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Human-in-the-Loop Consensus control for Nonlinear Multi-Agent Systems With Actuator Faults

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 111-122页

作者： Guohuai Lin Hongyi Li Hui Ma Deyin Yao Renquan Lu School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator *** is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired ***,the leader’s input is nonzero and not available to all *** using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is *** is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately ***,simulation results are presented for verifying the effectiveness of the proposed control method.

关键词： Actuator faults distributed control human-in-the-loop neighborhood observer nonlinear multi-agent systems(MASs)

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Radar false alarm plots elimination based on multi-feature extraction and classification

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The Journal of China Universities of Posts and Telecommunications 2024年第1期31卷 83-92页

作者： Cheng Yi Zhao Yan Yin Peiwen School of Control Science and Engineering Tiangong UniversityTianjin 300387China Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin 300387China

Caused by the environment clutter,the radar false alarm plots are *** false alarm points has always been a key issue in Radar plots *** this paper,a radar false alarm plots elimination method based on multi-feature extraction and classification is proposed to effectively eliminate false alarm ***,the density based spatial clustering of applications with noise(DBSCAN)algorithm is used to cluster the radar echo data processed by constant false-alarm rate(CFAR).The multi-features including the scale features,time domain features and transform domain features are ***,a feature evaluation method combining pearson correlation coefficient(PCC)and entropy weight method(EWM)is proposed to evaluate interrelation among features,effective feature combination sets are selected as inputs of the ***,False alarm plots classified as clutters are *** experimental results show that proposed method can eliminate about 90%false alarm plots with less target loss rate.

关键词： radar plots elimination density based spatial clustering of applications with noise multi-feature extraction classifier

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Event-Triggered Adaptive Neural control for Multiagent Systems with Deferred State Constraints

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Journal of Systems Science & Complexity 2022年第3期35卷 973-992页

作者： YANG Bin CAO Liang XIAO Wenbin YAO Deyin LU Renquan School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

This paper focuses on the leader-following consensus control problem for nonlinear multiagent systems subject to deferred asymmetric time-varying state constraints.A distributed eventtriggered adaptive neural control approach is *** virtue of a distributed sliding-mode estimator,the leader-following consensus control problem is converted into multiple simplified tracking control ***,a shifting function is utilized to transform the error variables such that the initial tracking condition can be totally unknown and the state constraints can be imposed at a specified time ***,the deferred asymmetric time-varying full state constraints are addressed by a class of asymmetric barrier Lyapunov *** order to reduce the burden of communication,a relative threshold event-triggered mechanism is incorporated into controller and Zeno behavior is *** on Lyapunov stability theorem,all closed-loop signals are proved to be semi-globally uniformly ultimately ***,a practical simulation example is given to verify the presented control scheme.

关键词： Adaptive neural control deferred time-varying state constraints event-triggered mechanism multiagent systems sliding-mode estimator

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Hierarchical controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2082-2098页

作者： Wei Ren Zhuo-Rui Pan Weiguo Xia Xi-Ming Sun the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology the School of Control Science and Engineering Dalian University of TechnologyDalian 116024China

Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a *** this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL *** on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis ***,we develop a dynamic quantization based approach to verify the realization of the accepting *** realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller ***,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control *** abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational *** each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing ***,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

关键词： Abstraction-based control design dynamic quantization formal methods linear temporal logic(LTL)

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Distributed gradient-free and projection-free algorithm for stochastic constrained optimization

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Autonomous intelligent Systems 2024年第1期4卷 320-337页

作者： Jie Hou Xianlin Zeng Chen Chen National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing100081China

Distributed stochastic zeroth-order optimization(DSZO),in which the objective function is allocated over multiple agents and the derivative of cost functions is unavailable,arises frequently in large-scale machine learning and reinforcement *** paper introduces a distributed stochastic algorithm for DSZO in a projection-free and gradient-free manner via the Frank-Wolfe framework and the stochastic zeroth-order oracle(SZO).Such a scheme is particularly useful in large-scale constrained optimization problems where calculating gradients or projection operators is impractical,costly,or when the objective function is not differentiable ***,the proposed algorithm,enhanced by recursive momentum and gradient tracking techniques,guarantees convergence with just a single batch per *** significant improvement over existing algorithms substantially lowers the computational *** mild conditions,we prove that the complexity bounds on SZO of the proposed 1 algorithm are O(n/ϵ^(2))andO(n(21/ϵ))for convex and nonconvex cases,*** efficacy of the algorithm is verified on black-box binary classification problems against several competing alternatives.

