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Practically fixed-time adaptive consensus control for multiagent systems with prescribed performance

Science China(Technological Sciences) 2024年第12期67卷 3867-3876页

作者： ZHENG ShuaiPeng MA Hui REN HongRu LI HongYi School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Controland Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative ControlGuangdong University of TechnologyGuangzhou 510006China School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou 510006China College of Electronic and Information Engineering Southwest UniversityChongqing 400715China

In this paper,the fixed-time consensus tracking control problem of multiagent systems(MASs)subject to unknown nonlinearities and performance constraints is ***,an improved fixed-time performance function is designed,which enables the consensus tracking errors to converge to the preset region in fixed time,and alleviates the initial error conditions by setting the parameters ***,the unknown nonlinearities of MASs are approximated by the radial basis function neural network(RBF NN).Subsequently,a fixed-time prescribed performance controller is designed,which excludes the fractional power of tracking error to prevent potential singularity problems existing in stability ***,a fixed-time dynamic surface filter is formulated to eliminate the“explosion of complexity”issue,meanwhile,the filter errors are bounded in fixed *** the Lyapunov stability theory,it can be guaranteed that all signals in MASs exhibit practically fixed-time stability,and the consensus errors all approach a small region centered on origin within the prescribed ***,simulations are presented to verify the validity of the proposed control strategy.

关键词： dynamic surface filter fixed-time control multiagent systems(MASs) prescribed performance

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Complete model identification for measuring photodetector’s data age in high-speed and high-precision interferometry

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Optics Express 2025年第7期33卷 15125-15140页

作者： Sun, Yunke Zhang, Zhaoyang Xing, Xu Hu, Pengcheng Tan, Jiubin Center of Ultra-Precision Optoelectronic Instrument Harbin Institute of Technology Harbin150080 China Key Laboratory of Ultra-Precision Intelligent Instrumentation Harbin Institute of Technology Ministry of Industry and Information Technology Harbin150080 China

Data age in photodetectors is a key indicator in high-speed and high-precision interferometry. Accurately measuring it is essential for ensuring timely control of high-speed movement and synchronization in dynamic calibration. Current methods for measuring photoelectric data age are limited by their inability to simultaneously account for phase shifts and time delays, primarily due to incomplete models. This study introduces a complete model identification method that integrates nonlinear phase and fixed delay, providing a more accurate measurement of the photodetector’s data age. By analyzing laser impulse response sequences with Hankel matrix and phase spectrum, the proposed method achieves 95% model reliability and a measurement uncertainty of 51 ps (k = 2) for a photodetector with 400 MHz bandwidth. This work has significant potential to compensate for non-real-time and nonlinear errors in interferometry. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Photodetectors

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Retinex-based Illumination feature fusion network for low-light image enhancement 4

Retinex-based Illumination feature fusion network for low-li...

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4th International Conference on Artificial Intelligence and Computer Engineering, ICAICE 2023

作者： He, Tiange Liang, Yuqi Lanzhou Jiaotong University Key Laboratory of Optoelectronic Technology and Intelligent Control Ministry of Education Gansu Lanzhou730000 China

ISBN: (纸本)9798400708831

Vision is the main means for human beings to acquire external information, and with the arrival of the wave of informationization, digital images have become an important carrier of information dissemination. Due to the complexity of the imaging environment, as well as the lack of hardware conditions of the imaging equipment, the directly acquired images are often of poor quality, limiting their application in actual scenes, while the lack of light during the image acquisition process will greatly reduce the visibility of the image. Existing low-light image enhancement techniques are difficult to balance quality and efficiency, and are ineffective in complex scenes. In this paper, an image decomposition model is constructed based on Retinex theory to reduce the uncertainty of decomposition. In order to recover the degradation process existing in the reflection image, a light feature map is introduced to serve as a guide, and an image enhancement network module is constructed by using a light feature fusion module, and at the same time, a light tuning network is designed to adaptively adjust the lighting conditions of the light map. Experiments on a benchmark dataset show the effectiveness and rationality test of the method. © 2023 ACM.

关键词： Image enhancement

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Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission mechanisms

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Frontiers of Mechanical Engineering 2023年第2期18卷 189-204页

作者： Shufei QIAO Long QUAN Yunxiao HAO Lei GE Lianpeng XIA Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China

Servo-hydraulic actuators(SHAs)are widely used in mechanical equipment to drive heavy-duty ***,their energy efficiency is low,and their motion characteristics are inevitably affected by uncertain *** actuators(EMAs)possess superior energy efficiency and motion ***,they cannot easily drive heavy-duty mechanisms because of weak bearing *** study proposes and designs a novel electromechanical-hydraulic hybrid actuator(EMHA)that integrates the advantages of EMA and *** mainly features two transmission *** piston of the hydraulic transmission mechanism and the ball screw pair of the electromechanical transmission mechanism are mechanically fixed together through screw bolts,realizing the integration of two types of transmission *** control scheme of the electromechanical transmission mechanism is used for motion control,and the hydraulic transmission mechanism is used for power ***,the mathematical model,structure,and parameter design of the new EMHA are ***,the EMHA prototype and test platform are *** test results prove that the EMHA has good working characteristics and high energy *** with the valve-controlled hydraulic cylinder system,EMHA exhibits a velocity tracking error and energy consumption reduced by 49.7% and 54%,respectively,under the same working conditions.

