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arXiv 2023年第8期8卷 4094页

作者： Ampountolas, Konstantinos The Automatic Control & Autonomous Systems Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece

This paper develops and investigates a dual unscented Kalman filter (DUKF) for the joint nonlinear state and parameter identification of commercial adaptive cruise control (ACC) systems. Although the core functionality of stock ACC systems, including their proprietary control logic and parameters, is not publicly available, this work considers a car-following scenario with a human-driven vehicle (leader) and an ACC engaged ego vehicle (follower) that employs a constant timeheadway policy (CTHP). The objective of the DUKF is to determine the CTHP parameters of the ACC by using real-time observations of space-gap and relative velocity from the vehicle's onboard sensors. Real-time parameter identification of stock ACC systems is essential for assessing their string stability, large-scale deployment on motorways, and impact on traffic flow and throughput. In this regard, L2and L∞string stability conditions are considered. The observability rank condition for nonlinear systems is adopted to evaluate the ability of the proposed estimation scheme to estimate stock ACC system parameters using empirical data. The proposed filter is evaluated using empirical data collected from the onboard sensors of two 2019 SUV vehicles, namely Hyundai Nexo and SsangYong Rexton, equipped with stock ACC systems;and is compared with batch and recursive least-squares optimization. The set of ACC model parameters obtained from the proposed filter revealed that the commercially implemented ACC system of the considered vehicle (Hyundai Nexo) is neither L2nor L∞string stable. Copyright © 2023, The Authors. All rights reserved.

关键词： Adaptive cruise control

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Multi-Path Reasoning for Multi-Hop Question Answering over Knowledge Graph

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Chinese Journal of Electronics 2025年第2期34卷 642-648页

作者： Lyu Yana Qin Xutong Du Xiuli Zhao Niujie Qiu Shaoming Communication and Network Laboratory Dalian University Dalian 116622 China School of Information Engineering Dalian University Dalian 116622 China North Automatic Control Technology Institute Taiyuan 030000 China

Multi-hop question answering over knowledge graph (KGQA) aims to find the answer entities that are multiple hops away from the entities in the question called seed entities in the knowledge graph. The main methods include rule and template based methods and deep learning based methods. At present, deep learning based methods is in the mainstream, with the advantages of good portability and high utilization of knowledge graph information. A significant challenge is the lack of information on intermediate entities along the reasoning path. However, most deep learning models are unable to learn the correct reasoning path. To address this challenge, we propose a multi-path reasoning model, which selects the correct reasoning path by constraining the consistency of multiple paths from the seed entity to the answer entity. Then, a teacher-student network is adopted for model compression, where the teacher model relies on the proposed multi-path reasoning model. To demonstrate our model’s effectiveness on the KGQA task, we compared our model with four baselines on two benchmark datasets. The experimental results revealed that the Hits@1 values of the model reached 77.8% and 60.2% on WebQuestionsSP and Complex WebQuestions 1.1 datasets, respectively.

关键词： Question answering Knowledge graph Deep learning Reasoning

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Online Residual Learning from Offline Experts for Pedestrian Tracking 63

Online Residual Learning from Offline Experts for Pedestrian...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Vlachos, Anastasios Tsiamis, Anastasios Karapetyan, Aren Balta, Efe C. Lygeros, John Eth Zürich Automatic Control Laboratory Department of Information Technology and Electrical Engineering Zürich8092 Switzerland Control and Automation Group Inspire ZürichAG 8005 Switzerland The Automatic Control Laboratory Switzerland

ISBN: (纸本)9798350316339

In this paper, we consider the problem of predicting unknown targets from data. We propose Online Residual Learning (ORL), a method that combines online adaptation with offline-trained predictions. At a lower level, we employ multiple offline predictions generated before or at the beginning of the prediction horizon. We augment every offline prediction by learning their respective residual error concerning the true target state online, using the recursive least squares algorithm. At a higher level, we treat the augmented lower-level predictors as experts, adopting the Prediction with Expert Advice framework. We utilize an adaptive softmax weighting scheme to form an aggregate prediction and provide guarantees for ORL in terms of regret. We employ ORL to boost performance in the setting of online pedestrian trajectory prediction. Based on data from the Stanford Drone Dataset, we show that ORL can demonstrate best-of-both-worlds performance. © 2024 IEEE.

