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Distributed and Differentiable Vector Field control within a Curved Virtual Tube for a Robotic Swarm under Field-of-View Constraints

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IEEE Transactions on Automatic control 2025年

作者： Gao, Yan Bai, Chenggang Quan, Quan Tiangong University Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China

To guide a robotic swarm in a cluttered environment, a curved virtual tube is proposed in our previous work. In this paper, the swarm controller design is generalized to the condition that all robots have field-of-view (FOV) constraints. Two distributed vector field controllers are proposed for different objectives. One controller focuses on the robots' safety in theory, while the other focuses on the feasibility in real practice at the cost of sacrificing safety slightly. Different from existing results, no centralized planning or switching mechanism is needed as robots are controlled to move forward within the curved virtual tube. To guarantee that these two controllers are always twice differentiable, we model the curved virtual tube in the Frenet-Serret frame using appropriate mathematical descriptions. Finally, the effectiveness of the proposed method is validated by numerical simulations and real experiments. We release our implementation as an open-source package for the community. © 2025 IEEE.

关键词： Robot programming

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Resilient Cooperative Guidance for Leader-Follower Flight Vehicles Against Maneuvering Target

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Li, Guofei Tang, Qingpu Zuo, Zongyu Wu, Yunjie Lu, Jinhu Northwestern Polytechnical University School of Astronautics Xi'an710072 China Northwestern Polytechnical University National Elite Institute of Engineering Xi'an710072 China Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China

In this paper, we explore the cooperative guidance problem of leader-follower flight vehicles against the maneuvering target in the presence of false-data injection attacks (FDIAs). All the leader-follower flight vehicles including seeker-less followers are required to arrive at the target with specified terminal time and pre-set blockade configuration. A prescribed-time convergent guidance law is given to make the leader reach the maneuvering target at appointed arrival time. Since the seeker-less followers cannot acquire the target information, a radius-variable spherical formation configuration is presented, and a resilient cooperative guidance method leveraging actor-critic neural network is proposed for the followers to form the blockade configuration and reach the target simultaneously. By exploiting both the current and historical data, an improved trust factor is presented to identify and discard the communication links contaminated by the false data. The simulation results indicate that the flight vehicles governed by the proposed approach can achieve the simultaneous arrival successfully when encountering the false data injection attacks. © 1965-2011 IEEE.

关键词： Maneuverability

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EBD-YOLO：a lightweight auxiliary driving detection algorithm based on YOLOv5

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Optoelectronics Letters 2025年

作者： SUN Lianshuai SHI Tao DING Yao LI Song Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems， School of Electrical Engineer-ing and Automation， Tianjin University of Technology College of Electrical Engineering， North China University of Science and Technology

A lightweight road-assistant detection algorithm， EBD-YOLO， based on YOLOv5s is proposed to address the problems of high model complexity， computation cost， and difficulty in deployment on resource-limited embedded terminals in existing assisted driving detection algorithms. First， lightweight Transformer model EfficientViT was used as the backbone feature extraction network of YOLOv5s model to reduce network parameters and calculation costs. Secondly， a Focal-GIoU Loss function is proposed for bounding box regression to accelerate model convergence and reduce loss. Thirdly， the feature pyramid structure is improved to a weighted bi-directional feature pyramid network (BiFPN) to enhance localization and semantic features. Then， a dynamic head framework is added to unify the attention mechanism with the object detection head to improve its performance. Finally， a Soft-CIoU＿NMS algorithm is proposed in the post-processing stage to enhance occluded targets' localization and detection ability and reduce the missed detection rate. We conducted experiments on the KITTI and BDD100K datasets for autonomous driving， and the results showed that the EBD-YOLO model reduced in size by 38.4% and 37.2%， respectively. In comparison， the computational cost was reduced by 48.1%. As measured by mAP@0.5， the detection accuracy improved by 0.5% and 5.8%， respectively， and mAP@0.5:0.95 improved by 2.8% and 7%， respectively. These improvements satisfied the requirements for deployment on embedded terminals in cars.

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Enhancing the performance of CaTiO3-GDC heterostructure electrolytes in LT-CFCs

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Ceramics International 2025年第15期51卷 20131-20142页

作者： Li, Dongchen Cui, Yingying Hong, Xiaofang Shah, M.A.K. Yousaf Mushtaq, Naveed Rauf, Sajid Arshad, Naila Irshad, Sultan Alodhayb, Abdullah N. Yousaf, Muhammad Lu, Yuzheng Department of Electrical and Automation Shandong Labor Vocational and Technical College Jinan250300 China Jiangsu Provincial Key Laboratory of Solar Energy Science and Technology/Energy Storage Joint Research Center School of Energy and Environment Southeast University No.2 Si Pai Lou Nanjing210096 China College of Mechatronics and Control Engineering Shenzhen University Guangdong Province 518000 China School of Physics Electronics and Intelligent Manufacturing Huaihua University Hunan Huaihua418008 China College of Electronics and Information Engineering Shenzhen University Guangdong Province 518000 China Department of Physics and Astronomy College of Science King Saud University Riyadh11451 Saudi Arabia College of Chemistry and Environmental Engineering Shenzhen University Guangdong Province Shenzhen518055 China School of Electronic Engineering Nanjing Xiaozhuang University Nanjing211171 China

