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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Wang, Yuyang Xin, Bin Ding, Yulong Yin, Zhen He, Bin School of Automation Beijing Institute of Technology Beijing100081 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Tongji University Department of Control Science and Engineering Shanghai China

ISBN: (纸本)9781665481090

This paper addresses the path planning problem for unmanned aerial vehicle (UAV), where a UAV serves as a messenger to periodically traverse over road-constrained ground vehicles (GVs) to relay information. The GVs may not move on the road network with the velocities agreed with the UAV due to their movement uncertainties. The UAV path planning problem can be formulated as the Dynamic Dubins Traveling Salesman Problem with Uncertain Neighborhood (DDTSPUN). To address the uncertainty in GVs motion, we define robust neighborhoods and corridors and prove that the UAV visiting these areas can revisit GVs reliably, thus transforming DDTSPUN into a Revisit-time-constrained Dubins Traveling Salesman Problem with Neighborhood (RDTSPN). To address the RDTSPN, we propose an online heuristic path planning algorithm. This algorithm incorporates a gradient-based method for visiting robust neighborhoods and a sampling-based search strategy along robust corridors to obtain the Dubins paths of UAV that achieve the robust visit for each GV. Finally, computational experiments demonstrate its advantage over other benchmark algorithms in obtaining the shortest path satisfying UAV curvature constraints, and ensuring robust access to all GVs. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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PI-Based Set-Point Learning control for Batch Processes with Unknown Dynamics and Nonrepetitive Uncertainties

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IEEE Transactions on Automatic control 2024年第6期70卷 3649-3664页

作者： Hao, Shoulin Liu, Tao Rogers, Eric Wang, Youqing Paszke, Wojciech Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Eduction The Institute of Advanced Measurement and Control Technology Dalian116024 China Beijing University of Chemical Technology College of Information Science and Technology Beijing100029 China University of Zielona Góra Institute of Automation Electronic and Electrical Engineering Zielona Góra65-246 Poland

For industrial batch processes with unknown dynamics subject to nonrepetitive initial conditions and disturbances, this paper develops a novel adaptive data-driven set-point learning control (ADDSPLC) scheme based on only the measured process input and output data, which has two loops, one for the dynamics within a batch and the other for the batch-to-batch dynamics. In the former case, a model-free tuning strategy is firstly presented for determining the closed-loop PI controller parameters. For the latter case, a set-point learning control law with adaptive set-point learning gain and gradient estimation is developed for batch run optimization. Robust convergence of the output tracking error is rigorously analyzed together with the boundedness of adaptive learning gain and real-time updated set-point command. Moreover, another iterative extended state observer based (ADDSPLC) scheme is developed with rigorous convergence and boundedness analysis, to enhance the robust tracking performance against nonrepetitive uncertainties. Finally, two illustrative examples from the literature are used to demonstrate the effectiveness and superiority of the new schemes over the recently developed data-driven learning control designs. © 1963-2012 IEEE.

关键词： Batch data processing

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Preventing String Instability in Altitude control System of UAV by Nonlinear Correction 30

Preventing String Instability in Altitude Control System of ...

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30th Saint Petersburg International Conference on Integrated Navigation systems, ICINS 2023

作者： Zaitceva, Iuliia Andrievsky, Boris St. Petersburg State University St. Petersburg Electrotechnical University "lETI" Control of Comlex Systems Lab. Institute of Problems in Mechanical Engineering of RAS St. Petersburg Russia St. Petersburg State University Control of Comlex Systems Lab. Institute of Problems in Mechanical Engineering of RAS St. Petersburg Russia

ISBN: (纸本)9785919950950

The paper is devoted to maintaining a flight formation with cross-information links between agents while controlling the altitude of nine unmanned aerial vehicles through a standard proportional-integral-differential controller. With an increase in the number of agents, the system oscillations may appear due to the "string instability"phenomenon. Other factors associated with changes in the dynamics of the nonlinear actuator of the UAV control surface can also negatively affect the formation stability. The simulation results show that the actuator saturation for one agent can lead to oscillatory processes of other agents, which can eventually destroy the formation structure. In the paper, it is proposed to introduce a nonlinear corrective device into the actuator control loop to improve the system stability and prevent dangerous oscillations. In the nominal mode, when the saturations of actuators are not active, this corrective device does not affect the operation of the controller and passes the control signal without changes, but it makes an effect when the controlling values of actuator positions and velocities reach the bounds. In the paper, for a flight altitude control problem of the UAVs formation, the corrective device was tested and its efficiency was confirmed by a series of simulations. © 2023 Concern CSRI Elektropribor, JSC.

