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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Qiaoni Han Guowen Cheng Zhenning Tang Chang Liu Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Center for Biomedical Engineering School of Information Science and Technology Fudan University Shanghai China

In order to mitigate the adverse impact of denial of service (DoS) attacks, this work designs a parameter self-tuning controller based on fuzzy rules for vehicle platoons with vehicle-to-vehicle (V2V) communications. Aiming at achieving the cooperative adaptive cruise control (CACC) of the vehicles with a required inter-vehicle distance and the same velocity, while considering the possible DoS attacks, we propose a parameter self-tuning longitudinal controller combining linear control and fuzzy control to enhance the stability and resilience of the platoon systems. Firstly, by analyzing the dynamic characteristics of vehicles and the mechanism of DoS attacks, we establish the dynamic model of vehicle platoons and model the impact of random DoS attacks as a constant data transmission delay, whose probability distribution can be defined using the Bernoulli random variable. Then, a linear controller based on fuzzy control is designed for longitudinal control to guarantee that the platoon keeps a reference velocity and the specified inter-vehicle distance under DoS attacks. Finally, thorough simulations are performed and the detailed results show the performance of the secure longitudinal control scheme for vehicle platoons in terms of stability and security.

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Building Energy Allocation Using Distributed Model Predictive control

Building Energy Allocation Using Distributed Model Predictiv...

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

作者： Hongyi Li Jun Xu Harbin Institute of Technology Shenzhen P. R. China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai P. R. China

In this paper, a distributed energy allocation strategy for energy shortage scenarios is proposed. Users are allowed to set the priority order so that the proposed strategy is able to meet the urgent needs. A building model containing three zones is created in Energyplus and the strategy is deployed in *** introducing Mle+, a joint simulation of MATLAB and Energyplus is implemented. Centralized, decentralized and distributed model predictive control are applied to the energy shortage scenario respectively, and the results show that our approach can satisfy the urgent need for energy supply.

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Orientation-based Feature Aggregation for Multi-Target Multi-Camera Tracking

Orientation-based Feature Aggregation for Multi-Target Multi...

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Industrial Cyber-Physical systems (ICPS)

作者： Yansong Gao Jingzheng Tu Cailian Chen Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

Multi-target multi-camera tracking (MTMCT) is a crucial component in traffic flow analysis for smart transportation systems. MTMCT generates vehicle trajectories from the surveillance videos across the cameras at different intersections. Variable vehicle orientations during the driving process degrade the MTMCT precision. Besides, time-varying traffic flow between cameras could lead to trajectory mismatching under constant travel time constraint algorithms. In this paper, an orientation-based MTMCT method considering time-varying traffic flow is proposed. First, stacked re-identification backbones (SRB) are employed to merge the features extracted by different backbones for generating a discriminative appearance feature. Second, to re-duce the information loss, orientation-based feature aggregation (OFA) is proposed to represent a trajectory consisting of vehicles with different orientations comprehensively. Third, considering the time-varying traffic flow, dynamic spatio-temporal strategy (DSS) is designed to segment the whole videos into time windows and construct fine-grained travel time probability functions to narrow the gap between the model and realistic situation. Experiments validate the effectiveness of the proposed MTMCT method. Our method outperforms other works on the IDP metric.

关键词： Measurement Surveillance Cyber-physical systems Feature extraction Cameras Trajectory Smart transportation

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Bearing-based Formation Tracking of Nonholonomic Agents in the Leader's Local Frame

Bearing-based Formation Tracking of Nonholonomic Agents in t...

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2021 China Automation Congress, CAC 2021

作者： Lv, Ke Yang, Ziwen Zhu, Shanying Wang, Lin Department of Automation Shanghai Jiao Tong University 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)9781665426473

This paper investigates the formation tracking control problem of nonholonomic agents in the leader's local frame, based on bearing measurements. Most of existing works on formation tracking are aimed at tracking a given formation in the global frame, which cannot meet the needs of many applications such as a fleet of cars driving on the highway. In this case, if the cars cannot keep a fixed formation in the leader's local frame, they may drive off the highway. Thus we propose an integrated approach consisting of a bearing-based estimator and a tracking controller, to track a given formation in the leader's local frame. In order to eliminate the estimation error in formation tracking, a persistently exciting leader is characterized by conditions. The stability of the integrated method is proved rigorously. Simulation results prove the effectiveness of the proposed approach. © 2021 IEEE

关键词： Integrated control

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Bearing-only Formation control of Nonholonomic Agents with Unknown Dynamic Leaders

Bearing-only Formation Control of Nonholonomic Agents with U...

