检索结果-内蒙古大学图书馆

arXiv 2023年

作者： Hu, Bin-Bin Zhang, Hai-Tao Shi, Yang School of Artificial Intelligence Automation Key Laboratory of Image Processing Intelligent Control State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada

This paper proposes a label-free controller for a second-order multi-agent system to cooperatively fence a moving target of variational velocity into a convex hull formed by the agents whereas maintaining a rigid formation. Therein, no label is predetermined for a specified agent. To attain a rigid formation with guaranteed collision avoidance, each controller consists of two terms: a dynamic regulator with an internal model to drive agents towards the moving target merely by position information feedback, and a repulsive force between each pair of adjacent agents. Significantly, sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop systems governed by the proposed fencing controller. Rigorous analysis is provided to eliminate the strong nonlinear couplings induced by the label-free property. Finally, the effectiveness of the controller is substantiated by numerical simulations. Copyright © 2023, The Authors. All rights reserved.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Model-Predictive-control-based Simultaneous Trajectory Tracking and Speed control for intelligent Vehicles*

Model-Predictive-Control-based Simultaneous Trajectory Track...

引用

International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Hanyang Zhuang Yikai Hu Chunxiang Wang Ming Yang University of Michigan - Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and Technology Liuzhou China Shanghai Jiao Tong University Shanghai Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665431545

Trajectory tracking and speed control for intelligent vehicles are put forward higher requirements on accuracy by the high traffic density scenario. A standard Model Predictive control (MPC) algorithm focuses on the trajectory tracking but ignores the speed control. This paper proposes a simultaneous trajectory tracking and speed control algorithm based on MPC approach to address fine control in both space and time dimensions for intelligent vehicles. A threefold cost function including lateral and longitudinal speed as well as comfort has been proposed to improve the control algorithm. The simulations and comparisons demonstrate that the proposed method has a better tracking and speed control performance than the existing method.

关键词： Space vehicles Costs Mechatronics Trajectory tracking intelligent vehicles Velocity control Prediction algorithms

来源：评论

学校读者我要写书评

暂无评论

On Enlarging the Domain of Attraction for Linear Systems Subject to Asymmetric Actuator Saturation

On Enlarging the Domain of Attraction for Linear Systems Sub...

引用

IEEE Conference on Decision and control

作者： Wenxin Lai Yuanlong Li Zongli Lin 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 Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA U.S.A.

In this paper, we revisit the problem of enlarging the domain of attraction for linear systems with asymmetric actuator saturation. We partition the state space into several regions according to the sign of each input and rewrite the linear system subject to asymmetric actuator saturation as an equivalent switched system, each subsystem of which is associated with one partition of the state space and is a linear system subject to symmetric actuator saturation. Based on this equivalent representation of the system, we present a Lyapunov function, which is composed of a set of quadratic functions associated with matrices that are not required to be positive definite. We establish sufficient conditions for regional stability and, based on them, formulate optimization problems to enlarge the estimate of the domain of attraction. Simulation results illustrate the effectiveness of the proposed approach.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Joint Observer Gain and Input Design for Asymptotic Active Fault Diagnosis

arXiv

引用

arXiv 2024年

作者： Xu, Feng Wan, Yiming Wang, Ye Puig, Vicenç Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen518055 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education China Wuhan430074 China Department of Electrical and Electronic Engineering The University of Melbourne ParkvilleVIC3010 Australia Universitat Politècnica de Catalunya Barcelona08028 Spain

This paper proposes a joint gain and input design method for observer-based asymptotic active fault diagnosis, which is based on a newly-defined notion named the excluding degree of the origin from a zonotope. Using the excluding degree, a quantitative specification is obtained to characterize the performance of set-based robust fault diagnosis. Furthermore, a single gain design method and a joint gain and input design method are proposed, respectively. This is the first work to achieve a joint observer gain and input design for set-based active fault diagnosis. Compared with the existing methods that design gains and input separately, the proposed joint gain and input design method has advantages to exploit the fault diagnosis potential of observer-based schemes. Finally, several examples are used to illustrate the effectiveness of the proposed methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Design

来源：评论

学校读者我要写书评

暂无评论

Fault-Tolerant Consensus for Linear Singular Multi-Agent Systems with Dynamic Adaptive Event-Triggered Mechanism

SSRN

引用

SSRN 2022年

作者： Jiang, Ping Chen, Jiejie Zeng, Zhigang Chen, Boshan The School of Computer Hubei PolyTechnic University Huangshi435000 China The School of Automation Huazhong University of Science and Technology Wuhan430074 China The College of Computer Science and Technology Hubei Normal University Huangshi435002 China The College of Mathematics and Statistics Hubei Normal University Huangshi435002 China The Key Laboratory of Image Processing and Intelligent Control Education Ministry of China Wuhan430074 China

The fault-tolerant consensus of linear singular multi-agent systems (SMASs) is studied in this paper. Firstly, a general dynamic adaptive event-triggered mechanism (ETM) is proposed, and its special cases include the existing dynamic ETM and static ETM. Then, based on this dynamic ETM, a new distributed dynamic adaptive event-triggered fault-tolerant controller (DAETFTC) is designed. Then the consensus problem is discussed for the linear SMASs via the proposed DAETFTC. Moreover, we establish novel sufficient conditions to ensure that all agents of the linear SMAS can reach consensus asymptotically. In addition, it is prove that Zeno behavior can be strictly excluded. Finally, the obtained results are simulated by a numerical example. © 2022, The Authors. All rights reserved.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

An Improved Result on Stabilization of Switched Linear Systems with Time-varying Delay ⁎

引用

IFAC-PapersOnLine 2021年第18期54卷 96-101页

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 U.S.A.

