actuators Missiles control design Estimation Numerical simulation Disturbance observers Stability analysis

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Optimal Sequential False Data Injection Attack Scheme: Finite-Time Inverse Convergence

Optimal Sequential False Data Injection Attack Scheme: Finit...

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IEEE Conference on Decision and control

作者： Xiaoyu Luo Chongrong Fang Chengcheng Zhao Peng Cheng Jianping He The Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China

In this paper, we explore the relationship between the injected attack signal and the attack selection strategy in networked control systems where the adversary desires to steer the system state to the expected malicious one. We construct a sequential attack framework, i.e., the injected false data varies with the sampling time in discrete-time systems, and then derive an optimal sequential FDI attack strategy. The optimal sequential FDI attack strategy reveals the strongly coupled relationship between the injected attack signal and the attack selection strategy. Furthermore, we prove the finite-time inverse convergence of the critical parameters in the injected optimal attack signal by discrete-time Lyapunov analysis, which enables the efficient off-line design of the attack strategy and saves computing sources. Extensive simulations are conducted to show the effectiveness of the injected optimal sequential attack and the relationship between the attack signal and the attack selection strategy.

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Multi-objective capacity configuration optimization of a grid-connected SOFC/LB microgrid

Multi-objective capacity configuration optimization of a gri...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Beibei Wang Zishan Yin Jingxuan Peng Shiwei Zeng Zhonghua Deng Xi Li School of Artificial Intelligence and Automation Key Laboratory of Imaging Processing and Intelligent Control of Education Ministry Huazhong University of Science and Technology Wuhan China Wuhan Huamao Automation Co. Ltd Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

The solid Oxide Fuel Cell (SOFC) technique with electric to gas technique is an investment-worthy way to enhance the consumption of renewable energy in microgrids. Moreover, SOFC’s high fuel adaptability and efficient cogeneration are ideal for stationary power generation. However, due to SOFC’s slow load response and high cost, the capacity configuration designation of microgrid with SOFC system is significant. To enhance energy utilization and reduce cost, in this paper, a microgrid connected with an upper grid, containing SOFC, wind turbine (WT), photovoltaics (PV), electrolyzer, a hydrogen storage system (HSS), and lithium battery (LB), is built. Considering the dynamic characteristics of SOFC’s load response, transient and steady-stage’s energy management strategies assisted by LB are proposed. Capacity configuration parameters of microgrid’s components are selected as decision variables and minimal life cycle cost (LCC) and minimal curtailment rate of wind and PV are selected as objective functions. Using proposed strategies to process microgrids, the NSGA-II algorithm is used to optimize. An actual case is studied and appropriate capacity configuration is solved, with 2112 120W PVs,315 500W WTs, 5 10kW • h LBs,5 SOFCs,98.73kW electrolyzer and 38.94kg *** reaches $4.268 × 10 5 and wind &PV’s curtailment rate reaches 5.71%. The result’s rationality is proved by analyzing the detailed cost and operation.

关键词： Photovoltaic systems Renewable energy sources Costs Power demand Fuel cells Microgrids Solids

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Impulsive Formation control of Nonlinear Leader-Following Multi-agent Systems with Input Saturation*

Impulsive Formation Control of Nonlinear Leader-Following Mu...

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Industrial Cyber-Physical Systems (ICPS)

作者： Ni Zhang Xiaowei Jiang Xianhe Zhang Le You School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

Leader-following formation analysis problem for a second-order nonlinear multi-agent system(MAS) with input saturation is investigated in this paper. And the impulsive formation control algorithm is introduced in the designed protocol which only works at the impulse times. Owing to the real-world limited communication channels, input saturation is considered in the impulsive controller. Furthermore, based on Lyapunov stability theories, Kronecker properties, eigenvalue and so on, some sufficient conditions that guarantee the leader-following consensus of MAS are obtained. Lastly, several simulations are worked out to verify the correctness and effectiveness of the theoretical results.

