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Predictability of Stochastic Dynamical system: A Probabilistic Perspective

Predictability of Stochastic Dynamical System: A Probabilist...

引用

IEEE Conference on Decision and control

作者： Tao Xu Jianping He Dept. of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, to characterize the predictability of discrete-time continuous-state stochastic dynamical system (SDS) and use predictability to explain the probability of making accurate predictions, we have proposed a new performance metric, i.e., predictability exponent. This metric quantifies the asymptotic exponential decaying rate of the probability that prediction errors never exceed a fixed ϵ. The novelties of this predictability metric lie in that it is proposed from an asymptotic probabilistic perspective, which i) minimizes the exponential decaying rate of prediction probability, ii) holds an approximated expression deeply related with differential entropy within an error of O(ϵ), and iii) possesses a fast converging speed from finite decaying rate of O(e −K ) in the sense of probability. Numerical examples are given to illustrate the efficiency of the obtained results.

关键词： Measurement Stochastic processes Predictive models Probabilistic logic Entropy Dynamical systems

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Inferring Topology of Networked Dynamical systems by Active Excitations

Inferring Topology of Networked Dynamical Systems by Active ...

引用

IEEE Conference on Decision and control

作者： Yushan Li Jianping He Cailian Chen Xinping Guan Dept. of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the excitation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results.

关键词： Analytical models Network topology Topology Performance analysis Dynamical systems Testing

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Fragility-Aware Stealthy Attack Strategy for Multi-Robot systems against Multi-Hop Wireless Networks

Fragility-Aware Stealthy Attack Strategy for Multi-Robot Sys...

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IEEE Conference on Decision and control

作者： Yun Gao Kai Luo Chongrong Fang Jianping He Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a fragility-aware stealthy attack for multiple mobile robots to secretly learn the accurate model of a multi-hop wireless network (MHWN). The stealthy attack scenario consists of three steps: active detection, node hijacking, and network eavesdropping. Our goal is to design distributed motion control strategies for naive attackers, for obtaining the connectivity information to evaluate the fragility degree of each node in MHWN. We designed a switching control strategy, which includes (i) move-to-fragile-neighbors-barycenter (MFNB) law and (ii) move-to-undetected-region-centroid (MURC) law. This strategy can drive mobile attackers to detect, hijack and eavesdrop on the MHWN’s nodes as quickly as possible. As a result, the fragility degree map of MHWN can be secretly learned to paralyze the whole network. Finally, the simulation results show that the proposed strategy is effective.

关键词： Wireless networks Simulation Spread spectrum communication Switches control systems Stability analysis Multi-robot systems

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controller Synthesis of Signal Temporal Logical Tasks for Cyber-Physical Production systems via Acyclic Decomposition

Controller Synthesis of Signal Temporal Logical Tasks for Cy...

引用

IEEE Conference on Decision and control

作者： Shuling Wang Shanying Zhu Cailian Chen Liang Xu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Artificial Intelligence Shanghai University Shanghai China

Modularization facilitates the adaptability of cyber-physical production systems (CPPSs) with a variety of collaborative tasks. Various production rules can be captured by signal temporal logic (STL) specifications imposed on interconnected multi-agent systems (MASs). In this paper, we focus on the controller synthesis of STL tasks for interconnected MASs to accomplish collaborative tasks in modular CPPSs. Firstly, a class of STL specifications characterizing tasks by the combination of fixed-time reachability and finite-time persistence tasks is proposed, which encompasses a large class of production specifications for the MAS. Secondly, the acyclic decomposition of the global STL formula is constructed to enable conflict-free collaborative tasks and unidirectional couplings between subsystems. By establishing the equivalence between the proposition and the state set of the MAS, necessary and sufficient conditions are respectively proposed for the satisfaction of reachability and persistence tasks. In addition, an algorithm is presented to synthesize controllers for the MAS with the global STL specification based on local controllers of subsystems. An illustrative example is given to show the effectiveness of the proposed method.

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Unequal Error Protection Rateless Codes for Spatial Audio Transmission

Unequal Error Protection Rateless Codes for Spatial Audio Tr...

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International Conference on Communication Technology (ICCT)

作者： Junpeng Yin Yusun Fu Haobo Huang Jinhui Tang Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China School of Electronic Information and Electrical Engineering the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

Spatial audio is an important component of the metaverse. With the rapid increase of the spatial resolution and the number of objects, the data volume of the spatial side information has grown larger. However, the low bit rate transmission of spatial side information in the object-based audio coding methods leads to the low-quality reconstruction of spatial side information with limited bandwidth. To address this issue, this paper constructs a cascade design of spatial audio coding and unequal error protection (UEP) rateless codes. Furthermore, the further protection of specific spatial side information is proposed for different scenarios, which effectively addresses the limitation of traditional spatial audio coding in side information protection. For the situation where the code length K of different importance levels is different, we propose an adaptive degree distribution (ADD), adding K to the selection probability as an influencing factor, which has better performance than other degree distribution for short code length. ADD is used to replace the multiple degree distribution strategy of the traditional unequal error protection scheme, and the block error rate (BER) is reduced nearly 10 times compared with the traditional scheme.