This paper revisits the stabilization problem of switched linear systems with time-varying delay via state dependent switching strategies. In contrast to the existing works, the commonly adopted stable convex combination assumption is relaxed in this paper. For switched systems satisfying the relaxed assumption, we design a state dependent switching strategy, under which the considered system is asymptotically stable at the origin in the presence of time-varying delay. An optimization problem is formulated to estimate the upper bound of tolerable time delay. Numerical examples are presented to show that our method is applicable to a larger class of switched systems and leads to greater delay bound.

关键词： Asymptotic stability delay bound state dependent switching switched system time-varying delay

来源：评论

学校读者我要写书评

暂无评论

Distributed Observer Design over Directed Switching Topologies

arXiv

引用

arXiv 2024年

作者： Xu, Haotian Liu, Shuai Wang, Bohui Wang, Jingcheng School of Control Science and Engineering Shandong University Jinan250061 China The School of Aerospace Science and Technology Xidian University Xi’an710071 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the measurement outputs and information exchanged through communication networks. This paper focuses on the design of distributed observer with jointly connected directed switching networks. The problem presents challenges due to passive switching modes and the open-loop unboundedness that results from local observability. To overcome these challenges, we develop a network transformation mapping method whereby each local observer can classify itself into an independent subgraph based on independent judgment. Next, an observable decomposition and reorganization method is developed for the digraph case to ensure that each subgraph possesses independent dynamic properties. Asymptotic omniscience is then proven using a developed recursive proof method. This paper includes many previous results as special cases, because most are only suitable for undirected switching topologies or fast-switching cases. An adaptive coupling gain design is proposed to simplify the calculation and verification of conditions that guarantee asymptotic omniscience. Finally, simulation results with the power system show the validity of the developed theory. © 2024, CC BY.

关键词： Continuous time systems

来源：评论

学校读者我要写书评

暂无评论

An Improved Method for Approximating the Infinite-horizon Value Function of the Discrete-time Switched LQR Problem

引用

IFAC-PapersOnLine 2023年第2期56卷 4138-4143页

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 U.S.A.

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR problem. In particular, we propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value function. This method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration, and thus, our method is capable of achieving a better approximation for a given computation time compared with the existing methods. Two numerical examples are presented in this paper to illustrate the effectiveness of our method.

关键词： Switched linear systems optimal control switched LQR problem

来源：评论

学校读者我要写书评

暂无评论

SCSQ-MDD: A Detection Approach for Multi-Style Strokes of Chinese Characters

SSRN

引用

SSRN 2023年

作者： Zhou, Tian Xie, Wu Zhang, Huimin Fan, Yong Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin University of Electronic Technology Guilin China School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China Key Lab of Education Blockchain and Intelligent Technology Ministry of Education Guangxi Normal University Guilin541004 China Guangxi Key Lab of Multi-Source Information Mining and Security Guangxi Normal University Guilin541004 China School of Mechanical and Electrical Engineering Guilin University of Electronic Science and Technology Guilin China

In the Chinese character writing task of the robotic arms, the stroke category and position information should be extracted by object detection. The detection algorithms based on predefined anchor frames have difficulty in resolving the differences among many different styles of Chinese character strokes. While the deformable detection transformer (deformable DETR) algorithms without predefined anchor frames result in some invalid sampling points having no contribution to the feature update of the current reference point due to the random sampling of sampling points in the deformable attention module. These processes cause the effectiveness of correlation calculations between reference points in Chinese strokes and their surrounding sampled points is limited. So that the speed of vector learning stroke features in the detection head is reduced. In view of this problem, a new detection method of multi-style strokes of Chinese characters via SCSQ-MDD (Simple Conditional Spatial Query Mask Deformable DETR) is proposed in this paper. Firstly, a mask prediction layer is jointly determined using the shallow feature map of the Chinese character image and the query vector of the transformer encoder, which is used to filter the points with actual contribution and resample the points without contribution, so that the randomness of correlation calculation among reference points is solved. Secondly, by separating the content query and spatial query of the transformer deocder, the content embedding and spatial embedding can be separately focused on when cross-attention computations are performed. Thus the dependence of the prediction task on the content embedding is relaxed and the training process is simplified. Finally, the detection model without predefined anchor frames based on deformable DETR called SCSQ-MDD is constructed using the mask mechanism and the simple conditional spatial query mechanism, and trained and validated on a multi-style Chinese character stroke dataset

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Modeling and Analysis of Pumping Cell of Nox Sensor - Part Ii: Nox Pumping Cell

SSRN

引用

SSRN 2022年

作者： Wang, Zhen Deng, Zhong-Hua Wang, Jie Lin, Wei-Xun Fu, Xiao-Wei Li, Xi School of Artificial Intelligence and Automation Key Laboratory of Imaging Processing and Intelligent Control Education Ministry Huazhong University of Science and Technology Hubei Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute Guangdong Shenzhen518055 China Lambda Company Jiangsu Changzhou213100 China College of Computer Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan430081 China

To improve the performance of the NOx sensor, a combined model based on the electrochemical model and the diffusion model is developed for the NOx pumping cell of the NOx sensor. Considering that a small amount of oxygen enters the third chamber and part of NO is decomposed in the second chamber, the electrochemical model simultaneously considers the reactions of NO and oxygen at cathode, and the diffusion model additionally considers the diffusion of oxygen and the decomposition of NO. To validate the model at different gas concentrations, the sensor is mounted on the designed test rig. Then, the simulation results are compared with experimental data from the test rig and good agreement is obtained. In addition, three key parameters of the model of the NOx pumping cell are analyzed. The values and changing trends of these three parameters are given in the paper. © 2022, The Authors. All rights reserved.

关键词： Diffusion

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：