关键词： Sufficient conditions Protocols Simulation Communication channels Cyber-physical systems control systems Formation control

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State-of-Charge Balancing control for Battery Energy Storage Systems of Near-Space Vehicles with an Electric-Thermal-Aging Coupling Model

State-of-Charge Balancing Control for Battery Energy Storage...

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Chinese control Conference (CCC)

作者： Zhiqiang Zuo Yunhao Du Yijing Wang Zhicheng Zhang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin P. R. China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

State-of-charge (SoC) balancing is crucial for improving the efficiency and lifetime of the battery energy storage system in near-space vehicles. In this paper, the SoC balancing control problem is investigated by a coupling battery model with electric-thermal-aging dynamics. Firstly, a system identification experiment is carried out to obtain the internal parameters of the battery. Secondly, a weight optimization index is designed by integrating the balancing speed and battery state-of-health (SoH). Then, a receding horizon control algorithm is proposed to realize multi-unit battery SoC balancing with partial swarm optimization (PSO). Finally, the effectiveness of the proposed strategy is verified by simulation results.

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3D Gaussian Splatting in Robotics: A Survey

arXiv

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arXiv 2024年

作者： Zhu, Siting Wang, Guangming Kong, Xin Kong, Dezhi Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai China University of Cambridge United Kingdom Imperial College London United Kingdom Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University China

Dense 3D representations of the environment have been a long-term goal in the robotics field. While previous Neural Radiance Fields (NeRF) representation have been prevalent for its implicit, coordinate-based model, the recent emergence of 3D Gaussian Splatting (3DGS) has demonstrated remarkable potential in its explicit radiance field representation. By leveraging 3D Gaussian primitives for explicit scene representation and enabling differentiable rendering, 3DGS has shown significant advantages over other radiance fields in real-time rendering and photo-realistic performance, which is beneficial for robotic applications. In this survey, we provide a comprehensive understanding of 3DGS in the field of robotics. We divide our discussion of the related works into two main categories: the application of 3DGS and the advancements in 3DGS techniques. In the application section, we explore how 3DGS has been utilized in various robotics tasks from scene understanding and interaction perspectives. The advance of 3DGS section focuses on the improvements of 3DGS own properties in its adaptability and efficiency, aiming to enhance its performance in robotics. We then summarize the most commonly used datasets and evaluation metrics in robotics. Finally, we identify the challenges and limitations of current 3DGS methods and discuss the future development of 3DGS in robotics. The paper lists of our survey are available at 3D Gaussian Splatting in Robotics. Copyright © 2024, The Authors. All rights reserved.

关键词： Rendering (computer graphics)

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A Parallel Read-Write Circuit With Fast Amplitude-Adaptive Matching Scheme to Memristor Crossbar Array

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年

作者： Jiang, Ningye Jiang, Mingxuan Huang, Haoen Yang, Le Huang, Yi Zeng, Zhigang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430074 China Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan430205 China University of Massachusetts Amherst Department of Electrical and Computer Engineering AmherstMA01003 United States

Memristor crossbar array (MCA) is a computing-in-memory (CIM) module for computational acceleration. However, conventional read-write (R-W) circuits for MCA rely heavily on external components and have shortcoming in long writing times. To address these issues, we propose a parallel R-W circuit with a fast amplitude-adaptive matching (AAM) scheme. The fast AAM scheme is designed to accelerate time of writing memristors in MCA by adaptively adjusting the writing voltage to match an optimal amplitude. The architecture of parallel R-W circuit are outlined with the implementation of R-W processes. The design principles of parallel R-W unit, fast AAM unit, and associated control logic are described for analyzing their functions within the circuit. By integrating the parallel R-W circuit with MCA, a computing block is leveraged in a neural network for classification tasks. The experimental results demonstrate that the neural network with multiple computing blocks maintains high accuracy across various datasets (over 80%). Furthermore, the proposed AAM scheme achieves an average 54% reduction in writing time compared to that one without AAM scheme. Compared to the pulse-width scheme, the parallel R-W circuit exhibits an average 3.05× speedup in adjusting a 5×5 MCA, and the speedup efficiency is higher as the increases of MCA size. © 2025 IEEE.