关键词： electromechanical-hydraulic hybrid actuator(EMHA) integration transmission mechanisms power assistance energy efficiency working characteristics

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Physically informed hierarchical learning based soft sensing for aero-engine health management unit

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Chinese Journal of Aeronautics 2025年第3期38卷 374-385页

作者： Aina WANG Pan QIN Yunbo YUAN Guang ZHAO Ximing SUN School of Control Science and Engineering Dalian University of TechnologyDalian 116024China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian 116024China School of Energy and Power Engineering Dalian University of TechnologyDalian 116024China

Partial Differential Equations(PDEs)are model candidates of soft sensing for aero-engine health management *** existing Physics-Informed Neural Networks(PINNs)have made ***,unmeasurable aero-engine driving sources lead to unknown PDE driving terms,which weaken PINNs *** this end,Physically Informed Hierarchical Learning followed by Recurrent-Prediction Term(PIHL-RPT)is ***,PIHL is proposed for learning nonhomogeneous PDE solutions,in which two networks NetU and NetG are *** is for learning solutions satisfying PDEs;NetG is for learning driving terms to regularize NetU ***,we propose a hierarchical learning strategy to optimize and couple NetU and NetG,which are integrated into a data-physics-hybrid loss ***,we prove PIHL-RPT can iteratively generate a series of networks converging to a function,which can approximate a solution to well-posed ***,RPT is proposed for prediction improvement of PIHL,in which network NetU-RP is constructed to compensate for information loss caused by data sampling and driving sources’***,artificial datasets and practical vibration process datasets from our wear experiment platform are used to verify the feasibility and effectiveness of PIHL-RPT based soft ***,comparisons with relevant methods,discussions,and PIHL-RPT based health monitoring example are given.

关键词： Hierarchical learning strategy Monitoring:Partial differen tial equations with unmeasurable driving terms Physically informed hierarchical learning followed by recurrent-prediction term Soft sensing

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Accuracy analysis for distributed dynamic state estimation in large-scale systems with a cyclic network graph

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Science China(Information Sciences) 2023年第9期66卷 78-93页

作者： Mingyan ZHU Rui WANG Xiaodong MIAO Tianju SUI School of Control Science and Engineering Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Aeronautics and Astronautics Dalian University of Technology Key Laboratory of Advanced Technology for Aerospace Vehicles School of Mechanical and Power Engineering Nanjing Tech University

This paper addresses a distributed dynamic state estimation problem in large-scale systems characterized by a cyclic network graph. The objective is to develop a distributed estimation algorithm for each node to generate local state estimations, based on the coupled measurements and boundary information exchanged with neighboring nodes. Our proposed approach is grounded in the maximum a posteriori(MAP)estimation method, which yields suboptimal results in acyclic network graphs compared with the centralized MAP approach. We extend this approach to systems with a cyclic network graph. Furthermore, we provide an accuracy analysis by deriving bounds for the differences in estimation error covariance and state estimation between the proposed distributed algorithm and the suboptimal centralized MAP method. These bounds apply to a specific category of systems that satisfy certain conditions, including cyclic topology and sparse connections. We demonstrate that these bounds converge asymptotically, with the rate of convergence determined by the loop-free depth of the graph. The loop-free depth of the graph refers to the maximum number of nodes that can be traversed in a cycle without revisiting any node. Finally, we demonstrate the validity of the algorithm through numerical examples.

关键词： distributed state estimation maximum a posteriori estimation cyclic network graph

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Formation control and path planning of multi-robot systems via large language models

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Science China(Information Sciences) 2025年第5期68卷 72-88页

作者： Dong XUE Xuanjie ZHOU Ming WANG Fangzhou LIU Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of EducationEast China University of Science and Technology Research Institute of Intelligent Control and Systems School of Astronautics Harbin Institute of Technology

Existing path planning and coordination control methods for multi-robot systems(MRS) typically rely on predefined rules and rudimentary algorithms. However, these methods often struggle to adapt flexibly to complex environments and to adjust motion targets appropriately. To address this challenge, this study presents a large language model(LLM)-assisted framework. By integrating textual descriptions of complex motion constraints, robot information, and local environmental data as inputs, LLMs generate motion objectives and translate them into executable control commands for the robots, thereby achieving coordinated control and path planning. This framework facilitates the generation, maintenance, and reshaping of formations in MRSs during path planning, applicable to both obstacle-free and obstacle-avoidance environments. Simulation results demonstrate that LLM-based control strategies enhance the autonomy, adaptability, flexibility, and robustness of MRS by processing complex information, making intelligent decisions, adapting to environmental changes, and handling disturbances and uncertainties.

