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SSRN 2024年

作者： Khodaverdian, Maria Hajshirmohamadi, Shahram Hakobyan, Aleksandr Ijaz, Salman Center for Scientific Innovation and Education Aerial Robotics Laboratory of National Polytechnic University of Armenia Yerevan Armenia Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Key Laboratory of More Electric Aircraft and Control System Lab University of Nottingham Ningbo China

In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicles formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational ***, a constrained performance index is constructed based on the prediction of the fixed-time sliding surface, the reaching law, and the control input. Secondly, optimal control input is calculated by solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop system stability in the presence of external disturbances and ***, the comparative evaluation with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, a test is conducted to demonstrate the algorithm's potential for hardware implementation by employing Hardware-in-the-Loop (HIL) test. © 2024, The Authors. All rights reserved.

关键词： Sliding mode control

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A LiDAR-Assist Yaw Misalignment Compensation Method Based on Machine Learning Algorithms

A LiDAR-Assist Yaw Misalignment Compensation Method Based on...

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Chinese control Conference (CCC)

作者： Pei Chen Zhongwei Lin Zihan Zhang Zhen Xie State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Control and Computer Engineering North China Electric Power University Beijing P. R. China

Yaw misalignment is common in the yaw system control of wind turbines, resulting in reduced power generation efficiency and increased load. The advantage of LiDAR is that the accuracy of wind measurement is greatly improved, while its disadvantage is that the cost remains high. In this paper, an efficient machine learning method for estimating LiDAR measurement, XGBoost, is used to establish the data-driven wind turbine yaw misalignment compensation framework. To choose a suitable algorithm, four machine learning algorithms are studied, namely Linear Regression, Random Forest, Gradient Boosting and XGBoost. Moreover, to verify the effectiveness of the proposed method, a 2MW WT was taken as the research object for filed testing, and the power generation was quantitatively evaluated under the three strategies of wind vane control, LiDAR control and ML algorithm control. The results show that the proposed yaw misalignment compensation method is feasible for field application. In this way, the yaw-to-wind error can be mitigated even after the LiDAR is removed.

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ESNet: evolution and succession network for high-resolution salient object detection 24

ESNet: evolution and succession network for high-resolution ...

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Proceedings of the 41st International Conference on Machine Learning

作者： Hongyu Liu Runmin Cong Hua Li Qianqian Xu Qingming Huang Wei Zhang Institute of Information Science Beijing Jiaotong University & Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing China School of Control Science and Engineering Shandong University & Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Computer Science and Technology Hainan University Hainan China Key Laboratory of Intelligent Information Processing Institute of Computing Technology CAS Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China

Preserving details and avoiding high computational costs are the two main challenges for the High-Resolution Salient Object Detection (HRSOD) task. In this paper, we propose a two-stage HRSOD model from the perspective of evolution and succession, including an evolution stage with Low-resolution Location Model (LrLM) and a succession stage with High-resolution Refinement Model (HrRM). The evolution stage achieves detail-preserving salient objects localization on the low-resolution image through the evolution mechanisms on supervision and feature; the succession stage utilizes the shallow high-resolution features to complement and enhance the features inherited from the first stage in a lightweight manner and generate the final high-resolution saliency prediction. Besides, a new metric named Boundary-Detail-aware Mean Absolute Error (MAEBD) is designed to evaluate the ability to detect details in high-resolution scenes. Extensive experiments on five datasets demonstrate that our network achieves superior performance at real-time speed (49 FPS) compared to state-of-the-art methods. Our code is publicly available at: https://***/rmcong/ESNet_ICML24.

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Dissipative State Feedback of General Linear Time-Delay systems: Applications of the Kronecker-Seuret Decomposition Concept

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SSRN 2024年

作者： Feng, Qian Zheng, Wei Xing Wang, Xiao Yu Xiao, Feng School of Control and Computer Engineering North China Electric Power University Beijing China School of Computer Data and Mathematical Sciences Western Sydney University Sydney Australia State Key Laboratory of Alternative Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China