Designing ceramic fuel cells (CFCs) with fast ionic conduction and superior electrochemical performance at low temperatures is critical for advancing hydrogen applications. Here, we developed a heterostructure electrolyte by combining the ionic conductor Gd0.1Ce0.9O2 (GDC) with the semiconductor material CaTiO3 (CTO) to shape into the composite heterostructure (semiconductor ionic heterostructure) CTO-GDC. The designed heterostructure with different fermi levels established the depletion zone due to the redistribution of charges at the interface, leading to enhancement of the ionic conduction;meanwhile, the established built-in electric field suppresses the electronic conduction speed of the ion's transportation at the interface of the constructed heterostructure (CTO-GDC). The formation of heterostructure introduces a number of oxygen vacancies, as confirmed via x-ray photoelectron spectroscopy (XPS) and electron paramagnetic resonance (EPR), benefiting the transportation of ions in the composite heterostructure. The prepared composite heterostructure shows the highest power output of 810 mW/cm2 at a low operational temperature of 520 °C. The CTO-GDC shows high ionic conductivity of 0.17 S cm−1 at 520 °C and low activation energy of 0.785 eV at 520-420 °C. The composite containing a 50 % molar ratio of GDC and CTO demonstrated exceptional performance by successfully inhibiting electron transit, improving ionic conductivity, and achieving outstanding power output. The enhanced ionic conductivity with low activation energy of composite heterostructure suggests that designing a heterostructure seems an efficient approach to fuel cell application. © 2025

关键词： Paramagnetic resonance

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space 26

Safe Reinforcement Learning for Social Motor Coordination in...

引用

26th International Conference on Industrial Technology, ICIT 2025

作者： Yang, Fan Huang, Yuening Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing HoustonTX United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (纸本)9798331521950

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints. © 2025 IEEE.

关键词： Reinforcement learning

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Adaptive fuzzy fixed-time control for uncertain time-delay nonlinear systems with output constraints

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IEEE Transactions on Fuzzy Systems 2025年

作者： Bai, Yang Dou, Gang Zhang, Tianliang Zhang, Weihai Guo, Mei Shandong University of Science and Technology College of Electrical Engineering and Automation Qingdao266590 China Shandong University of Science and Technology College of Electronic and Information Engineering Qingdao266590 China Qingdao University of Technology School of Information and Control Engineering Qingdao266520 China

This paper aims to address two complex issues in the control of a class of high-order time-delay nonlinear systems: i) the adaptive fixed-time tracking control and ii) the differential explosion arising from the iterative derivation of the intermediate control law during the design process. The issue is how to construct a tracking controller to ensure that the tracking error converges to an adjustable region around the origin in a fixed time. This article develops an adaptive fixed-time control strategy by employing fuzzy logic system (FLS) to approximate the unknown function terms and the nonlinear growth assumption often used in unknown systems is eliminated. This strategy combines the dynamic surface technology with the first-order filtered signals in recursive design, and effectively addresses the sticky problem of complexity explosion in controller design. Finally, the effectiveness and feasibility of this control scheme are demonstrated through a single-link manipulator system and a numerical example © 1993-2012 IEEE.

关键词： Iterative methods

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Hierarchical finite-time optimization regulation of multiple autonomous surface vehicles for time-varying target cooperative tracking

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Kongzhi yu Juece/control and Decision 2025年第1期40卷 279-284页

作者： Ge, Ming-Feng Li, Yi-Fan Liu, Zhi-Wei Gu, Zhi-Wei Chen, Qian School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Imaging Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan430074 China

We propose a novel hierarchical finite-time optimization regulation algorithm for multiple autonomous surface vehicles (ASVs) to achieve cooperative tracking of a time-varying target. An objective function reflecting the energy consumption of the multiple ASVs system in the tracking process is designed, and a finite-time optimal estimator (FTOE) is developed to minimize the objective function in the case that ASVs form a specified formation while following the desired trajectory. Meanwhile, the target trajectory can be variable instead of constant. In the finite-time local controller (FTLC), the sailing states of the multiple ASVs system can be stabilized to the vicinity of the multiple various predefined time-varying trajectories in finite time in a way that minimizes the objective function by tracking the FTOE. The proof of the finite-time stability is provided and the settling time is calculated. Finally, simulation results demonstrate the effectiveness of the proposed hierarchical algorithm. © 2025 Northeast University. All rights reserved.

