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An Improved Method for Approximating the Infinite-Horizon Value Function of the Discrete-Time Switched LQR Problem

Journal of systems Science & Complexity 2024年第1期37卷 22-39页

作者： HOU Tan LI Yuanlong LIN Zongli Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743USA

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value *** method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration,and thus,the proposed approach is capable of achieving a better approximation for a given computation time compared with the existing *** numerical examples are presented in this paper to illustrate the effectiveness of the proposed method.

关键词： Optimal control switched linear systems switched LQR problem.

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MAGPNet: Multi-Domain Attention-Guided Pyramid Network for Infrared Small Object Detection

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Journal of Shanghai Jiaotong University (Science) 2024年 1-18页

作者： Ding, Leqi Wang, Biyun Yao, Lixiu Cai, Yunze Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China National Key Laboratory of Air-based Information Perception and Fusion Henan Luoyang471009 China Shanghai Institute of Aerospace Control Technology Infrared Detection Technology R&D Center of China Aerospace Science and Technology Corporation Shanghai201109 China

To overcome the obstacles of poor feature extraction and little prior information on the appearance of infrared dim small targets, we propose a multi-domain attention-guided pyramid network (MAGPNet). Specifically, we design three modules to ensure that salient features of small targets can be acquired and retained in the multi-scale feature maps. To improve the adaptability of the network for targets of different sizes, we design a kernel aggregation attention block with a receptive field attention branch and weight the feature maps under different perceptual fields with attention mechanism. Based on the research on human vision system, we further propose an adaptive local contrast measure module to enhance the local features of infrared small targets. With this parameterized component, we can implement the information aggregation of multi-scale contrast saliency maps. Finally, to fully utilize the information within spatial and channel domains in feature maps of different scales, we propose the mixed spatial-channel attention-guided fusion module to achieve high-quality fusion effects while ensuring that the small target features can be preserved at deep layers. Experiments on public datasets demonstrate that our MAGPNet can achieve a better performance over other state-of-the-art methods in terms of the intersection of union, Precision, Recall, and F-measure. In addition, we conduct detailed ablation studies to verify the effectiveness of each component in our network. © 2024, Shanghai Jiao Tong University.

关键词： Software engineering

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Online Multi-Object Tracking Under Moving Unmanned Aerial Vehicle Platform Based on Object Detection and Feature Extraction Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 388-399页

作者：刘增敏王申涛姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China JD Business Growth Department Beijing 100176China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is ***,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking *** the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking *** simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.

关键词： moving unmanned aerial vehicle(UAV)platform small object feature extraction image registration multi-object tracking

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A Counter-swarm Splitting Strategy using Receding Horizon control Algorithm 41

A Counter-swarm Splitting Strategy using Receding Horizon Co...

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第41届中国控制会议

作者： Angwei Zhang Dewei Li Haibin Shao Lulu Pan Yaonan Guan the Department of Automation and the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper proposes a model predictive control framework for the task of countering the swarm of autonomous *** on the Boids model,the neighbor selection mechanism and interaction model are further employed to characterize the formation of the target *** is assumed that individuals in the target swarm are equipped with a collision avoidance *** the perspective of the position and velocity of individuals in the target swarm,Lanchester's index and polarization index are employed to characterize the performance of the counter-swarm strategy,*** strategy of splitting the target swarm via attacking its geometric centroid is proposed and the model predictive control framework for the counter-swarm task is designed.A simulation is finally provided to illustrate the effectiveness of the proposed strategy.

关键词： counter swarm model predictive control autonomous systems Boids model collision avoidance

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Channel parameters-independent multi-hop nondestructive teleportation

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Chinese Physics B 2022年第2期31卷 201-208页

作者： Hua-Yang Li Yu-Zhen Wei Yi Ding Min Jiang School of Electronics&Information Engineering Soochow UniversitySuzhou 215006 China 2School of Information EngineeringHuzhou UniversityHuzhou 313000China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

A multi-hop nondestructive teleportation scheme independent of channel parameters based on Bell pairs is presented,where the coefficients of the quantum channel are unknown to all the communication *** Bell measurement and channel matching technology the unknown channel parameters can be eliminated probabilistically with the help of the intermediate *** the source node Alice can teleport an unknown state to the remote destination node *** our scheme the teleportation is generalized first to the scenario independent of channel parameters,which makes the requirement of quantum channel *** scheme still preserves the initial unknown state even if this teleportation ***,performance analysis shows that our scheme has a higher communication efficiency.