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2021 China Automation Congress, CAC 2021

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University 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)9781665426473

In this paper, the problem of bearing-only formation tracking control of multiple nonholonomic agents is studied. A leader-follower structure is adopted, where the leaders are moving at an unknown constant linear velocity and time-varying orientation. To solve the problem using bearing-only measurements, a finite-time estimator is firstly proposed to estimate the leaders' orientation information. Then, an adaptation law for estimating the leaders' linear velocity is proposed, based on which control inputs for tracking the leaders in a predefined bearing-based formation are designed, so that formation tracking can be achieved asymptotically. Rigorous theoretical analysis of the closed-loop system is given. It is proved that both the estimation errors and formation errors converge to zero under the connectivity of the communication graph and conditions for bearing rigidity. Numerical simulations are presented to testify the effectiveness of the proposed method. © 2021 IEEE

关键词： Closed loop systems

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Adaptive Multi-Weight Infrared and Visible Image Fusion via Multi-Scale Transformation

Adaptive Multi-Weight Infrared and Visible Image Fusion via ...

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Chinese control Conference (CCC)

作者： Tongyuehao Zhou Monan Zhang Yichen Li Wei Zhou Wenbin Yu Department of Automation Shanghai Jiao Tong University Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China PLA 91550 Dalian China

In image fusion, the desirable fused image is to obtain advantage information from different images of the same scene. As for the fusion of the infrared image and the visible image that have distinct features, this paper proposes an adaptive multi-weight fusion based on multi-scale transformation. This method designs different weight matrices according to the characteristics of the infrared image and the visible image. It can also adaptively adjusts the weight size according to the scene. Based on the difference of information entropy between infrared images and visible images, the method of this paper can keep the important information as much as possible. Experimental results prove the method of this paper is fast and effective. It also has certain superiority compared with other methods.

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Discrete-time inverse linear quadratic optimal control over fnite time-horizon under noisy output measurements

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control Theory and Technology 2021年第4期19卷 563-572页

作者： Han Zhang Yibei Li Xiaoming Hu 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 Department of Mathematics KTH Royal Institute of Technology10044 StockholmSweden

In this paper,the problem of inverse quadratic optimal control over fnite time-horizon for discrete-time linear systems is *** goal is to recover the corresponding quadratic objective function using noisy ***,the identifability of the model structure for the inverse optimal control problem is analyzed under relative degree assumption and we show the model structure is strictly globally ***,we study the inverse optimal control problem whose initial state distribution and the observation noise distribution are unknown,yet the exact observations on the initial states are *** formulate the problem as a risk minimization problem and approximate the problem using empirical *** is further shown that the solution to the approximated problem is statistically consistent under the assumption of relative *** then study the case where the exact observations on the initial states are not available,yet the observation noises are known to be white Gaussian distributed and the distribution of the initial state is also Gaussian(with unknown mean and covariance).EM-algorithm is used to estimate the parameters in the objective *** efectiveness of our results are demonstrated by numerical examples.

关键词： Inverse optimal control Linear quadratic regulator Statistical consistency EM-algorithm

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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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Online Identification of Boost Converter Components with Multiple Updating RLS Algorithm

Online Identification of Boost Converter Components with Mul...

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Chinese control Conference (CCC)

作者： Tong Zhou Zhicheng Zhang Zhiqiang Zuo Yijing Wang 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 P. R. China

In this paper, component parameters of the boost converter are identified online using a multiple updating recursive least squares (MURLS) algorithm. The component parameters, such as resistance, inductor inductance and capacitor capacitance, are obtained directly through the identification procedure rather than transfer function coefficients. The MURLS algorithm is applied to improve the rapidity of system identification compared to the traditional recursive least squares (RLS) algorithm, which is verified by a comparative simulation between MURLS and RLS and the simulation of a load-switching scenario.

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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