关键词： Memristors

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Impact of Rail Transit Systems on Transport Accessibility under Road Congestion

Impact of Rail Transit Systems on Transport Accessibility un...

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2022世界交通运输大会(WTC2022)

作者： Bo Zhan Hui Zhang Min Ouyang School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Lab.for Image Processing and Intelligent Control Huazhong University of Science and TechnologyMinistry of Education

Investment inrail transit systems is widely advocated in large,high-density cities on the basis of its purported role in reducing road congestion,but the impact of rail transit systems on congestion remains a *** paper provides a method for evaluating the impact of rail transit systems on road congestion in terms of transport accessibility,and applies the method to 43 Chinese cities that have opened rail transit *** show that the rail transit systems can reduce road congestion in most cities,but their performance largely depends on the congestion speed and the rail transit network ***,the structural properties analysis of rail transit networks in two typical cities(Dalian and Changchun)indicates that rail transit lines with longer length,smaller detour factor,and larger population coverage rate tend to perform better in congestion *** findings in this paper provide guidance for city authorities regarding current and future investment in rail transit systems.

关键词： Rail transit system Congestion reduction Accessibility Rail transit network size Congestion speed Structural properties

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Hybrid Data-Free Knowledge Distillation

arXiv

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arXiv 2024年

作者： Tang, Jialiang Chen, Shuo Gong, Chen School of Computer Science and Engineering Nanjing University of Science and Technology China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education China Jiangsu Key Laboratory of Image and Video Understanding for Social Security China Center for Advanced Intelligence Project RIKEN Japan Department of Automation Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

Data-free knowledge distillation aims to learn a compact student network from a pre-trained large teacher network without using the original training data of the teacher network. Existing collection-based and generation-based methods train student networks by collecting massive real examples and generating synthetic examples, respectively. However, they inevitably become weak in practical scenarios due to the difficulties in gathering or emulating sufficient real-world data. To solve this problem, we propose a novel method called Hybrid Data-Free Distillation (HiDFD), which leverages only a small amount of collected data as well as generates sufficient examples for training student networks. Our HiDFD comprises two primary modules, i.e., the teacher-guided generation and student distillation. The teacher-guided generation module guides a Generative Adversarial Network (GAN) by the teacher network to produce high-quality synthetic examples from very few real-world collected examples. Specifically, we design a feature integration mechanism to prevent the GAN from overfitting and facilitate the reliable representation learning from the teacher network. Meanwhile, we drive a category frequency smoothing technique via the teacher network to balance the generative training of each category. In the student distillation module, we explore a data inflation strategy to properly utilize a blend of real and synthetic data to train the student network via a classifier-sharing-based feature alignment technique. Intensive experiments across multiple benchmarks demonstrate that our HiDFD can achieve state-of-the-art performance using 120 times less collected data than existing methods. Code is available at https://***/tangjialiang97/HiDFD. Copyright © 2024, The Authors. All rights reserved.

关键词： Students

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State-of-Charge Dependent Battery Model Identification Using Gaussian Process Regression

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IFAC-PapersOnLine 2021年第3期54卷 647-652页

作者： Kesen Fan Yiming Wan Key Laboratory of Image Processing and Intelligent Control Ministry of Education China and School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China

This paper investigates the parameter identification of a state-of-charge dependent equivalent circuit model (ECM) for Lithium-ion batteries. Different from most existing ECM identification methods, we focus on identifying the functional relations between ECM parameters and state-of-charge (SOC). By transforming the ECM into an ARX model, a Gaussian process regression (GPR) approach is proposed, without using parametric functions to describe the SOC dependence of ARX coefficients. The proposed approach derives the posterior distributions of ECM parameters, thus is capable to quantify the estimation uncertainties. Another advantage lies in the flexibility of incorporating the knowledge of batteries into the prior distributions used in GPR, which enhances the estimation performance in the presence of noises. The effectiveness of the proposed GPR approach is illustrated by simulation examples under both low and high noise levels.

关键词： Gaussian process regression non-parametric approach Lithium-ion battery equivalent circuit model state-of-charge dependent circuit parameter

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