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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Tang, Wenzhao Tang, Wenbin Jiao, Xiaohong Zhang, Yahui Zhang, Dongxue Hebei Key Laboratory of Industrial Computer Control Engineering Yanshan University Hebei Province Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9798331504892

This study establishes an acceleration prediction model of the preceding vehicle tailored for cooperative adaptive cruise control (CACC) systems that address the common challenges posed by V2V communication delays or no communication from the preceding vehicle. The designed model integrates a temporal convolutional network (TCN) with the Transformer architecture block to create a sophisticated mechanism for temporal data analysis. This integration leverages the strengths of TCN in capturing spatial features and the multi-attention mechanism of Transformers to enhance the recognition of long-term dependencies in the time series of data. The synergy between these techniques not only effectively narrows the identification gap between short-term and long-term dependencies but also helps to process spatial information for accurate time-series prediction, significantly improving prediction accuracy. Simulations using the NGSIM dataset confirm the model's prediction performance over the traditional model. Further, the potential of the method to solve the communication delay problem is verified, highlighting the effectiveness of TCN and Transformer multi-attention mechanism in improving the CACC capability. © 2024 IEEE.

关键词： Adaptive cruise control

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Optimal Resource Allocation Scheme for RIS-Assisted Vehicular Networks 43

Optimal Resource Allocation Scheme for RIS-Assisted Vehicula...

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43rd Chinese control Conference, CCC 2024

作者： Chen, Wenxuan Su, Jiawei Liu, Zhixin Yanshan University School of Electrical Engineering Qinhuangdao066004 China Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Province Qinhuangdao066004 China

ISBN: (纸本)9789887581581

Deploying reconfigurable intelligent surfaces (RIS) in vehicular networks can effectively improve the quality of wireless channel and increase network throughout, which is realized by optimizing the phase shifters. However, the dynamic network environment and complex multi-user interference seriously affect network reliability. Enhancing transmission powers blindly cannot solve the interference problem but also reduces the transmission efficiency of the RIS-based vehicular networks. To address the above challenges, this paper proposed a joint optimization scheme of transmission beamforming and phase shift. Based on the block coordinate descent (BCD) theory, this paper decomposed the scheme into two sub-problems: transmission beamforming optimization and RIS phase shift optimization, and the joint optimization algorithm was developted. Simulation results have demonstrated that the transmission rate has been improved with the assistance of RIS, with the multi-user interference effect being well-depressed. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Resource allocation

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An Improved YOLOv5s-Based Smoke Detection System for Outdoor Parking Lots

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computers, Materials & Continua 2024年第8期80卷 3333-3349页

作者： Ruobing Zuo Xiaohan Huang Xuguo Jiao Zhenyong Zhang State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550025China School of Information and Control Engineering Qingdao University of TechnologyQingdao266520China State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou310027China Key Laboratory of Computing Power Network and Information Security Ministry of EducationQilu University of Technology(Shandong Academy of Sciences)Jinan250353China Text Computing&Cognitive Intelligence Engineering Research Center of National Education Ministry Guizhou UniversityGuiyang550025China

In the rapidly evolving urban landscape,outdoor parking lots have become an indispensable part of the city’s transportation *** growth of parking lots has raised the likelihood of spontaneous vehicle combus-tion,a significant safety hazard,making smoke detection an essential preventative ***,the complex environment of outdoor parking lots presents additional challenges for smoke detection,which necessitates the development of more advanced and reliable smoke detection *** paper addresses this concern and presents a novel smoke detection technique designed for the demanding environment of outdoor parking ***,we develop a novel dataset to fill the gap,as there is a lack of publicly available *** dataset encompasses a wide range of smoke and fire scenarios,enhanced with data augmentation to ensure robustness against diverse outdoor ***,we utilize an optimized YOLOv5s model,integrated with the Squeeze-and-Excitation Network(SENet)attention mechanism,to significantly improve detection accuracy while maintaining real-time processing ***,this paper implements an outdoor smoke detection system that is capable of accurately localizing and alerting in real time,enhancing the effectiveness and reliability of emergency *** show that the system has a high accuracy in terms of detecting smoke incidents in outdoor scenarios.

