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Leader-Following Adaptive Tracking Control for A Class of Uncertain Discrete-Time Nonlinear Multi-Agent systems Under Event-Triggered Communication

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Journal of systems Science & Complexity 2025年第2期38卷 756-781页

作者： XU Yuchun ZHANG Yanjun ZHANG Ji-Feng State Key Laboratory of Mathematical Sciences Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematics Sciences University of Chinese Academy of Sciences School of Automation Beijing Institute of Technology State Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology School of Automation and Electrical Engineering Zhongyuan University of Technology School of Mathematical Sciences University of Chinese Academy of Sciences

This paper studies the leader-following adaptive tracking control problem for multi-agent systems comprising a leader agent and N follower agents with uncertain nonlinear dynamics. Specifically, a novel event-triggered communication based adaptive distributed observer is developed to enable each follower agent to estimate the leader's information. Then, new forms of adaptive control law and parameter update law are designed with the estimated leader's signals. The developed distributed adaptive control strategy has several characteristics:(i) With the introduced time-varying observer gain, the designed adaptive distributed observer eliminates the need for global graph information but ensures convergence of the estimates;(ii) By appropriately designing the event-triggered mechanism,the communication frequency among follower agents is reduced in the sense that the communication rate decays over time;(iii) The newly designed adaptive control law ensures a linear estimation error equation, facilitating the development of a stable parameter update law without requiring prior knowledge of uncertain system parameters. The stability of closed-loop system and leader-following asymptotical tracking are achieved. Simulation study demonstrates the theoretical results.

关键词： Adaptive control event-triggered communication heterogeneous nonlinear agent leader-following tracking

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Effect of Active–Passive Deformation on the Thrust by the Pectoral Fins of Bionic Manta Robot

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Journal of Bionic Engineering 2024年第2期21卷 718-728页

作者： Yang Lu Shaomin Meng Cheng Xing Yiwei Hao Yonghui Cao Guang Pan Yong Cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi’an710072China Unmanned Vehicle Innovation Center Ningbo Institute of NPUNingbo315103China State Key Lab of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou310027China Zhejiang Key Laboratory of Advanced Manufacturing Technology School of Mechanical EngineeringZhejiang UniversityHangzhou310027China

Bionic manta underwater vehicles will play an essential role in future oceans and can perform tasks,such as long-duration reconnaissance and exploration,due to their efficient *** manta wings’deformation is evident during the swimming *** improve the propulsion performance of the unmanned submersible,the study of the deformation into the bionic pectoral fin is *** this research,we designed and fabricated a flexible bionic pectoral fin,which is based on the Fin Ray®effect with active and passive deformation(APD)*** APD fin was actively controlled by two servo motors and could be passively deformed to variable *** APD fin was moved at 0.5 Hz beat frequency,and the propulsive performance was experimentally verified of the bionic pectoral fins equipped with different extents of *** results showed that the pectoral fin with active–passive deformed capabilities could achieve similar natural biological deformation in the wingspan *** average thrust(T)under the optimal wingspan deformation is 61.5%higher than the traditional passive deformed pectoral *** obtained results shed light on the design and optimization of the bionic pectoral fins to improve the propulsive performance of unmanned underwater vehicles(UUV).

关键词： Manta ray Bionic pectoral fin Fin Ray®effect Active-passive deformation(APD)

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Two Degree of Freedom Active Disturbance Rejection Control Strategy for Time Delay systems 42

Two Degree of Freedom Active Disturbance Rejection Control S...

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42nd Chinese Control Conference, CCC 2023

作者： Shan, Xiyuan Cai, Tao 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

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Time delay

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Local Path Planning of Unmanned Surface Vehicle Based on Improved DWA Algorithm

Local Path Planning of Unmanned Surface Vehicle Based on Imp...

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International Conference on Guidance, Navigation and Control, ICGNC 2024

作者： Ji, Chenjia Zhang, Lanyong College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin150001 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819622351

An improved dynamic window method is proposed to solve the obstacle avoidance problem of intelligent ships in offshore waters that cannot effectively avoid when encountering unknown dynamic obstacles. Firstly, an autonomous collision avoidance decision-making model was constructed to judge whether the unmanned boat had a collision hazard, and the encounter situation was reclassified. To ensure that the USV can safely pass through the moving obstacle vessel, a collision risk assessment function considering the velocity of dynamic obstacles is introduced. Moreover, a collision avoidance rule function is incorporated into the evaluation function of the collision avoidance algorithm to ensure that the USV adheres to collision avoidance regulations. Ultimately, the simulation results confirm that the enhanced dynamic window method can safely avoid collisions while adhering to collision avoidance rules. This paper proposes an effective solution for collision avoidance behavior of intelligent vessels in near shore waters when facing unknown dynamic obstacles, providing insightful recommendations for subsequent research in maritime sectors. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Unmanned surface vehicles

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TransCaller: An End-to-end Accelerated Transformer-based Nanopore Basecaller on GPUs

TransCaller: An End-to-end Accelerated Transformer-based Nan...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Xu, Di Zhang, Peiheng Zhang, Yang Shi, Shunchen Li, Xueqi Institute of Computing Technology State Key Lab of Processors China University of Chinese Academy of Sciences China Institute of Intelligent Computing Technology Suzhou China