关键词： Prediction models

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The Transient Predictor 63

The Transient Predictor

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Moffat, Keith Dorfler, Florian Chiuso, Alessandro Automatic Control Laboratory Zürich Switzerland University of Padova Dept. of Information Engineering Italy

ISBN: (纸本)9798350316339

This paper introduces the Transient Predictor and describes how it can be used to estimate the Multistep Predictor, which can be applied to applications such as Data-Driven Predictive control (DDPC). The Transient Predictor has two desirable traits that differentiate it from other methods for estimating the Multistep Predictor, such as the standard Subspace Predictor method: 1) Causality-the Transient Predictor asserts a causal relationship between future inputs and future outputs;and 2) Bias-the Transient Predictor is a consistent predictor of future outputs. This paper provides an easy-toimplement algorithm for estimating the Transient Predictor and in turn the Multistep Predictor, and demonstrates its efficacy for DDPC. In experiments, we find that the Transient Predictorbased DDPC performs remarkably well with small lead-in data lengths, indicating that it is well-suited for tasks in which large amounts of data are not available. In addition, the Transient Predictor is not afflicted by the same bias as subspace-based methods when data is gathered in closed loop. © 2024 IEEE.

关键词： Electromagnetic transients

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Altering the Residual Stress in High-Carbon Steel through Promoted Dislocation Movement and Accelerated Carbon Diffusion by Pulsed Electric Current

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Acta Metallurgica Sinica(English Letters) 2023年第9期36卷 1511-1522页

作者： Kun Yi Siqi Xiang Mengcheng Zhou Xinfang Zhang Furui Du School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing100083China State Key Laboratory of Automatic Control Technology for Mining and Metallurgy Process Beijing102628China

Residual stress in high-carbon steel affects the dimensional accuracy, structural stability, and integrity of components. Although the evolution of residual stress under an electric field has received extensive attention, its elimination mechanism has not been fully clarified. In this study, it was found that the residual stress of high-carbon steel could be effectively relieved within a few minutes through the application of a low density pulse current. The difference between the current pulse treatment and traditional heat treatment in reducing residual stress is that the electric pulse provides additional Gibbs free energy for the system, which promotes dislocation annihilation and carbon atom diffusion to form carbides, thus reducing the free energy of the system. The electroplastic and thermal effects of the pulse current promoted the movement of dislocations under the electric field, thus eliminating the internal stress caused by dislocation entanglement. The precipitation of carbides reduced the carbon content of the steel matrix and lattice shrinkage, thereby reducing the residual tensile stress. Considering that a pulsed current has the advantages of small size, small power requirement, continuous output, and continuously controllable parameters, it has broad application prospects for eliminating residual stress.

关键词： Residual stress Pulsed electric current Carbide precipitation

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control of Blood Glucose Level in Diabetics: A Simulation and Comparison Study 5th

Control of Blood Glucose Level in Diabetics: A Simulation an...

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5th International Conference on Electrical engineering and control Applications, ICEECA 2022

作者： Ikram, Touitou Salim, Ziani Faculty of Engineering University of Constantine 1 Constantine Algeria Laboratory of Automatic Robotic and Control Systems Constantine Algeria

ISBN: (纸本)9789819700448

The goal of this research is to determine how to lower blood glucose levels when the pancreas is unable to produce the insulin that plays a key part in lowering blood glucose levels. A Bergman’s model of type 1 diabetes was considered and implemented in MATLAB-SIMULINK environment. This study aims to create a monitoring system that can track glucose level. Fuzzy inference system of Mamdani type and a PID controller are utilized to optimize the control of blood glucose levels to normal levels. Initially, MATLAB is used to create the process mathematical model. Then, the system is controlled using PID and fuzzy logic controllers, respectively. Finally, the outcomes of simulations reveal that the fuzzy logic controller (FLC) outperforms the PID controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Three term control systems

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Finite Sample Frequency Domain Identification 63

Finite Sample Frequency Domain Identification

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Tsiamis, Anastasios Abdalmoaty, Mohamed Smith, Roy S. Lygeros, John Automatic Control Laboratory Department of Information Technology and Electrical Engineering Eth Zürich Zürich8092 Switzerland