关键词： multi-hop quantum communication entanglement swapping teleportation

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Time-varying Output Formation control Based on a Reduced-order Output-feedback Protocol 41

Time-varying Output Formation Control Based on a Reduced-ord...

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第41届中国控制会议

作者： Zhuo Chen Xianwei Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates time-varying output formation(TVOF) of homogeneous linear multi-agent systems based on a reduced-order output-feedback ***,a reduced-order output-feedback protocol using relative information of neighboring agents is *** this protocol,a necessary and sufficient condition for achieving TVOF is *** explicit expression of the time-varying formation reference function and a feasibility condition for TVOF are *** an algorithm is proposed for designing the protocol *** is shown that when the dynamics of each agent is stabilizable and detectable,the multi-agent system can achieve a desired TVOF under the protocol designed by the *** with existing results which only consider full-order protocols,the proposed protocol has a lower order and thus has lower implementation *** simulation is finally presented to demonstrate the effectiveness of the proposed protocol.

关键词： Time-varying output formation(TVOF) multi-agent systems output feedback reduced-order design

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Motor Fault Diagnosis Under Complex Working Conditions Based on Signal Fusion and CA-CNN

Motor Fault Diagnosis Under Complex Working Conditions Based...

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2024 China Automation Congress, CAC 2024

作者： Cai, Mingxuan Liu, Qi Liu, Yuxiang Yang, Bo Department of Automation Shanghai Jiao Tong University shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350368604

Accurate fault diagnosis plays a key role in the safe and efficient operation of electrical motors. Aiming at multi-class motor fault diagnosis under complex working conditions, a signal fusion-based fault diagnosis framework is proposed. Measurement parameters from different sensors are first transformed by wavelet denoising and fast Fourier transform (FFT). Then, multiple parameters spectrum and working condition information are integrated and converted into high-dimension matrices. Finally, a channel-attention-based convolution neural network (CA-CNN) is proposed to extract fault patterns from a reconstructed matrix and output diagnosis results. Experiment results on both simulated and experimental datasets verify the effectiveness of the proposed method. © 2024 IEEE.

关键词： Convolutional neural networks

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Event-Triggered control of Multiple Euler-Lagrange systems with Communication Time-Delays 41

Event-Triggered Control of Multiple Euler-Lagrange Systems w...

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第41届中国控制会议

作者： Xueqi Zhang Xianwei Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we study the consensus problem of multiple Euler-Lagrange systems subject to limited communication resources and parametric ***,an event-triggered communication scheme is proposed to achieve the leaderless consensus *** the proposed event-triggered mechanism,the state of each subsystem is transmitted at event instants which are aperiodic and asynchronous with respect to other ***,we consider the time-delay effects in *** consensus analysis of the proposed scheme is based on the small-gain *** simulation results on a network of robot manipulators are given to illustrate the effectiveness of the proposed control scheme.

关键词： Consensus event-triggered control Euler-Lagrange system communication delays

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Policy iteration-based adaptive optimal control for Markov jump systems: a transition-probability-free asynchronous approach

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Science China(information Sciences) 2024年第11期67卷 363-364页

作者： Weidi CHENG Chengcheng REN Shuping HE Changyin SUN Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Engineering Research Center of Autonomous Unmanned System Technology (Ministry of Education) School of Artificial Intelligence Anhui University

The controller and filter design problems of Markov jump systems(MJSs) have gained significant attention over the past few decades. These studies include various aspects,including stochastic stabilization [1], optimal tracking control [2], and dissipative filter design [3]. Although numerous publications address the optimal controller design for MJSs, the issue of hidden MJSs, particularly those with mismatched jumping modes between the system and the controller, has rarely been explored.

关键词： Markov processes

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Containment control Protocol Design for PDE Agents Subject to External Disturbances 42

Containment Control Protocol Design for PDE Agents Subject t...

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42nd Chinese control Conference, CCC 2023

作者： Chen, Yining School of Artificial Intelligence Tiangong University Tianjin300387 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai639798 China

ISBN: (纸本)9789887581543

This paper mainly solves the containment control issue for a network of infinite-dimensional agents described by wave equations. To eliminate influences caused by external disturbances, observers based on partial differential equations are proposed. A novel interaction protocol is then designed to reach containment control under a fixed directed communication topology. Different from the existing works, disturbances with unbounded derivatives are allowed in this paper. A proper Lyapunov function is constructed and the sufficient condition assuring containment control is obtained. Finally, the theoretical results are verified via numerical examples. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Lyapunov functions

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