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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Scientific Research Transformation Needed for Comprehensive Artificial Intelligence Implementation 17

Scientific Research Transformation Needed for Comprehensive ...

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17th International Conference on Management of Large-Scale System Development, MLSD 2024

作者： Medennikov, Viktor Bogatyreva, Larisa Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Information and Computing Systems Department Moscow Russia V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences Laboratory of Modular Data Processing and Control Systems Moscow Russia

ISBN: (纸本)9798350375718

The paper deals with complementary changes in scientific research and real economy (exemplified by the farming industry) taking place when using the holistic approach to the industry's digital transformation resulting in the appearance of precise agrarian technologies that require a comprehensive, system-based combination of research and production resources that are able to ensure increased productivity in the industry. We demonstrate that among these new technologies, the artificial intelligence methods have a special significance. They have to, however, go through integration transformations to become standards for the proposed common digital farming management platform. © 2024 IEEE.

关键词： Agricultural economics

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On tuning of ADRC with competing design indices:a quantitative study

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control Theory and Technology 2023年第1期21卷 16-33页

作者： Yutao Zhao Yi Huang Zhiqiang Gao Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Department of Electrical Engineering and Computer Science Center for Advanced Control TechnologiesCleveland State UniversityClevelandOH 44115USA

controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advanced control *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.

关键词： Uncertain systems Active disturbance rejection control(ADRC) Design indices(DIs) Extended state observer(ESO)

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MMH-FE:AMulti-Precision and Multi-Sourced Heterogeneous Privacy-Preserving Neural Network Training Based on Functional Encryption

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computers, Materials & Continua 2025年第3期82卷 5387-5405页

作者： Hao Li Kuan Shao Xin Wang Mufeng Wang Zhenyong Zhang The State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550025China Key Laboratory of Computing Power Network and Information Security Ministry of EducationShandong Computer Science CenterQilu University of Technology(Shandong Academy of Sciences)Jinan250014China China Industrial Control Systems Cyber Emergency Response Team Beijing100040China

Due to the development of cloud computing and machine learning,users can upload their data to the cloud for machine learning model ***,dishonest clouds may infer user data,resulting in user data *** schemes have achieved secure outsourced computing,but they suffer from low computational accuracy,difficult-to-handle heterogeneous distribution of data from multiple sources,and high computational cost,which result in extremely poor user experience and expensive cloud computing *** address the above problems,we propose amulti-precision,multi-sourced,andmulti-key outsourcing neural network training ***,we design a multi-precision functional encryption computation based on Euclidean ***,we design the outsourcing model training algorithm based on a multi-precision functional encryption with multi-sourced ***,we conduct experiments on three *** results indicate that our framework achieves an accuracy improvement of 6%to 30%.Additionally,it offers a memory space optimization of 1.0×2^(24) times compared to the previous best approach.

关键词： Functional encryption multi-sourced heterogeneous data privacy preservation neural networks

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Robust control and data reconstruction for nonlinear epidemiological models using feedback linearization and state estimation

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Mathematical Biosciences and Engineering 2025年第1期22卷 109-137页

作者： Csutak, Balázs Szederkényi, Gábor Faculty of Information Technology and Bionics Pázmány Péter Catholic University Práter u. 50/A BudapestH-1083 Hungary Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary

It has been clearly demonstrated over the past years that control theory can provide an efficient framework for the solution of several complex tasks in epidemiology. In this paper, we present a computational approach for the state estimation based reference tracking control and historical data reconstruction using nonlinear compartmental epidemic models. The control model is given in nonlinear input-affine form, where the manipulable input is the disease transmission rate influenced by possible measures and restrictions, while the observed or computed output is the number of infected people. The control design is built around a simple SEIR model and relies on a feedback linearization technique. We examine and compare different control setups distinguished by the availability of state information, complementing the directly measurable data with an extended Kalman filter used for state estimation. To illustrate the capabilities and robustness of the proposed method, we carry out multiple case studies for output tracking and data reconstruction on Swedish and Hungarian data, all in the presence of serious model and parameter mismatch. Computation results show that a well-designed feedback, even in the presence of significant observation uncertainties, can sufficiently reduce the effect of modeling errors. © 2025 the Authors,

关键词： Feedback linearization

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A Non-Parametric Identification Scheme of SISO-LTI systems Using Blaschke-Products∗ 32

A Non-Parametric Identification Scheme of SISO-LTI Systems U...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Ungvari, Gergo Soumelidis, Alexandros Dozsa, Tamas Eötvös Loránd University Faculty of Informatics Department of Numerical Analysis Budapest Hungary HUN-REN Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary

ISBN: (纸本)9798350395440

In this manuscript, a novel algorithm is presented for the identification of single input single output linear time invariant (SISO-LTI) systems. The proposed method is able to find poles of the transfer function describing the system without any assumptions on the system order. The results presented in this paper generalize earlier identification schemes based on expansions of the transfer function using generalized rational orthogonal basis functions (GOBFs). These previous methods depended on a convergent sequence constructed from the coefficients of the orthogonal GOBF expansion. The first contribution of this study is showing that a wider family of functions may be used to construct similar pole finding algorithms. The aforementioned previous approaches can be interpreted as special cases of the results presented here. In addition, using this generalization a new pole identification scheme is proposed using finite Blaschke-products. Through experiments, the practical utility of this scheme is verified when compared to earlier variations of the pole finding scheme. © 2024 IEEE.