关键词： YOLOv5s smoke detection deep learning SENet

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An Improved Artificial Potential Field Method for Formation control and Obstacle Avoidance of the Multi-Agents Systems

An Improved Artificial Potential Field Method for Formation ...

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2023 China Automation Congress, CAC 2023

作者： Yan, Yubiao Li, Jianxiong Dong, Haibo Gao, Chongyi Fang, Yiming Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Tangshan University Department of Electromechanical Engineering Tangshan China

ISBN: (纸本)9798350303759

Obstacle avoidance is a significant research content in multi-agents formation control. The obstacle avoidance of multi-agents systems is investigated in this paper, and an improved artificial potential field method (IAPF) is proposed to avoid unknown obstacles in multi-agent formation. Aiming at improving the efficiency of formation avoidance and solving the non-reachable and local minima problems, the dynamic sub-target algorithm is proposed. The proposed method enables the multi-agent system (MASs) to avoid obstacles smoothly and quickly and complete formation tasks in complex environments by tracking dynamic sub-target as well, in which the position and motion direction of adjacent agents are taken into account in the selection of a sub-target for the formation efficiency. In addition, a variable potential field range is defined to ensure the safety of the formation. Finally, several simulation results verify the superiority and effectiveness of the proposed approach. © 2023 IEEE.

关键词： Multi agent systems

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MPC-Based Trajectory Tracking control Strategy Incorporating Autonomous Lane-Changing Mechanism for Intelligent Vehicles 8

MPC-Based Trajectory Tracking Control Strategy Incorporating...

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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Zhang, Dongxue Liu, Huiwen Jiao, Xiaohong Zhang, Ting Yanshan University Hebei Key Laboratory of Industrial Computer Control Engineering Hebei Province Qinhuangdao066004 China School of Vehicle and Mobility Tsinghua University Beijing China

ISBN: (纸本)9798331504892

Navigating the intricate traffic environment, lane-changing has emerged as a frequent and essential driving maneu-ver for intelligent vehicles. However, it is challenging to guarantee the safety of the intelligent vehicle and the trajectory tracking accuracy against the external environment during lane-changing. Considering these challenges to overcome, the model predictive control (MPC)-based trajectory tracking strategy incorporating an autonomous lane-changing mechanism is proposed in this paper. The autonomous lane-changing mechanism considering lane-changing intention is proposed to ensure that the intelligent vehicle generates safe lane-changing decisions and trajectories. Subsequently, the MPC strategy that considers the physical char-acteristics of the intelligent vehicle is proposed to guarantee the accuracy and smoothness of trajectory tracking. The validation of its effectiveness and advantages is established on the PreScan and MATLAB/Simulink co-simulation platforms. © 2024 IEEE.

关键词： Predictive control systems

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Node-Decomposition Privacy-Preserving for Finite-Time Secondary control of DC Microgrids

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IEEE Transactions on Smart Grid 2025年第4期16卷 3295-3304页

作者： Wu, Han Zhu, Si-Min Chai, Li Zhu, Zhen-Hua Tian, Yu-Chu Wuhan University of Science and Technology Engineering Research Center of Metallurgical Automation and Measurement Technology School of Artificial Intelligence and Automation Wuhan430081 China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou China Queensland University of Technology School of Computer Science BrisbaneQLD4001 Australia

In the distributed secondary control of DC microgrids, achieving both rapid convergence and robust information security is critical for enhancing control performance and maintaining power quality. However, current privacy-preserving approaches often compromise either control performance or privacy preservation performance. To address this challenge, this paper presents a node-decomposition privacy-preserving (NDPP) method for fully distributed, finite-time secondary control in DC microgrids. By splitting each node in the communication graph into multiple sub-nodes, the method enhances both convergence speed and privacy preservation without sacrificing control accuracy. Sub-nodes communicate within groups, and the topology of the generated graph is concealed from malicious nodes and eavesdroppers. Theoretical analysis is provided to prove finite-time voltage regulation and current sharing with privacy preservation against malicious nodes and external eavesdroppers. Simulations are conducted to verify the effectiveness of the method in maintaining control performance and power quality. © 2010-2012 IEEE.