ISBN: (纸本)9798350337488

Basecalling is a crucial step in nanopore sequencing as it transforms the raw electrical signal obtained from the nanopore into a readable sequence. The accuracy of basecalling directly affects the quality and reliability of the sequenced data. Various algorithms and models are employed to perform accurate basecalling, with advancements in deep learning techniques. However, due to the difficulty of combining feature extraction capability, high parallelism and long sequence modeling capability of existing models, the accuracy and speed of basecalling model are still bottlenecks in data *** this paper, we present TransCaller, an end-to-end accelerated transformer-based nanopore basecaller model. TransCaller comprises a low-parameter electrical signal sampler, a fully transformer-based encoder integrating multiple algorithm-specific modules, and a CTC decoder enhanced with a filter. To further refine and enhance the TransCaller model, we introduce a three-stage pyramid model structure and leverage knowledge distillation techniques to balance the accuracy and speed. Experimental results on 9 datasets demonstrate that TransCaller achieves an average accuracy of 92.95%, surpassing the state-of-the-art Bonito sup model by a margin of 0.65% to 2.34%. Moreover, the distilled TransCallermodel showcases a remarkable 2.97× acceleration in inference speed compared to the original model, effectively catering to the variegated requirements of distinct inference speeds and precision levels across a wide spectrum of scenarios. © 2023 IEEE.

关键词： Basecalling GPUs Parallelism Transformer

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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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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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PCEB-YOLOV8: An Improved PCB Defect Detection Method Based on YOLOV8 8

PCEB-YOLOV8: An Improved PCB Defect Detection Method Based o...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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When LoRa meets distributed machine learning to optimize the network connectivity for green and intelligent transportation system

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Green Energy and intelligent Transportation 2024年第3期3卷 24-41页

作者： Malak Abid Ali Khan Hongbin Ma Arshad Farhad Asad Mujeeb Imran Khan Mirani Muhammad Hamza National Key Lab of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Computer Science Namal UniversityPakistan Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Faculty of Information Technology Beijing University of TechnologyBeijing 100124China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China

LoRa technology contributes to green energy by enabling efficient,long-range communication for the Internet of Things(IoT).This paper addresses the challenges related to coverage range in outdoor monitoring systems utilizing LoRa,where the network performance is affected by the density of gateways(GWs)and end devices(EDs),as well as environmental *** mitigate interference,data throughput losses,and high-power consumption,the proposed spreading factor(SF)and hybrid(data rate|SF)models dynamically adjust the transmission *** orchestration of concurrent data modifications within the network server(NS)is crucial for uninterrupted communication between GWs and EDs,especially in monitoring electric vehicle(EV)stations to reduce traffic congestion and *** K-means and density-based spatial clustering of applications with noise(DBSCAN)algorithms optimizes ED allocation,averts data congestion,and improves the signal-tointerference noise ratio(SINR).These methods ensure seamless information reception by meticulously allocated EDs across various GW *** estimate the free-space losses(FSL),a log-distance path loss model(log-PL)is *** various bandwidths(BWs),bidirectional communications,and duty cycles(DCs)helps to prevent saturation,thus prolonging the operational lifespan of *** findings reveal a notable packet rejection rate(PRR)of 0%for the DBSCAN(hybrid model).In contrast,the K-means exhibits a PRR ranging from 5%(hybrid model)to 35.29%(SF model)for the ten GWs ***,the network saturation is reduced to 10.185%and 9.503%,respectively,highlighting an improvement in the average efficiency of slotted ALOHA(91.1%)and pure ALOHA(90.7%).These enhancements increase the lifespan of EDs to 15,465.27 days.

关键词： DBSCAN Green transportation Hybrid model intelligent transportation K-means

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Analysis of LoRa for Electronic Shelf labels Based on Distributed Machine Learning 42

Analysis of LoRa for Electronic Shelf Labels Based on Distri...

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42nd Chinese Control Conference, CCC 2023

作者： Khan, Malak Abid Ali Ma, Hongbin Jin, Ying Ma, Jingxiang Rehman, Zia Ur Rahman, Mizanur School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

Deforestation is the primary source of global warming;traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly limited its power. Various technologies provide connectivity and a fast-updating system to eliminate the paper-based approach. LoRa is one of the contenders to design the system for electronic shelf labels (ESLs). In this paper, LoRa has been used to minify data losses and guarantee the successful decoding of the carrier signals. The data parallelism at the network server (NS) is used to distribute the data packets among the gateways (GWs) for concurrent transmissions to the end devices (EDs). The EDs are placed in different ranges using machine clustering to avoid intra-SF interference and collision. The data rate (DR) and spreading factors (SFs) have been proposed to improve the performance of pure and slotted ALOHA for the properly allocated tags. The orthogonality principles follow industrial, scientific, and medical regulations (ISM) to avoid data traffic congestion. GWs under different duty cycles (DC) and bandwidth (BW) are examined to minify the network saturation and reduce the energy harvesting of the tags. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Deforestation

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