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Adaptive fuzzy asymptotic control design for MIMO nonlinear systems with state constraints

Journal of control and Decision 2023年第4期10卷 610-623页

作者： Yongchao Liu Bowen Zeng Qidan Zhu Lipeng Wang Institute of Complexity Science School of AutomationQingdao UniversityQingdaoPeople’s Republic of China Shandong Key Laboratory of Industrial Control Technology QingdaoPeople’s Republic of China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbinPeople’s Republic of China

This paper addresses the asymptotic control problem of uncertain multi-input and multi-output(MIMO)nonlinear *** considered MIMO systems contain unknown virtual control coefficients(UVCCs)and state *** Lyapunov function by associating with the lower bounds of UVCCs is presented to counteract the adverse effect deriving from *** state constraints are ensured by utilising the barrier Lyapunov ***,the asymptotic tracking controller is recursively constructed by combining the backstepping technique with fuzzy logic *** remarkable character of the designed controller is that the asymptotic tracking performance can be achieved by introducing some smooth functions into adaptive backstepping *** contrast to the existing results,the conditions on the UVCCs are ***,the new control design is illustrated by a practical example.

关键词： Asymptotic tracking control state constraints bound estimation method nonlinear systems

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Surrogate-Assisted Multiobjective Gene Selection for Cell Classification from Large-Scale Single-Cell RNA Sequencing Data

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IEEE Transactions on Evolutionary Computation 2025年第3期29卷 601-615页

作者： Lin, Jianqing He, Cheng Jiang, Hanjing Huang, Yabing Jin, Yaochu Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Wuhan430074 China Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Technology School of Electrical and Electronic Engineering Wuhan430074 China Renmin Hospital Department of Pathology Wuhan University Wuhan430060 China Westlake University Trustworth and General Artificial Intelligence Laboratory School of Engineering Hangzhou310030 China

Accurate cell classification is crucial but expensive for large-scale single-cell RNA sequencing (scRNA-seq) analysis. Gene selection (GS) emerges as a pivotal technique in identifying gene subsets of scRNA-seq for classification accuracy improvement and gene scale reduction. Nevertheless, the rising scale of scRNA-seq data presents challenges to existing GS methods regarding performance and computational time. Thus, we propose a surrogate-assisted evolutionary algorithm for multiobjective GS to address these deficiencies. An innovative two-phase initialization method is proposed to select sparse solutions to provide preliminary insights into gene contributions. Then, a binary competitive swarm optimizer is proposed for effective global search, where a local search method is embedded to eliminate irrelevant genes for efficiency consideration. Additionally, a surrogate model is adopted to forecast classification accuracy efficiently and substitutes part of the computationally expensive classification process. Experiments are conducted on eight large-scale scRNA-seq datasets with more than 20,000 genes. The effectiveness of the proposed GS method for scRNA-seq cell classification compared with eight state-of-the-art methods is validated. Gene expression analysis results of selected genes further validated the significance of the genes selected by the proposed method in the classification of scRNA-seq data. © 1997-2012 IEEE.

关键词： Gene expression

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Deep Learning-based Moving Object Segmentation:Recent Progress and Research Prospects

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Machine Intelligence Research 2023年第3期20卷 335-369页

作者： Rui Jiang Ruixiang Zhu Hu Su Yinlin Li Yuan Xie Wei Zou College of Information Engineering Shanghai Maritime UniversityShanghai201306China School of Computer Science and Technology East China Normal UniversityShanghai200062China Research Center of Precision Sensing and Control Institute of AutomationChinese Academy of SciencesBeijing100190China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China

Moving object segmentation(MOS),aiming at segmenting moving objects from video frames,is an important and challenging task in computer vision and with various *** the development of deep learning(DL),MOS has also entered the era of deep models toward spatiotemporal feature *** paper aims to provide the latest review of recent DL-based MOS methods proposed during the past three ***,we present a more up-to-date categorization based on model characteristics,then compare and discuss each category from feature learning(FL),and model training and evaluation *** FL,the methods reviewed are divided into three types:spatial FL,temporal FL,and spatiotemporal FL,then analyzed from input and model architectures aspects,three input types,and four typical preprocessing subnetworks are *** terms of training,we discuss ideas for enhancing model *** terms of evaluation,based on a previous categorization of scene dependent evaluation and scene independent evaluation,and combined with whether used videos are recorded with static or moving cameras,we further provide four subdivided evaluation setups and analyze that of reviewed *** also show performance comparisons of some reviewed MOS methods and analyze the advantages and disadvantages of reviewed MOS methods in terms of ***,based on the above comparisons and discussions,we present research prospects and future directions.