关键词： Codes Error analysis Metaverse Distribution strategy Spatial audio Bit rate Symbols Communications technology Protection Spatial resolution

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A localizability estimation method for mobile robots based on 3D point cloud feature

A localizability estimation method for mobile robots based o...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Liu, Ying Wang, Jingchuan Huang, Yi Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China Nanjing Kingyoung Intelligent Technology CO. LTD.

ISBN: (纸本)9781665436786

This paper introduces the theoretical analysis and derivation of localizability estimation for mobile robots based on point cloud observation. Combined with the observation model, the pre-established point cloud map is firstly clustered and segmented with a newly proposed method considering multiple constraints on depth map. Then localizability is set to be equal to the strength of the constraints associated with 3D point cloud features. In addition, based on the method of using information matrix theory, this paper integrates the Fisher's information matrix and point cloud features to estimate localizability. © 2021 IEEE.

关键词： Mobile robots

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A Real-time Framework of Multi-Camera Vehicle Tracking system

A Real-time Framework of Multi-Camera Vehicle Tracking Syste...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Zhuang, Hanyang Chen, Xingyuan Lan, Jianglin Wang, Ying Lu, Zhaoxuan Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China University of Glasgow James Watt School of Engineering GlasgowG12 8QQ United Kingdom Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200040 China Shanghai Intelligent and Connected Vehicle R and D Center Co. LTD Shanghai201400 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

Multi-camera vehicle tracking (MCVT) system is a key technology to build an intelligent city and intelligent transportation system. The MCVT system utilizes roadside monitoring devices and computing platforms to achieve city-level road traffic perception at a finer scale by tracking each vehicle on the road to obtain the trajectory. The existing MCVT system mainly focuses on dealing with the algorithm modules separately, without studying the real-time performance and system architecture of the entire pipeline. However, in real-world applications, many of the tricks in improving evaluation metrics are not applicable since there is endless traffic flow running all the time. Therefore, this paper proposes a real-time framework of the MCVT system to streamline all the algorithm modules with proper data flow. Firstly, a multi-threaded multi-vehicle tracking (MVT) module is developed to detect vehicles in each camera. Re-identification is implemented during MVT to provide the feature for tracking in the same camera and across different cameras. Then, after the vehicle leaves the camera field of view, the feature of vehicle trajectory is calculated by averaging the feature at each frame. Meanwhile, a background thread runs continuously to match the incoming feature of vehicle trajectory with past features by conducting a topology searching method. In the end, the vehicle trajectories with well-matched features are considered to be the same vehicle. The entire pipeline has been validated on two different datasets, the precision is 0.64 in the CityFlow dataset which uses 6 cameras simultaneously. In the customized dataset, the same method can still reach real-time when using 16 cameras at the same time with smaller network modules. © 2024 IEEE.

关键词： Vehicle locating systems

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Robust adaptive neural network consensus tracking control of multi-robot systems

Robust adaptive neural network consensus tracking control of...

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第33届中国控制与决策会议

作者： Huijun Guo Jintao Liang School of Automation and Information Engineering Xi'an University of Technology Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Guilin University of Electronic Technology

This paper studies the problem of distributed consensus tracking control for multi-robot systems with different friction coefficients and external disturbances based on the multi-agent *** the case where the communication topology is a weighted directed graph and leader node is the neighbor of a small portion of the follower *** follower nodes are modeled as two second-order nonlinear dynamical system with coupling parts.A distributed robust adaptive control law based on the neural networks(NN) is designed for each follower node,where the controller requires only relative state information from its adjacent *** such control scheme,the states of all follower nodes ultimately synchronize to the leader node with bounded residual *** results are provided to validate the effectiveness of the algorithm.

关键词： Consensus control Multi-robot systems Agent systems Neural networks Sliding mode control

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Adaptive Back-stepping Based control for Active Suspension systems with Prescribed Performance

Adaptive Back-stepping Based Control for Active Suspension S...

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第40届中国控制会议

This paper proposes an adaptive back-stepping tracking control with prescribed performance function for vehicle suspension systems with uncertain parameters. The prescribed performance function can lead the tracking error from a large set to an arbitrarily small residual set. Firstly, the constrained tracking error system incorporating the prescribed performance functions is transformed into unconstrained form. Then an adaptive updating scheme based on the projection algorithm is designed to estimate the uncertain parameter. Following that an adaptive nonlinear controller is designed using the back-stepping technique, and the stability of whole controlled systems is proved by the Lyapunov theory. Meanwhile, the state convergence of the internal dynamical system is also guaranteed. Finally, simulation results are provided to verify the proposed approach.

关键词： Active Suspension system Adaptive control Back-stepping technique prescribed performance

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