关键词： Poles

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Numerical Simulation of Grating Input/Output Elements into Optical Waveguides Based on Si3N4/SiO2 Thin Films 24

Numerical Simulation of Grating Input/Output Elements into O...

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24th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2023

作者： Barbin, Evgenij S. Kulinich, Ivan V. Koleda, Aleksej N. Myrzakhmetov, Ayan Perin, Anton The Tomsk State University of Control Systems and Radioelectronics Laboratory of Radiophotonics Tomsk Russia Institute of Optics and Atmosphere Siberian Branch of the Russian Academy of Sciences Laboratory of Intelligent Computer Systems Tomsk Russia The Tomsk State University of Control Systems and Radioelectronics Laboratory of Photonic Integrated Circuits Tomsk Russia

ISBN: (纸本)9798350336870

This paper presents the results of modeling a grating element for input/output of optical radiation into Si3N4/SiO2 waveguide structures in the wavelength range from 1.5 to 1.6 μm. The results of the study of the geometric parameters of a diffraction grating on the optical transmission coefficient, in particular: the grating period, undercutting period, etching depth, filling factor, are presented. For a wavelength of 1.55μm the maximum optical transmission coefficient is observed at: grating period 0.875μm;etching depth 0.181μm;fill factor of 0.595μm;undercutting ±0.015μm. The greatest contribution to the change in the transmission coefficient is made by the change in the grating period and is ±0.0022μm and the etching depth is ±0.00762μm%. Based on the results of simulations, taking into account the operating wavelengths and refractive indices of Si3N4/SiO2 films, the following permissible deviations of diffraction lattice parameters were put forward: grating period ±0.022μm;etching depth ±0.0762μm;filling factor ±20%;undercutting period ±0.14μm. Permissible insertion angles were 10-12 degrees. The reflection loss at the input of light into the waveguide was -17 dB, and at the output from -20 to -35 dB. Transmission loss at -3dB was 0.09μm. © 2023 IEEE.

关键词： Diffraction gratings

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Contribution to the Sensors Faults Diagnosis of a Variable Speed Wind Turbine: Multimodel Approach 11

Contribution to the Sensors Faults Diagnosis of a Variable S...

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11th IEEE International Conference on systems and control, ICSC 2023

作者： Sayahi, Yosra Allouche, Moez Ghamgui, Mariem Moreau, Sandrine Mehdi, Driss Postal Box 1173 Sfax3038 Tunisia University of Poitiers Laboratory of Computer Science and Automatic Control for Systems France

ISBN: (纸本)9798350304886

This paper highlights the importance of using a Doubly-Fed Induction Generators (DFIG) in the wind industry due to their ability to adapting for all variations in wind speed, thus providing increased efficiency and reliability. However, like any machine, DFIG are not immune to dysfunctional problems and faults (sensor faults, actuator faults and system faults) which affect energy production. To remedy this problem, we develop a Fault Detection and Insolation (FDI) system for sensors fault diagnosis in wind turbine. This work specifically addresses the use of observer's bench to detect and locate faults, such as intermittent sensor faults, inter-coil short circuits, emphasizing a multi-model approach. We use the Dedicated Observer Structure (DOS) and the Generalized Observer Structure (GOS) to solve the complex challenge of multiple and simultaneous sensor fault. Simulation results are presented to assess the effectiveness of the proposed diagnostic methods. © 2023 IEEE.

关键词： Wind turbines

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A Memristive Spiking Neural Network Circuit for Bio-Inspired Navigation Based on Spatial Cognitive Mechanisms

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IEEE Transactions on Biomedical Circuits and systems 2025年第3期19卷 686-698页

作者： Chen, Zhanfei Wang, Xiaoping Wang, Zilu Yang, Chao Huang, Tingwen Lai, Jingang Zeng, Zhigang School of Mechanical Engineering and Automation Shenzhen518055 China Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Hubei Key Laboratory of Brain-Inspired Intelligent Systems School of Artificial Intelligence and Automation Wuhan430074 China Guangxi University of Science and Technology School of Computer Science and Technology Liuzhou545006 China Shenzhen University of Advanced Technology School of Computer Science and Control Engineering Shenzhen518055 China

Cognitive navigation, a high-level and crucial function for organisms' survival in nature, enables autonomous exploration and navigation within the environment. However, most existing works for bio-inspired navigation are implemented with non-neuromorphic computing. This work proposes a bio-inspired memristive spiking neural network (SNN) circuit for goal-oriented navigation, capable of online decision-making through reward-based learning. The circuit comprises three primary modules. The place cell module encodes the agent's spatial position in real-time through Poisson spiking;the action cell module determines the direction of subsequent movement;and the reward-based learning module provides a bio-inspired learning method adaptive to delayed and sparse rewards. To facilitate practical application, the entire SNN is quantized and deployed on a real memristive hardware platform, achieving about a 21 × reduction in energy consumption compared to a typical digital acceleration system in the forward computing phase. This work offers an implementation idea of neuromorphic solution for robotic navigation application in low-power scenarios. © 2007-2012 IEEE.

关键词： Intelligent robots

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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