关键词： Moving object segmentation(MOS) change detection background subtraction deep learning(DL) video understanding

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Multi-objective Optimal Operation of Centralized Battery Swap Charging System with Photovoltaic

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Journal of Modern Power Systems and Clean Energy 2022年第1期10卷 149-162页

作者： Yuanzheng Li Yihan Cai Tianyang Zhao Yun Liu Jian Wang Lei Wu Yong Zhao School of Artificial Intelligence and Automation Ministry of Education Key Laboratory of Image Processing and Intelligence ControlHuazhong University of Science and TechnologyWuhanChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore College of Mechatronics and Control Engineering Shenzhen UniversityShenzhenChina Department of Electrical&Computer Engineering Stevens Institute of TechnologyHobokenUSA

Electric vehicles(EVs)are widely deployed throughout the world,and photovoltaic(PV)charging stations have emerged for satisfying the charging demands of EV *** paper proposes a multi-objective optimal operation method for the centralized battery swap charging system(CBSCS),in order to enhance the economic efficiency while reducing its adverse effects on power *** proposed method involves a multi-objective optimization scheduling model,which minimizes the total operation cost and smoothes load fluctuations,***,we modify a recently proposed multi-objective optimization algorithm of non-sorting genetic algorithm III(NSGA-III)for solving this scheduling ***,simulation studies verify the effectiveness of the proposed multi-objective operation method.

关键词： Multi-objective optimization electric vehicle battery swap charging system scheduling photovoltaic

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Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm 41

Multi-agent Weapon Target Assignment and Cooperative Path Pl...

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第41届中国控制会议

作者： Qingze Li Yongzhao Hua Haoran Zhai Qingdong Li Xiwang Dong School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,based on the typical combat scenario where multiple UAVs strike multiple targets,the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function,and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation *** layer first analyze the traditional RRT algorithm,and gets the quick and smooth convergence RRT(QS-RRT) on the basis of improved algorithm,the algorithm on the basis of adding the synergy of constraints,and makes the collaborative planning path compared with non-cooperative path planning,the planning path length in the keep basically remain unchanged,on the basis of our UAV for the same target can arriving together,The difference of arrival time is greatly reduced,and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.

关键词： Weapon target assignment Auction algorithm Cooperative path planning QS-RRT algorithm

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A novel decision-making algorithm for beyond visual range air combat based on deep reinforcement learning 37

A novel decision-making algorithm for beyond visual range ai...

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37th Youth Academic Annual Conference of Chinese Association of automation, YAC 2022

作者： Jiang, Yang Yu, Jianglong Li, Qingdong Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering Beijing China

ISBN: (纸本)9781665465366

In this paper, a novel decision-making algorithm based on deep reinforcement learning(DRL) is proposed for the decision-making problem in beyond visual range(BVR) air combat. Firstly, the relative kinematics model of 1 vs 1 air combat is established, and the state space and action space of the fighter are designed. Then, a new reward function is designed according to the situation of the BVR air combat, which is suitable for a wider range of BVR confrontation scenarios, and the construction of a decision-making method based on DRL is completed. Finally, several sets of experimental data are given to verify the effectiveness of the algorithm. © 2022 IEEE.

关键词： Reinforcement learning

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Fuzzy-Model-Based Fault-Tolerant control for Stochastic Re-Entrant Manufacturing Systems

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3542-3556页

作者： Zhang, Kexin Gao, Qing Ding, Steven X. Lu, Jinhu Qiu, Jianbin Guo, Yige Beihang University School of Cyber Science and Technology Beijing100191 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Hangzhou Innovation Institute Beihang University Hangzhou310051 China Zhongguancun Laboratory Beijing100095 China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg47057 Germany Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China Zhongguancun Laboratory Beijing China