关键词： Target tracking

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Open-Loop and Closed-Loop Strategies for Linear Quadratic Mean Field Games: The Direct Approach

arXiv

引用

arXiv 2025年

作者： Liang, Yong Wang, Bing-Chang Zhang, Huanshui School of Information Science and Engineering Shandong Normal University Shandong Jinan250358 China School of Control Science and Engineering Shandong University Shandong Jinan250061 China College of Electrical Engineering and Automation Shandong University of Science and Technology Shandong Qingdao266590 China

This paper delves into studying the differences and connections between open-loop and closed-loop strategies for the linear quadratic (LQ) mean field games (MFGs) by the direct approach. The investigation begins with the finite-population system for solving the solvability of open-loop and closed-loop systems within a unified framework under the global information pattern. By a comprehensive analysis through variational methods, the necessary and sufficient conditions are obtained for the existence of centralized open-loop and closed-loop Nash equilibria, which are characterized by the solvability of a system of forward-backward stochastic differential equations and a system of Riccati equations, respectively. The connections and disparities between centralized open-loop and closed-loop Nash equilibria are analyzed. Then, the decentralized control is designed by studying the asymptotic solvability for both open-loop and closed-loop systems. Asymptotically decentralized Nash equilibria are obtained by considering the centralized open-loop and closed-loop Nash equilibria in the infinite-population system, which requires a standard and an asymmetric Riccati equations. The results demonstrate that divergences between the centralized open-loop and closed-loop Nash equilibria in the finite-population system, but the corresponding asymptotically decentralized Nash equilibria in the infinite-population system are consistent. Therefore, the choice of open-loop and closed-loop strategies does not play an essential role in the design of decentralized control for LQ MFGs. Copyright © 2025, The Authors. All rights reserved.

关键词： Riccati equations

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Robust Adaptive Fixed-Time Consensus for Nonlinear High-Order Multi-Agent Systems

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IEEE Transactions on automation science and engineering 2025年 22卷 15832-15845页

作者： Jiale Li Guofei Li Zheng Guo Zongyu Zuo Xiaojing Zheng School of Aeronautics and the Institute of Extreme Mechanics Northwestern Polytechnical University Xi’an China School of Astronautics Northwestern Polytechnical University Xi’an China School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beijing China School of Information Mechanics and Sensing Engineering Xidian University Xi’an China

This paper investigates the consensus problem of leader-follower nonlinear high-order multi-agent systems through a fully distributed approach. A distributed consensus tracking control scheme is proposed, embedding a fixed-time convergent command filter with adaptive gain to ensure that the filter error ultimately reaches the origin. To tackle the challenges posed by unknown bounds of system nonlinearities and external disturbances, a robust control protocol is developed, incorporating an adaptive mechanism to implement compensatory action instead of directly estimating the lumped uncertainty. A notable feature of the proposed approach lies in its capability to determine the settling time bound without any global information, including the number of nodes, the eigenvalue of the Laplacian matrix, and other unknown parameters. The efficacy of the developed methodology is validated through numerical simulations and physical experiment conducted on a multi-motor system. Note to Practitioners—In contemporary engineering systems, the consensus tracking control of high-order multi-agent systems has emerged as a significant research topic. This paper proposes a fully distributed control scheme to achieve fixed-time consensus tracking. Unlike conventional finite-time and fixed-time approaches, the upper bound of the convergence time in this paper is independent of any global information and system’s initial states. Practical operational environments frequently introduce complex nonlinearities and disturbances into physical systems. To address this challenge, an adaptive mechanism is integrated into the robust control protocol. Importantly, the number of adaptive parameters remains fewer, irrespective of the number of uncertain parameters or the dimension of disturbances and nonlinearities. The feasibility of the proposed scheme is demonstrated via a physical experiment executed on a multi-motor system. In future research, we will simultaneously consider input saturation cons

关键词： Multi-agent systems Protocols Convergence Robust control Topology Eigenvalues and eigenfunctions Laplace equations Filtering theory Adaptive control Information filters

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Resilient Cooperative control of Multiple DC Microgrids With Interconnection Networks Against Cyber Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 116-126页

作者： Xiao, Feng Liu, Shiyu Wei, Bo Fang, Fang Qin, Jiahu North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing102206 China North China Electric Power University School of Control and Computer Engineering Beijing102206 China North China Electric Power University New Energy Generation National Engineering Research Center Beijing102206 China University of Science and Technology of China Department of Automation Hefei230027 China

The two control objectives of voltage regulation and precise current sharing are conflicting in multi-bus DC microgrids. In this paper, a distributed control strategy is proposed, and it can achieve accurate current sharing and regulate the voltage of a critical node to the rated value. However, such a distributed control system is susceptible to potential cyber attacks that could deteriorate microgrids performances by corrupting communication links or actuators. To overcome these difficulties, we design the interconnected communication networks to establish a resilient cooperative system of multiple microgrids against unknown bounded injection attacks. The proposed resilient control strategy can achieve the control objectives of maintaining voltage regulation and current sharing within each microgrids under different operating conditions, and the interconnected system consisting of multiple microgrids cooperates to mitigate the adverse effect of cyber attacks. The dynamics and stability of the overall close-loop system of the DC microgrids are analyzed, in the present or absent of cyber attacks. Simulation results validate the effectiveness of the proposed approach in two 4-bus DC microgrids. © 2023 IEEE.

关键词： Cyber attacks

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