关键词： Altitude control

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Influence of Reporting Rate on Epidemic control Based on SIXAR Model 41

Influence of Reporting Rate on Epidemic Control Based on SIX...

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第41届中国控制会议

作者： Lingyu Wu Qiandong Sun Cong Li Xiang Li Adaptive Networks and Control Lab Department of Electronic EngineeringSchool of Information Science and TechnologyFudan University The Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

How to balance the control efficiency of the epidemic and the economy is extremely *** paper proposes a Susceptible-Infected-Isolated-Asymptomatic-Recovered(SIXAR,X represents isolated people) model,considering the asymptomatic and the *** conduct an in-depth research on the reporting rate in the epidemic,and find the critical reporting rate to prevent the spread of the *** result proves that maintaining the reporting rate near a critical value can both ensure epidemic prevention and control and reduce economic *** will provide a new idea for the government to formulate rational measures.

关键词： Epidemic models SIR model Complex Network COVID-19

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Public Goods Game on Hypergraph with Gentle Win-Stay,Lose-Shift Strategy 41

Public Goods Game on Hypergraph with Gentle Win-Stay,Lose-Sh...

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第41届中国控制会议

作者： Junchi Li Cong Li Xiang Li Adaptive Networks and Control Lab Department of Electronic EngineeringSchool of Information Science and TechnologyFudan University the Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper introduces a kind of strategy called gentle win-stay,lose-shift(GWSLS) which is used in the revolutionary of public goods game(PGG) on *** work focuses on how this strategy influence the process of evolution of *** take the approach of numerical simulation to study whether cooperation would eventually survive in PGG on different kinds of *** also compare the results in different conditions and find out that cooperation will eventually survive if the number of hyperlinks is not that many.A non-uniform hypergraph is beneficial to the survival of cooperation.

关键词： PGG hypergraph cooperation GWSLS

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An Integrated Sensor Array for Water Quality Monitoring

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IET Science, Measurement and Technology 2025年第1期19卷

作者： Abolfathi, Hooman Nikfarjam, Alireza Abbaspour, Bahareh MEMS&NEMS Lab. Department of Microsystem and Photonics School of Intelligent Systems Engineering University of Tehran Tehran Iran

Four important quantities in water quality monitoring are temperature, specific electrical conductivity (EC), total dissolved solids (TDS), and pH. In this paper, three sensors for precisely detecting these parameters were designed and fabricated in one structure. Spiral electrodes were made as temperature sensors and circular toothed electrodes were made as EC sensors. The pH sensor comprises two electrodes: the reference electrode (Ag/AgCl) and the working electrode (carbon black/highly porous polyaniline). The response time of the temperature sensor is 13.2 s, and the stability of the sensor is −0.031 (Formula presented.), and the sensitivity of the sensor is 0.003 (Formula presented.). The response time of the pH sensor was reported as 136.2 (Formula presented.) and the sensor's sensitivity was 8.8 (Formula presented.) in the pH range of 4 to 10. Also, the best excitation frequency of 30 kHz and the best reference resistance of 1 (Formula presented.) were measured in the range of 100 to 2000 (Formula presented.) and the sensitivity of the EC sensor is (Formula presented.) (Formula presented.). TDS was also calculated from the specific electrical conductivity using the conversion factor of 0.66 (Formula presented.). Considering the electrical output of all sensors, a circuit was designed and built to receive their information. Operational amplifiers with different functions were used to create the reading circuit. © 2025 The Author(s). IET Science, Measurement & Technology published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Sensor arrays

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Time-Triggered control of Double Channel Transmission Networked Switched systems under DoS Attacks 42

Time-Triggered Control of Double Channel Transmission Networ...