关键词： multi-robot systems formation control path planning obstacle avoidance large language models

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An improved equivalent beam model of large periodic beam-like space truss structures

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Chinese Journal of Aeronautics 2023年第12期36卷 297-308页

作者： Dongfang ZHU Xiaoxuan YAN Jun SUN Fucheng LIU Dongxing CAO Shanghai Aerospace Control Technology Institute Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China Faculty of Materials and Manufacturing Beijing University of TechnologyBeijing 100124China

Space truss structures are essential components for space-based remote sensing loads with high spatial and temporal *** achieve high-precision vibration control,an accurate and efficient dynamics model is *** addition to the current equivalent beam model(EBM)based on the classical continuum theory,an improved equivalent beam model(IEBM)is proposed that considers the impact of the distinction between trusses and beams on torsional and shear deformations,as well as the impact of shear deformation on flexural *** to the displacement expressions of spatial beams,torsional,shear,and bending correction coefficients are introduced to derive expressions of strain energy and kinetic *** energy equivalence principle is then utilized to calculate the elasticity and inertia matrices,and dynamics equations are established using the finite element ***,an IEBM is constructed by employing the particle swarm optimization approach to determine the correction coefficients with the truss natural frequency as the optimization *** natural vibration characteristics of the structure are estimated for various material *** with the full-scale finite element model,the EBM reaches a maximum error of 80%for a low modulus of elasticity,while the maximum error of the IEBM is less than 2%for any given parameters,indicating its superior accuracy to the EBM.

关键词： Energy equivalence principle Improved equivalent beam model(IEBM) Natural vibration characteristic Particle swarm optimization approach Truss structure

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Fixed-time stabilization of discontinuous spatiotemporal neural networks with time-varying coefficients via aperiodically switching control

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Science China(Information Sciences) 2023年第5期66卷 182-195页

作者： Xiaofang HU Leimin WANG Chuan-Ke ZHANG Xiongbo WAN Yong HE 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

This paper focuses on the challenge of fixed-time control for spatiotemporal neural networks(SNNs) with discontinuous activations and time-varying coefficients. A novel fixed-time convergence lemma is proposed, which facilitates the handling of time-varying coefficients of SNNs and relaxes the restriction on the non-positive definiteness of the derivative of the Lyapunov function. Besides, a more flexible and economical aperiodically switching control technique is presented to stabilize SNNs within a fixed time,efectively reducing the amount of information transmission and control costs. Under the newly established fixed-time convergence lemma and aperiodically switching controller, many more general algebraic conditions are deduced to ensure the fixed-time stabilization of SNNs. Numerical examples are provided to manifest the validity of the results.

关键词： spatiotemporal neural networks discontinuous activations time-varying coefficients fixed-time stabilization aperiodically switching control

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Adaptive Path-Optimal High-Precision Rapid Maneuver control technology for Optical Imaging Satellites

Adaptive Path-Optimal High-Precision Rapid Maneuver Control ...

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2024 China Automation Congress, CAC 2024

作者： Zhu, Jinjin Qin, Changtao Wu, Mengxuan Shanghai Institute of Spaceflight Control Technology Shanghai Key Laboratory of Spacecraft Intelligent Control Technology Shanghai China

ISBN: (纸本)9798350368604

With the increasing deployment of high-precision optical remote sensing and observation satellites across scientific research and commercial sectors, there is a growing demand for flexible imaging modes, strong maneuverability, agility, and high-precision, stable attitude control capabilities. Complex control algorithms hinder rapid attitude maneuvers. To address the problem of rapid attitude maneuver control for satellites with multiple observation tasks, this paper proposes an adaptive path-optimal attitude maneuver control algorithm. This method autonomously plans the attitude maneuver path according to the angular momentum and torque constraints of the actuators. I t not only meets complex pointing constraints but also features fast maneuvering speed, simple structure, clear physical meaning, and easily adjustable parameters. Mathematical simulation results show that this algorithm can effectively achieve large-angle rapid maneuvers of flexible spacecraft, suppress vibrations of flexible attachments, ensure smooth and steady maneuvering processes, and demonstrate good robustness and anti-interference capabilities. © 2024 IEEE.

关键词： Maneuverability

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