关键词： Privacy by design

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Motion control of Underactuated Mechanical System via Singular Perturbations 41

Motion Control of Underactuated Mechanical System via Singul...

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第41届中国控制会议

作者： ZHOU Zhen GENG Chenchen CUI Ruogeng XIAO Jinzhuang WANG Hongbin College of Electronic Information Engineering Hebei University Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this work,a novel two-time-scale control structure is proposed to perform the motion control problem of the underactuated mechanical *** allows us to analyze the system dynamics in each time scale ***,the underactuated mechanical system is divided into the actuated and the unactuated parts,since that the singular perturbations theorem could be applied ***,in order to facilitate the different speed of convergence,a small positive constant is designed in the auxiliary control variable of actuated *** the low gains can make sure that the actuated states can converge to the desired position in its domain ***,the PD controller with high gains in contrast could have a fast speed,meanwhile the reference trajectory is settled for the unactuated ***,the final controller constructed by incorporating the characteristics of system model has a low *** results on the underactuated system are given to verify the efficacy of the strategy.

关键词： Underactuated mechanical systems Decoupled control Singular perturbations Motion cotrol

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Fixed-Time Sliding Mode Fault-Tolerant Consensus control for Second-Order Multi-Agent System with Actuator Fault 41

Fixed-Time Sliding Mode Fault-Tolerant Consensus Control for...

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第41届中国控制会议

作者： Jing Wang Yi-ming Fang Jian-xiong Li Kun-da Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problems of immeasurable leader state and actuator fault for second-order multi-agent system(MAS),the distributed robust sliding mode fault-tolerant control method based on fixed-time state observer(FTSO) is adopted to realize the fixed time fault-tolerant consensus tracking control for the *** MAS is under the undirected communication *** actuator fault is including partial loss of effectiveness(PLOE) fault and bias ***,a fixed time state observer is designed for each follower to obtain the state information of the ***,for followers with actuator faults,the distributed fixed-time robust sliding mode fault-tolerant controller is designed to realize fault-tolerant consensus tracking ***,the Lyapunov stability theorem is used to prove that the observation error and the consensus control error converge to zero in a ***,the effectiveness of the designed FTSO and fixed-time robust sliding mode fault-tolerant control algorithm is verified by numerical simulation.

关键词： fixed-time state observer fixed-time fault-tolerant control multi-agent systems consensus tracking control

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Bimodal Fusion Network for Basic Taste Sensation Recognition from Electroencephalography and Electromyography 48

Bimodal Fusion Network for Basic Taste Sensation Recognition...

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48th IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2023

作者： Gao, Han Zhao, Shuo Li, Huiyan Liu, Li Wang, You Hu, Ruifen Zhang, Jin Li, Guang Zhejiang University State Key Laboratory of Industrial Control Technology China Changsha University of Science and Technology School of Computer and Communication Engineering China

ISBN: (纸本)9781728163277

Taste sensation can be objectively measured using electroencephalography (EEG) or electromyography (EMG). How-ever, it is still challenging to effectively utilize the complementary information from EEG and EMG signals in taste sensation recognition. This paper proposes a bimodal fusion network (Bi-FusionNet) for recognizing basic taste sensations (sour, sweet, bitter, salty, umami, and blank). Two convolutional backbones with similar structures are designed to separately extract the single-modal features of EEG and EMG. Then, EEG and EMG features are concatenated for bimodal interaction and complementarity. Finally, three loss functions are adopted: a center loss for aggregating intra-class samples, a mean squared error loss for sequence positions for minimizing the difference between signals during the stimulation, and a softmax loss for minimizing the entropy of prediction and true labels. The results on the taste sensation dataset show that bimodal fusion improves recognition performance, and Bi-FusionNet outperforms single-modal methods and other fusion methods. Bi-FusionNet paves the way for the application of multimodal fusion in taste sensation recognition. © 2023 IEEE.

关键词： Electroencephalography Electromyography Feature Fusion Taste Sensation Recognition

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