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Distributed Event-Triggered Formation control of USVs with Prescribed Performance

Journal of systems Science & complexity 2022年第3期35卷 820-838页

作者： CHEN Guangdeng YAO Deyin ZHOU Qi LI Hongyi LU Renquan School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed *** the risk of collision and the limited communication range of USVs,the prescribed performance control(PPC)methodology is employed to ensure collision avoidance and connectivity *** event-triggered mechanism is designed to reasonably use the limited communication ***,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,***,an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded(UUB).Finally,simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Event-triggered control formation control prescribed performance underactuated surface vessels(USVs)

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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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Detection and Positioning of Workpiece Grinding Area in Dark Scenes with Large Exposure 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Guo, Zhentao Zhao, Guiyu Bian, Jinyue Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. However, the problem of workpiece grinding area detection and positioning is difficult to be solved in dark scenes with large exposure. This paper proposes a method that fuses technologies such as processing of the image, coordinate and point cloud, which can accurately detect and locate the workpiece grinding area. Firstly, A method based on YOLOv7 and improved image preprocessing is used to detect labels of the grinding area. Secondly, A model for the prediction of the coordinates based on multiple linear regression was used to predict the coordinates of missing labels for the same grinding area. Finally, Data processing of the point cloud and transformation of the system of coordinates are used to achieve the acquisition of the coordinates of positioning vertices in the grinding area and conversion from the camera coordinate system to the world coordinate system. We used several sets of data for evaluation in our experiments, and the experimental results show that our proposed method can effectively detect the workpiece grinding area. At the same time, our method can also predict the coordinates of missing labels, which provides a more stable and reliable guarantee for industrial production. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multiple linear regression

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Adaptive Fixed-Time control of Nonlinear MASs With Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1252-1262页

作者： Hongru Ren Hui Ma Hongyi Li Zhenyou Wang the School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China the School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou 510006China

The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this *** approximate the unknown nonlinear functions in MASs,radial basis function neural networks are *** addition,the first order sliding mode differentiator is utilized to solve the“explosion of complexity”problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed *** the help of the Nussbaum function,the actuator failure compensation mechanism is *** designing the adaptive fixed-time controller,all signals in MASs are bounded,and the consensus errors between the leader and all followers converge to a small area of ***,the effectiveness of the proposed control method is verified by simulation examples.

关键词： Actuator faults adaptive fixed-time control multiagent systems(MASs) Nussbaum function

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

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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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CFSeRec: A Contrastive Framework for Sequential Recommendation 42

CFSeRec: A Contrastive Framework for Sequential Recommendati...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tong Dai, Yaping Shao, Shuai School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two problems respectively. Token shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data, so that the long-tailed problem is mitigated. Through the application of projection head method, the sequence representation becomes more general and robust, rather than just adapted to the task of contrastive learning. Therefore, the impact of noise on sequence recommender systems is effectively alleviated. Experiments on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain, when comparing to the seven previous frameworks. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Recommender systems

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Lateral control of Vehicle Platoons Under External Disturbance and Parameter Uncertainty: An Adaptive DMPC Approach

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IEEE Transactions on Vehicular Technology 2024年第5期74卷 7444-7457页

作者： Li, Panshuo Weng, Zhixiang Lin, Kunsong Zhao, Jing Guangdong University of Technology Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China Guangdong University of Technology Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Guangdong University of Technology School of Automation Guangzhou510006 China Northeastern University School of Mechanical Engineering and Automation Shenyang110819 China

This paper proposes an estimator-based distributed model predictive control (DMPC) approach for vehicle platoons in the presence of external disturbance and uncertain cornering stiffness. A lateral dynamics model of vehicle platoons is established by utilizing a path-based vehicle-following strategy. An adaptive parameter estimator is then proposed to estimate the cornering stiffness. Based on it, a distributed disturbance-feedback min-max model predictive controller is developed to ensure the lateral disturbance string stability of vehicle platoons, enhance path-following performance and lateral stability of following vehicles, and simultaneously prevent the actuator saturation. Considering the high computational burden involved in solving min-max optimization, the linear matrix inequalities-based conditions are derived to facilitate the controller gain solving. The proposed method can effectively tackle the cornering stiffness within large uncertain intervals and guarantee the lateral string stability of platoons under external disturbances. Simulation results validate the effectiveness of the proposed DMPC approach in different scenarios. © 1967-2012 IEEE.

关键词： Linear matrix inequalities

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Distributed Solver for Discrete-Time Lyapunov Equations over Dynamic Networks with Linear Convergence Rate

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IEEE Transactions on Cybernetics 2022年第2期52卷 937-946页

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

The problem of solving discrete-Time Lyapunov equations (DTLEs) is investigated over multiagent network systems, where each agent has access to its local information and communicates with its neighbors. To obtain a solution to DTLE, a distributed algorithm with uncoordinated constant step sizes is proposed over time-varying topologies. The convergence properties and the range of constant step sizes of the proposed algorithm are analyzed. Moreover, a linear convergence rate is proved and the convergence performances over dynamic networks are verified by numerical simulations. © 2013 IEEE.

关键词： Convex optimization

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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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Distilling Siamese Trackers with Attention Mask 41

Distilling Siamese Trackers with Attention Mask

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第41届中国控制会议

作者： Han Sun Yongqiang Bai Wenbo Zhang State Key Lab of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge *** distillation is a common and effective model compression method,but it is difficult to be applied to the challenging task like object *** find out the fundamental cause is that the imbalance between the foreground and background in the object tracking task,which aggravates the problem of insufficient feature extraction ability of small ***,we propose the attention mask distillation(AMD) to help the student tracker focus on the foreground area faster and more *** attention mask can be easily obtained from the feature maps and brings fine-granularity to the traditional binary *** experimental results on OTB100 and VOT2018 show that our method enables the student tracker perform as well as the teacher *** the same time,it's able to run on the CPU at a hyper-real-time of 66 fps and achieves nearly 9 times model compression *** low computational and storage costs make it possible to deploy high-performance trackers on resource-constrained platforms.

关键词： Object Tracking Siamese Network Knowledge Distillation Attention Mask

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