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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

Science China(Information Sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control（MRAC） of linear time-invariant（LTI） systems: limt→∞ e（i）（t） = 0, i = 1,..., n*-1, where n*and e（i）（t） denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control（including indirect MRAC and indirect adaptive pole placement control） of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.（1） It can track a reference signal with any order derivatives being unknown.（2） It has higher-order exponential or practical output tracking properties.（3） Finally, it is different from the usual MRAC system, whose reference signal's derivatives up to the n*order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

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Multiple Sensor Fusion-Based Positioning Robot for Steam Generator Inspection 2

Multiple Sensor Fusion-Based Positioning Robot for Steam Gen...

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2nd International Symposium on Sensor technology and control, ISSTC 2023

作者： You, Jingwei Wei, Shouqi Wu, Xiong Sun, Jianquan Guilin University of Electronic Technology Department of Electrical Engineering Guilin541004 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518000 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518000 China

ISBN: (纸本)9798350314465

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy. © 2023 IEEE.

关键词： Steam generators

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Evolution of Cooperation in Snowdrift Game with Multi-Memory Mechanism 42

Evolution of Cooperation in Snowdrift Game with Multi-Memory...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Yaojun Liu, Xingwen Tashi, Nyima College of Electrical Engineering Southwest Minzu University Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission Sichuan Chengdu610225 China Engineering Research Center for Tibetan Information Processing School of Information Science and Technology Tibet University Lhasa850000 China

ISBN: (纸本)9789887581543

Cooperative behavior has been of great concern in evolutionary game researches because of its important role in social life and natural evolution. Since memory can greatly influence the emergence of cooperative behavior, memory-based research on evolutionary games has proliferated in recent years. In the present paper, inspired by the well-known 'Stanford marshmallow experiment' (SME), we proposed a multi-memory mechanism in Snowdrift game (SDG) on spatial lattice networks whose core lies in what follows: Players are divided into two groups according to individual self-control;different memory lengths are set by group and by time in a single realization. The simulation results show that our proposed mechanism promotes cooperation level of the considered evolutionary game. More specifically, as memory length increases to an intermediate length, the cooperation level increases as well. For mechanism with short memory length, the effect of population structure is obvious and small values of adjusting factor can intensively facilitate high-frequency cooperative behavior. These findings may be helpful to understand the connection between population heterogeneity and the emergence of high cooperation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Behavioral research

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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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State Estimation for Discrete-Time Semi-Markovian Jump Piecewise-Affine systems with Complex Semi-Markovian Kernel 63

State Estimation for Discrete-Time Semi-Markovian Jump Piece...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Tang, Qi Liu, Tao Sun, Xi-Ming University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong Shenzhen Institute of Research and Innovation The University of Hong Kong Hong Kong Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Dalian University of Technology School of Control Science and Engineering Dalian116024 China

ISBN: (纸本)9798350316339

This paper addresses state estimation for discretetime semi-Markovian jump piecewise-affine (PWA) systems. To handle uncertainties caused by unknown disturbances, we propose an analysis method that considers all transfer paths between different regions within the same mode. We then examine the mean-square exponential stability and L∞ performance of the error dynamic system by constructing Lyapunov functions that depend on mode, region, and sojourn time. The related criteria are derived using ellipsoidal outer approximation. Based on these criteria, we design L∞ observers. Finally, we demonstrate the applicability of our method through a numerical example. © 2024 IEEE.

关键词： Lyapunov functions

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USRP-based real-time experimentation platform for artificial-noise-aided MIMO system 4

USRP-based real-time experimentation platform for artificial...

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4th International Conference on Computer Science and Communication technology, ICCSCT 2023

作者： Yu, Ziyang Song, Huanhuan Wen, Hong Liu, Yonghuang Li, Wen Hou, Wenjing School of Aeronautics and Astronautics University of Electronic Science and Technology of China Sichuan Chengdu611731 China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Lab. of Sichuan Province University of Electronic Science and Technology of China Sichuan Chengdu611731 China Intelligent IoT Communication Technology Engineering Research Center of Sichuan Province University of Electronic Science and Technology of China Sichuan Chengdu611731 China

ISBN: (纸本)9781510671232

Artificial noise, as a physical layer security technique, differs from traditional communication security mechanisms based on cryptography as it cannot be easily cracked by rapidly developing computational power. The theoretical research on the security of artificial-noise-assisted MIMO (Multiple-Input Multiple-Output) communication systems is quite comprehensive. However, the practical effectiveness of artificial noise in real-world systems still needs to be further validated through experimentation. This paper proposes a real-time platform for simulating experiments on MIMO communication systems assisted by artificial noise. By analyzing experimental data, it demonstrates that artificial noise has a slight impact on the reliability of legitimate MIMO communication systems while effectively enhancing system security. © 2023 SPIE.

关键词： MIMO systems

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers 3

An Optimal Control Based Trajectory Planning Method for Coop...

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3rd International Symposium on intelligent Robotics and systems, ISoIRS 2023

作者： Wang, Qi Ge, Hao Duan, Xuting Zhou, Jianshan School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology Beijing China Nanjing Research Institute of Electronic Engineering State Key Laboratory of Air Traffic Management System and Technology Nanjing China School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China

ISBN: (纸本)9798350339963

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution. © 2023 IEEE.

关键词： Trajectories

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BotScan: An Unsupervised Bot Detection Based on Adversarial Learning and Social Perception

BotScan: An Unsupervised Bot Detection Based on Adversarial ...

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Asian control Conference

作者： Hong Lin Nuo Chen Yang Chen Xiang Li Cong Li Department of Electronic Engineering Adaptive Networks and Control Lab School of Information Science and Technology Fudan University China Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University China The Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Within online social networks, the rapid expansion of automated accounts, known as social bots, poses a significant challenge. This dynamic has sparked a strategic contest between bots and detectors. Both sides continually learn and adjust their strategies to gain an edge in this silent war. To effectively manage risks from bot evolution, proactive detection methods have garnered widespread attention. In this work, we propose a graph-based and structure-aware adversarial learning framework for multi-category social bot detection. In detail, we adopt a categorical generative adversarial network to create synthetic evolved bot samples for adversarial learning, aiming to boost the detection performance. Besides, we design a user representation learning module, including local and remote feature extractors to mine neighborhood information and achieve multiple network structure representations. Results demonstrate that our model outperforms state-of-the-art approaches and exhibits strong robustness.

关键词： Representation learning Training Technological innovation Social networking (online) Image edge detection Detectors Feature extraction

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