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42nd Chinese control Conference, CCC 2023

作者： Lian, Jie Li, Hao Wu, Feiyue Wang, Dong The Key Lab. of Intelligent Contr. and Optimization for Indust. Equipment of Ministry of Education China The School of Control Science and Engineering Dalian University of Technology Dalian116024 China

ISBN: (纸本)9789887581543

This paper investigates the time-triggered control for double channel transmission networked switched systems (NSSs) under denial-of-service (DoS) attacks. For NSSs, the information of the sensor and controller needs to be transmitted through the network, which increases the risk of packet loss due to network attacks. The resulting packet loss will greatly degrade the system performance. To address this problem, this paper proposes a double channel transmission scheme and a novel control strategy. Firstly, based on the traditional time-triggered control framework, the transmission link is extended to two channels. At each triggered instant, the sensor selects one of the channels to transmit and the attacker can only select one of the channels to attack. In this way, the packet loss rate caused by DoS attacks can be effectively reduced. Secondly, the control strategy is designed to combine hold-input and zero-input according to the actual packet loss situation. Under this control strategy, sufficient conditions for the asymptotically mean-square stability of the NSSs are obtained by dwell time switching, and the solution of controller gain is solved. Finally, the feasibility of this study is verified by aeroengine model. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Packet loss

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Virtual Sample Generation Methods and Application in Few-Shot Object Detection for Industrial Scenarios

Virtual Sample Generation Methods and Application in Few-Sho...

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2023 China Automation Congress, CAC 2023

作者： Tao, Xiuwen Wan, Guoyang Jiang, Ming Zhang, Jian Wang, Qianqian He, Qin Anhui Polytechnic University School of Electrical Engineering Anhui Polytechnic University Key Lab. of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Wuhu China

ISBN: (纸本)9798350303759

Due to the long-term relatively fixed state of industrial installations, the diversity of industrial data is low, with high repetitiveness and uneven distribution, which makes industrial few-shot object detection still challenging. Therefore, from the perspective of handling the dataset, this paper proposes a virtual sample generation method based on virtual reality. Firstly, by using a virtual engine, the target workpiece model is created to directly simulate the states of the workpieces captured by the visual system in various environments. Secondly, random algorithms are added and improved to simulate workpieces with different materials and degrees of wear, distributed in random positions with different poses and types in the visual system, thereby generating virtual samples containing workpieces. Finally, virtual samples are introduced for experimental testing in the target detection network. The proposed method is tested in both YOLOv5 and YOLOv7 and compared with datasets without virtual samples, resulting in an improvement of 3.06% and 2.23% in mAP values, respectively. The experimental results demonstrate that the proposed method effectively improves the issue of industrial small-sample object detection. © 2023 IEEE.

关键词： Object detection

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From Unmanned systems to Autonomous intelligent systems

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engineering 2022年第5期8卷 16-19页

作者： Jie Chen Jian Sun Gang Wang Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 200092China Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

*** Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century *** that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can *** attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].

关键词： frontier inert policy

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A Resilient Data-Driven controller Against DoS Attacks 41

A Resilient Data-Driven Controller Against DoS Attacks

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第41届中国控制会议

作者： Wenjie Liu Jian Sun Gang Wang Jie Chen Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the stabilization problem of linear time-invariant systems under Denial-of-Service(DoS)***,system matrices are unknown,and only some input-output trajectories collected from off-line experiments are ***,in the model-based case,it has been proven that systems equipped with a predictor-based state feedback controller achieve resilience against DoS ***,this is difficult or even impossible to be implemented in the absence of a system model,thus leading to resilient control challenging in the data-based *** maintain resilience against DoS attacks in the data-based case,a data-driven model predictive control(MPC) scheme is proposed such that future system input-output trajectories can be obtained by solving a data-dependent optimal *** this scheme,a data-driven resilient control strategy is developed such that the system achieves the same level of resilience of the DoS attacks as the model-based ***,a numerical example is given to validate the effectiveness of the proposed method.

关键词： Denial-of-service attack data-driven control model predictive control input-to-state stability

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