ISBN: (纸本)9798350316339

We study non-parametric frequency-domain system identification from a finite-sample perspective. We assume an open loop scenario where the excitation input is periodic and consider the Empirical Transfer Function Estimate (ETFE), where the goal is to estimate the frequency response at certain desired (evenly-spaced) frequencies, given input-output samples. We show that under sub-Gaussian colored noise (in timedomain) and stability assumptions, the ETFE estimates are concentrated around the true values. The error rate is of the order of O((du+Sdu dy) SM / N tot ), where N tot is the total number of samples, M is the number of desired frequencies, and du, dy are the dimensions of the input and output signals respectively. This rate remains valid for general irrational transfer functions and does not require a finite order state-space representation. By tuning M, we obtain a N tot -1 / 3 finite-sample rate for learning the frequency response over all frequencies in the H∞ norm. Our result draws upon an extension of the Hanson-Wright inequality to semi-infinite matrices. We study the finite-sample behavior of ETFE in simulations. © 2024 IEEE.

关键词： Frequency response

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Distributed formation control of multiple aerial vehicles based on guidance route

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Chinese Journal of Aeronautics 2023年第3期36卷 368-381页

作者： Jinyong CHEN Rui ZHOU Guibin SUN Qingwei LI Ning ZHANG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Information Systems Engineering Laboratory Nanjing 210007China AVIC Xi’an Flight Automatic Control Research Institute Xi’an 710076China

Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based strategy has been demonstrated to be applicable to fixed-wing ***,it requires a global coordinator and there exists control lag,due to its own *** this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned ***,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local ***,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape *** addition,the stall protection and collision avoidance are also ***,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.

关键词： Formation shape control Fixed-wing aircraft Guidance route Hop-count estimation Model predictive control

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CDQKL: Consensus-Based Distributed Quantum Kernel Learning 1

CDQKL: Consensus-Based Distributed Quantum Kernel Learning

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1st International Conference on Quantum Communications, Networking, and Computing, QCNC 2024

作者： Ma, Wenxuan Liu, Mengxiang Deng, Ruilong State Key Laboratory of Industrial Control Technology The College of Control Science and Engineering Zhejiang University Hangzhou310027 China University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (纸本)9798350366778

The field of quantum computing has developed rapidly in recent years due to its promising trend of surpassing traditional machine learning in terms of speed and effectiveness. Quantum kernel learning is one of the paradigms of quantum machine learning, but the training of quantum kernel is time consuming. Therefore, this work makes the first attempt to introduce a consensus-based distributed approach to quantum kernel learning - named CDQKL - that only requires to exchange model parameter information between adjacent nodes while avoiding the need of sharing local training data. Through comparative experimental studies, the advantages of CDQKL in classification accuracy and convergence speed are verified. Considering the popularization of quantum computing cloud service and miniaturization of quantum terminals, the CDQKL adapting to this trend is able to play a vital role in data security, which implies the far-reaching significance of this work. Our code is available at https://***/Leisurivan/CDOKL. © 2024 IEEE.

关键词： Quantum computers

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Sensor Fault Detection and Identification of a Photovoltaic System Based on Sliding Mode Observer 22

Sensor Fault Detection and Identification of a Photovoltaic ...

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22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025

作者： Ismail, Maouadda Dahech, Karim University of Sfax Laboratory of 'Sciences and Techniques of Automatic Control & Computer Engineering ' Sfax Tunisia

ISBN: (纸本)9798331542726

The growing emphasis on sustainability and green energy in electricity generation has led researchers to focus on improving photovoltaic systems. Consequently, a reliable fault diagnosis method is crucial for protecting and maintaining the performance of PV systems. This paper introduces a fault detection approach utilizing a sliding mode observer to detect sensor faults in a standalone photovoltaic system. The method is based on residual generation, which identifies faults by comparing residuals with specific threshold values. The standalone photovoltaic test bench includes a boost converter that facilitates maximum power point tracking using the perturb and observe method for the load. Simulations are carried out in MATLAB/Simulink under stable temperature and varying irradiance conditions to evaluate the effectiveness and robustness of the proposed fault detection technique. © 2025 IEEE.

关键词： Photovoltaic systems Residual formation Sensor faults Sliding mode observer

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