关键词： Zeroth-order optimization Projection-free method Stochastic constrained optimization Distributed optimization

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A general Boolean semantic modelling approach for complex and intelligent industrial systems in the framework of DES

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Journal of Systems Engineering and Electronics 2024年第5期35卷 1219-1230页

作者： XU Changyi WANG Yun DUAN Yiman ZHANG Chao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and EngineeringDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Discrete event system(DES)models promote system engineering,including system design,verification,and *** advancement in manufacturing technology has endowed us to fabricate complex industrial ***,the adoption of advanced modeling methodologies adept at handling complexity and scalability is ***,industrial systems are no longer quiescent,thus the intelligent operations of the systems should be dynamically specified in the *** this paper,the composition of the subsystem behaviors is studied to generate the complexity and scalability of the global system model,and a Boolean semantic specifying algorithm is proposed for generating dynamic intelligent operations in the *** traditional modeling approaches,the change or addition of specifications always necessitates the complete resubmission of the system model,a resource-consuming and error-prone *** with traditional approaches,our approach has three remarkable advantages:(i)an established Boolean semantic can be fitful for all kinds of systems;(ii)there is no need to resubmit the system model whenever there is a change or addition of the operations;(iii)multiple specifying tasks can be easily achieved by continuously adding a new ***,this general modeling approach has wide potential for future complex and intelligent industrial systems.

关键词： industrial complex system operation specifying Boolean semantic discrete event system(DES)theory intelligent operation

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Research on Multi-model Fusion Attitude Detection and Velocity-Based Power System 1

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8th International Conference on Life System Modeling and Simulation, LSMS 2024 and 8th International Conference on intelligent Computing for Sustainable Energy and Environment, ICSEE 2024

作者： Zhang, PengCheng Bai, JunZhe Ouyang, Peng Zhuang, YiFei Zhang, Kun School of Electrical Engineering and Automation Nantong University Nantong China Nantong Key Laboratory of Intelligent Control and Intelligent Computing Nantong China

ISBN: (数字)9789819603138

ISBN: (纸本)9789819603121

In the context of the close integration of artificial intelligence and sports, the precise measurement and intelligent coach-free scientific guidance remain one of the hotly debated topics. However, most current technologies are still limited to manual supervision and measurement of relevant indicators through hardware sensors. This approach is time-consuming and labor-intensive, not only prone to interfering with athletes’ actual performance but also requiring coaches’ real-time supervision to prevent irrecoverable injuries. Therefore, this paper proposes the LW-Pose model, which introduces Depth-Wise (DW) convolutions and channel attention mechanisms to optimize the backbone network. We replace the original decoupled head section with the Vision Transformer method and analyze the output vectors using Simcc technology to ultimately obtain accurate posture outputs. The proposed method achieves an AP50 of 92.6% and AP of 71.8%. Based on this technology, a velocity-based power training system has been developed with accuracy of 97%. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Channel attention Depth-Wise convolutions Simcc Velocity-based power training system Vision Transformer

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Neural-Based Predefined-Time Distributed Optimization of High-Order Nonlinear Multiagent Systems

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第6期5卷 3174-3183页

作者： Zheng, Xiaohong Ma, Hui Yao, Deyin Li, Hongyi Guangdong University of Technology School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China Guangdong University of Technology School of Mathematics and Statistics Guangzhou510006 China

This article addresses a predefined-time distributed optimization problem for high-order nonlinear multiagent systems (MASs). First, by means of a distributed proportional integration (PI) protocol, a reference model is constructed to evaluate the global optimal solution for MASs. Then, the resulting measurement is fed into a prefilter to produce a reconstructed optimal reference signal and its high-order derivatives. Instead of designing the updated law with σ-modification to deal with unknown nonlinearities, a gradient descent algorithm is developed to train the weights of neural networks (NNs) to achieve higher function approximation accuracy. Moreover, in the framework of prefiltering, an NN-based predefined-time control strategy is built using the backstepping technique to guarantee that all agents' outputs can reach optimal consensus in predefined time. Finally, simulation examples validate the effectiveness of the presented approach. © 2020 IEEE.

关键词： Multi agent systems

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Sampled-Data Based Robust Multi-Objective Path-Following control of Autonomous Vehicles 6

Sampled-Data Based Robust Multi-Objective Path-Following Con...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Yang, Xinduan Weng, Zhixiang Lin, Kunsong Li, Panshuo School of Automation Guangdong University of Technology Guangdong Provincial Key Laboratory of Intelligent Decision and Collaborative Control China

ISBN: (纸本)9798350353594

This paper proposes a sampled-data multi-objective path-following control method for autonomous vehicles based on the polytopic linear parameter varying (LPV) approach. Combining the active front-wheel steering (AFS) and the direct yaw moment control (DYC) strategies, an LPV path-following model is established subject to time-varying longitudinal velocity and uncertain cornering stiffness. Based on it, a sampled-data H∞/GH2 controller is obtained by solving linear matrix inequalities (LMIs), which guarantees the path-following performance and the lateral stability of the vehicle. The effectiveness of the proposed controller is verified in the simulation. © 2024 IEEE.

关键词： Sampled data control systems

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Photovoltaic,thermoelectric and electromagnetic generation technologies applied in power systems for mobile unmanned systems

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Science China(Technological Sciences) 2023年第3期66卷 599-629页

作者： DING Ning WANG XiangYang XIAN XiaoYang CAI YeYun LIU DaoMing DENG Fang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.

关键词： unmanned system renewable energy generation technology photovoltaic generation thermoelectric generation electromagnetic generation

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