Stabilizing autonomous linear time delay systems, particularly when addressing an unlimited number of pointwise and distributed delays (DDs) under dissipative constraints, poses a significant challenge. Existing solutions are often hindered by theoretical limitations, numerical obstacles, or an inability to address the complexities of the delay integral kernels. In this paper, we propose a unified framework to tackle the above problem by employing the concept of the Kronecker-Seuret decomposition (KSD) for matrix-valued functions, which we recently have developed for the analysis of complex delay structures in coordination with the Krasovski\u{\i} functional approach. Our strategy can simultaneously address two distinct control problems, where the matrix kernels of DDs can contain an unlimited number of square-integrable functions. We show in detail how the KSD can factorize and approximate different kernel functions simultaneously without introducing conservatism. Furthermore, the use of KSD also enables us to construct complete-type functionals, whose integral kernels can include any number of weakly differentiable and linearly independent functions, underpinned by the utilization of novel integral inequalities derived from the least-squares principle. The solution to each synthesis problem comprises two theorems accompanied by an iterative algorithm, which can be utilized as a single package to compute controller gains, thus eliminating the need for nonlinear solvers. We present the testing results of two challenging examples, which could not be addressed by existing methods, to demonstrate the effectiveness of our methodology. Additionally, the paper reviews recent advancements in the research of time-delay systems, providing a valuable reference for both emerging and established researchers. © 2024, The Authors. All rights reserved.

关键词： State feedback

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Research on Simulation Technology of Cooperative Guidance for Aircraft Formation

Research on Simulation Technology of Cooperative Guidance fo...

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Chinese Intelligent systems Conference, CISC 2020

作者： Tong, Jiahui Liu, Jin Li, Jing Zhan, Tianming Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China TAIJI Computer Corporation Limited Beijing China

ISBN: (纸本)9789811584572

This paper analyzed the structure and characteristics of cooperative guidance system of aircraft formation, puts forward a multi-level simulation system architecture of centralized/distributed driving to solve the cooperative guidance for aircraft formation, realized the modeling of aircraft formation members and interaction by using multi-agent method, discussed the simulation methods of data link networking transmission and positioning, space-time registration of simulation system, and so on. The simulation is carried out based on a certain combat scenario, and the results show that the simulation system constructed in this paper can simulate the whole process of cooperative guidance of aircraft formation. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： computer architecture

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Localization Method of Underwater Robot Based on Sonar Image 5

Localization Method of Underwater Robot Based on Sonar Image

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5th International Conference on Information Communication and Signal Processing, ICICSP 2022

作者： Li, Lirong Mei, Bing Chen, Peng Yu, Liang Gong, Pengcheng Hubei University of Technology Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Wuhan China Hubei University of Technology Hubei Engineering Research Center for Safety Monitoring of New Energy and Power Grid Equipment Wuhan China School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai China School of Computer Science & Engineering Wuhan Institute of Technology Wuhan China

ISBN: (纸本)9781665485890

In this paper, we propose a positioning algorithm based on sonar images, which is mainly used for the positioning of underwater robots, so that the robots can obtain the position information in real time when operating underwater and avoid colliding with the underwater walls. First, the underwater space was detected with multibeam sonar, and the sonar images of the underwater space wall were found to have line segment characteristics;Composite denoising, threshold segmentation and Canny edge detection are applied to the sonar image to extract the contours of the underwater spatial wall. Then the characteristic line segments of the underwater spatial wall are detected based on the LSD (Line Segment Detector) line segment detection algorithm. In terms of line segment classification, a method is proposed to effectively classify line segments using the origin of the sonar image and the slope of the detected line segment. To further demonstrate the effectiveness of the localization algorithm in this paper, the specific steps of the algorithm are illustrated with the example of underwater rectangular space. © 2022 IEEE.

关键词： Image segmentation

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Abstraction-Based Synthesis of controllers for Approximate Opacity

Abstraction-Based Synthesis of Controllers for Approximate O...

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IEEE Conference on Decision and control

作者： Junyao Hou Siyuan Liu Xiang Yin Majid Zamani Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Computer Science University of Colorado Boulder CO USA Department of Computer Science LMU Munich Munich Germany

Opacity is an important information-flow security property which characterizes the plausible deniability of certain “secret behaviors” in dynamical systems. In this paper, we study the problem of synthesizing controllers enforcing a notion of opacity over discrete-time control systems with continuous state sets. In this paper, we develop an abstraction-based approach to tackle the controller synthesis problem. Specifically, we adopt a notion of approximate opacity which is suitable for continuous-space control systems. We propose a notion of approximate initial-state opacity preserving alternating simulation relation which characterizes the closeness between two systems in terms of opacity preservation. We show that, based on this new notion of system relation, one can synthesize an opacity-enforcing controller for the abstract system which is finite and then refine it back to enforce opacity over the original control system. Finally, we present a method for constructing opacity-preserving finite abstractions for discrete-time control systems under some stability properties. Our results are illustrated on a two-room temperature control problem.