This study addresses the problem of guaranteed cost fault-tolerant fuzzy control for multiline re-entrant manufacturing systems (RMSs) against stochastic disturbances and workstation faults. Initially, a nonlinear hyperbolic impulsive partial differential equation model is employed to describe the complex and hybrid dynamics of RMSs suffering from unexpected faults within the working stations, and then the corresponding approximation T-S fuzzy model is constructed. In what follows, with the aid of the parallel distributed compensation fuzzy control scheme, the main results of stability analysis and controller synthesis for the closed-loop re-entrant manufacturing control system are derived using a timer-dependent Lyapunov functional with spatio-temporal auxiliary variables. It is found that by means of the proposed fault-tolerant control approach, the RMS can be effectively and robustly driven to a desired production mode with steady feeding and production rates while the upper bound of a quadratic cost function is minimized. Finally, the effectiveness of the proposed control approach is validated through numerical simulations. © 2013 IEEE.

关键词： Fuzzy control

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A Model Predictive control Based Robust Gait Generation with Turning Ability 8

A Model Predictive Control Based Robust Gait Generation with...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Yang, Pengfei Yuan, Zhaohui Dong, Sheng Li, Jingchao School of Automation Northwestern Polytechnical University Shaanxi Xi'an710072 China School of Electrical and Control Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9798350300178

To enhance the anti-disturbance ability of biped robots and improve their full range of motion ability, this paper proposes a gait generation method based on model predictive control with turning ability, which can automatically generate gait trajectories with the given reference speed and turning speed. We integrate footstep positions into the objective function and use the change of center of pressure (CoP) as the optimal input to minimize the objective. The contribution of this paper is considering various feasible optimization constraints to generate gait trajectories online with anti-disturbance ability, adjustable stride, and turning ability. Simulation results show that this method can generate robust gait trajectories online and turn in any direction. © 2023 IEEE.

关键词： Trajectories

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RANSACs for 3D Rigid Registration:A Comparative Evaluation

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1861-1878页

作者： Jiaqi Yang Zhiqiang Huang Siwen Quan Zhiguo Cao Yanning Zhang the National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology School of Computer ScienceNorthwestern Polytechnical UniversityXi’an 710072China the School of Electronic and Control Engineering Chang’an UniversityXi’an 710064China the School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China IEEE

Estimating an accurate six-degree-of-freedom(6-Do F)pose from correspondences with outliers remains a critical issue to 3D rigid *** sample consensus(RANSAC)and its variants are popular solutions to this *** there have been a number of RANSAC-fashion estimators,two issues remain ***,it is unclear which estimator is more appropriate to a particular ***,the impacts of different sampling strategies,hypothesis generation methods,hypothesis evaluation metrics,and stop criteria on the overall estimators remain *** work fills these gaps by first considering six existing RANSAC-fashion methods and then proposing eight variants for a comprehensive *** objective is to thoroughly compare estimators in the RANSAC family,and evaluate the effects of each key stage on the eventual 6-Do F pose estimation *** have been carried out on four standard datasets with different application scenarios,data modalities,and *** provide us with input correspondence sets with a variety of inlier ratios,spatial distributions,and *** on the experimental results,we summarize remarkable outcomes and valuable findings,so as to give practical instructions to real-world applications,and highlight current bottlenecks and potential solutions in this research realm.

关键词： 3D rigid registration performance evaluation point cloud pose estimation

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Output group formation tracking control for heterogeneous systems with collision avoidance and connectivity maintenance 41

Output group formation tracking control for heterogeneous sy...

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第41届中国控制会议

作者： Shiyu Zhou Zhipeng Shen Jianglong Yu Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the output group formation tracking problem for heterogeneous systems with collision avoidance and connectivity maintenance methods,and the group formation tracking error can be controlled within an arbitrarily small ***,the distributed observers are proposed to estimate the leader's state for each group and the state of itself,*** constructing the desired potential fields and deviating to get the negative forces,the high safety control protocol is put ***,the algorithm consisting of several equations and inequalities is given to calculate the parameters in the *** using Lyapunov stability theory,the stability of the error' systems have been *** last,the effectiveness of the proposed method has been verified by an experiment about the atmospheric monitoring task.

关键词： Time-varying group formation tracking Heterogeneous multi-agent system Collision avoidance and connectivity maintenance

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