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Safety-Driven AMR End-to-End Navigation Framework Based on Sparse Sensor Human Behavior Prediction

Safety-Driven AMR End-to-End Navigation Framework Based on S...

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Computational Intelligence on Engineering/Cyber Physical systems (CIES), IEEE Symposium on

作者： Fuhua Jia Kai Yang Junlin Xiao Tuo Hu Xiaoying Yang Adam Rushworth Heng Yu Tianxiang Cui Department of Mechanical Materials and Manufacturing University of Nottingham Ningbo China Ningbo China Control System Laboratory University of Nottingham Ningbo China Ningbo China Ningbo Innovation Center Zhejiang University School of Computer Science University of Nottingham Ningbo China Ningbo China

ISBN: (数字)9798331508272

ISBN: (纸本)9798331508289

Autonomous Mobile Robots (AMRs) have garnered significant attention and widespread application due to their operational efficiency. However, in human-centered environments, such as warehouses, manufacturing facilities, and public spaces, AMRs face the dual challenge of navigating autonomously while perceiving and adapting to human movements to ensure safety. This work proposes a novel safety-driven end-to-end navigation framework for AMRs that processes navigation commands and sparse data collected by onboard 2D LiDAR and IMU sensors to directly control the robot's velocity. The framework comprises two key modules: a human estimation module and a trajectory generation module. The human estimation module employs an LSTM-based architecture to estimate human positions and movement trends from sparse sensor data, generating a dynamic obstacle map. Based on these predictions, a genetic algorithm -based trajectory generation module creates safe-driven dynamic trajectories subject to dynamic constraints. This approach enables accurate forecasting of pedestrian movements, allowing the AMR to effectively avoid dynamic human obstacles, thereby enhancing its safety and practicality in real-world environments. Our contributions are threefold: dynamic human detection and prediction from sparse onboard sensor data, safety-driven dynamic trajectory planning, and extensive real-world experiments demonstrating feasibility and robustness of the proposed framework.

关键词： Navigation Market research Robustness Real-time systems Trajectory Sensors Safety Mobile robots Long short term memory Genetic algorithms

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Millimeter-Wave Radar Measurement and Ray-Tracing Simulation for Urban Street Environment 3

Millimeter-Wave Radar Measurement and Ray-Tracing Simulation...

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3rd URSI Atlantic and Asia Pacific Radio Science Meeting, AT-AP-RASC 2022

作者： Li, Wenbin He, Danping Guan, Ke Shi, Xiangyu Zhong, Zhangdui Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing100044 China Frontiers Science Center for Smart High-speed Railway System Beijing100044 China Beijing Jiaotong University School of Computer and Information Technology Beijing100044 China Key Laboratory of Railway Industry of Broadband Mobile Information Communications Beijing100044 China

ISBN: (纸本)9789463968058

Autonomous driving technology greatly contributes to the evolution of intelligent transportation systems (ITSs). As an important sensor, the millimeter-wave (mmWave) radar plays an irreplaceable role in the overall ITSs. In this paper, we use a mmWave automotive radar system to perform measurement in an urban street environment. The radar cross section of key targets is estimated from the measurements, and it is used to calibrate the electromagnetic parameters for the ray-tracing (RT) simulation. The calibrated simulation results are compared with simulation results in distance, angle, and velocity to verify the accuracy and reliability of the RT simulator. The presented method, process, and analysis in this work can be used for the understanding of mmWave radar channel and the design of autonomous driving technology. © 2022 URSI.

关键词： Radar measurement

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Efficient STL control Synthesis Under Asynchronous Temporal Robustness Constraints

Efficient STL Control Synthesis Under Asynchronous Temporal ...

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IEEE Conference on Decision and control

作者： Xinyi Yu Xiang Yin Lars Lindemann Thomas Lord Department of Computer Science University of Southern California Los Angeles CA USA Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the robustness of a system trajectory against individual time shifts in its sub-trajectories. In a multi-robot system, this may correspond to individual robots being delayed or early. control synthesis under ATR constraints is challenging and has not yet been addressed. In this paper, we propose an efficient control synthesis method under ATR constraints which are defined with respect to simple safety or complex signal temporal logic specifications. Given an ATR bound, we compute a sequence of control inputs so that the specification is satisfied by the system as long as each sub-trajectory is shifted not more than the ATR bound. We avoid combinatorially exploring all shifted sub-trajectories by first identifying redundancy between them. We capture this insight by the notion of instant-shift pair sets, and then propose an optimization program that enforces the specification only over the instant-shift pair sets. We show soundness and completeness of our method and analyze its computational complexity. Finally, we present various illustrative case studies.

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