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Stability Analysis for Stochastic Hybrid Inclusions

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arXiv 2022年

作者： Zhang, Dandan Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Stochastic hybrid inclusions (SHIs) address situations with the stochastic continuous evolution in a stochastic differential inclusions and random jumps in the difference inclusions due to the forced (the state reaching a boundary in the state space) and/or spontaneous (the state vector may occur spontaneously) transitions. An obvious characteristic of SHIs is the non-uniqueness of random solutions, which can be ensured by the mild regularity conditions, as well as nominal robustness. Basic sufficient conditions for stability/recurrence in probability are usually expressed based on different types of Lyapunov functions, including Lagrange/Lyapunov/Lyapunov-Forster functions respectively for Lagrange/Lyapunov/asymptotic stability in probability and Foster/Lagrange-Forster functions for recurrence, (weaker) relaxed Lyapunov-based sufficient conditions including Matrosov-Foster functions and the stochastic invariance principle, as well as Lyapunov-based necessary and sufficient conditions for asymptotic stability in probability or recurrence (i.e.,converse theorems), etc. The converse theorems involving smooth Lyapunov functions are guaranteed by the sequential compactness and thus robustness. In addition, the uniformity property and causality are analyzed for the stabilities in probability. Hence, serving as a partial roadmap for the theoretical development of SHIs, also serving as inspiration, we anticipate that many of the open questions, including the prediction problem, the filtering problem and the control problem, will be resolved based on the techniques of *** Codes 93C30 Copyright © 2022, The Authors. All rights reserved.

关键词： Lyapunov functions

Discrete states-Based Trajectory Planning for Nonholonomic Robots

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arXiv 2023年

作者： Zou, Ziyi Zhang, Ziang Lu, Zhen Li, Xiang Wang, You Hao, Jie Li, Guang The State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou310027 China The Luoteng Hangzhou Techonlogy Co. Ltd. Hangzhou310027 China

Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete states-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, angular velocity, and time intervals. More variables make the expression of optimization and constraints simpler, reduce the error caused by too many approximations, and also handle the gear shifting situation. L-BFGS-B is used to deal with the optimization of many variables and box constraints, thus speeding up the problem solving. Various simulation experiments compared with prior works have validated that our algorithm has an order-of-magnitude efficiency advantage and can generate a smoother trajectory with a high speed and low control effort. Besides, real-world experiments are also conducted to verify the feasibility of our algorithm in real scenes. We will release our codes as ros packages. Copyright © 2023, The Authors. All rights reserved.

关键词： Robot programming

Learning stereopsis from geometric synthesis for 6D object pose estimation

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arXiv 2021年

作者： Wu, Jun Liu, Lilu Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology and Institue of Cyber-Systems and Control Zhejiang University Zhejiang China

Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based pose estimation method with a short baseline two-view setting. By constructing a geometric volume in the 3D space, we combine the features from two adjacent images to the same 3D space. Then a network is trained to learn the distribution of the position of object keypoints in the volume, and a robust soft RANSAC solver is deployed to solve the pose in closed form. To balance accuracy and cost, we propose a coarse-to-fine framework to improve the performance in an iterative way. The experiments show that our method outperforms state-of-the-art monocular-based methods, and is robust in different objects and scenes, especially in serious occlusion situations. Copyright © 2021, The Authors. All rights reserved.

关键词： Geometry

Dynamic Collision Avoidance Using Velocity Obstacle-Based control Barrier Functions

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arXiv 2025年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Institute of Intelligence Science and Engineering Shenzhen Polytechnic University Shenzhen China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems. Copyright © 2025, The Authors. All rights reserved.

关键词： state feedback

ADMM-based Privacy-Preserving Peer-to-Peer Energy Trading Negotiation Mechanism

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ADMM-based Privacy-Preserving Peer-to-Peer Energy Trading Ne...

Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Zhenwei Guo Jiajian Zhu Haoran Li Haibin Zheng Yujue Wang Research Center of Cyber Science and Technology Hangzhou Innovation Institute Beihang University Hangzhou China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The rapid development of demand response management and distributed energy has promoted the development of P2P energy trading mechanisms, making electricity market participants more active. However, how to prevent private information from being reached by malicious agents during P2P negotiation process is a challenging problem. This paper proposes a privacy protection decentralized optimization method for P2P energy trading based on consensus Alternating Direction Method of Multipliers (ADMM) and Partially Homomorphic Encryption (HE). Firstly, the general model of P2P electricity market and the P2P trading negotiation mechanism based on consensus ADMM are introduced. However, under this mechanism, malicious neighbor agents can collude to steal private information. In order to resist collusion attack, a two-party secure computation mechanism between each pair of agents is designed, and the energy amount and price are updated in a secure way without leaking any private information. The privacy-preserving mechanism can find a trade-off between the convergence efficiency and information security. Finally, the function of the privacy protection negotiation mechanism was simulated in terms of convergence performance, impact on social welfare and computational efficiency.

关键词： Privacy Simulation Optimization methods Electricity supply industry Convex functions Peer-to-peer computing Computational efficiency

LCA-based Multi-scenario Study on Steel or Aluminum Wheel Hub for Passenger Vehicles 30

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LCA-based Multi-scenario Study on Steel or Aluminum Wheel Hu...

30th CIRP Life Cycle Engineering Conference, LCE 2023

作者： Gao, Lu Wang, Zhihui Wang, Yanan Peng, Tao Liu, Weipeng Tang, Renzhong State Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province Zhejiang University Hangzhou310058 China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310058 China School of Engineering Zhejiang University City College Hangzhou310015 China

Lightweighting is one of the enabling techniques for energy saving and carbon reduction in the automotive industry. However, the life cycle performance of lightweight components remains unclear. Wheel hub is an important component, and its trend of replacing steel with aluminum is happening. Based on life cycle assessment and using ReCiPe model, this paper reports a cradle-to-grave study on the environmental impact of steel and aluminum wheel hub in passenger vehicles. Considering multi-scenario in the Chinese market, it is found that when the service life of passenger vehicle is less than 5.6 years, steel wheel hub is more environmental-friendly, and when the service life is less than 8.6 years, steel wheel hub also has more economic advantages. Combining different lightweight methods and different types of vehicles, it is found that structural optimization reduces the environmental impact of per unit weight mostly, process optimization reduces the life cycle environmental impact of wheel hub, and using lightweight steel wheel hub in electric vehicles has more potential in environmental benefits. some suggestions are, 1) to choose wheel hub that matches your actual usage to enjoy more environmental-economic advantages;2) to prioritize structural-process integrated optimization for lightweight wheel hub;and 3) to use more lightweight components in electric vehicles. © 2023 The Authors. Published by Elsevier B.V.

关键词： Environmental impact

A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic Manipulator for Micro-Manipulations

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A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic...

International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

作者： Xingwen Zheng Hao Mo Haoran Yao Fumihito Arai Department of Mechanical Engineering The University of Tokyo Tokyo Japan State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Department of Control Science and Engineering Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Bioengineering The University of Tokyo Tokyo Japan

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

This paper presents a centimeter-scale robotic manipulator fabricated using 3D printing technology. It consists of three mechanisms: a grasping mechanism, an RCM (remote center of motion) function mechanism, and a rotational mechanism, actuated by bellows-driven soft pneumatic actuators. Thus, the robotic manipulator enables the grasping of tools for micro-manipulations and the 2-DOF orientation adjustment of the tools, including the rotation around the axis of the rotational mechanism (0° - 45°) and the rotation around an RCM (−10° - 10°). Finally, one 5-DOF robotic manipulation system consisting of the 2-DOF rotational centimeter-scale robotic manipulator and one 3-DOF translational external manipulator (moving speed ~ 500 μm/s) was used to conduct micro-manipulations, in which a printed needle was grasped to carve the desired trajectory on the agar (gel strength ~ 650 g/cm 2 ) resembling biological tissues. the external manipulator controlled the displacement of the needle while the robotic manipulator adjusted the orientation of the needle insertion into the agar. Results showed that the 5-DOF robotic manipulation system had mechanical stability while achieving micron-level accuracy (200 μm) in the micro-manipulation task.

关键词： Pneumatic actuators 5-DOF 2-DOF Grasping Pneumatic systems Manipulators Needles

Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

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Science China(Information Sciences) 2020年第7期63卷 98-112页

作者： Mantian LI Zeguo YANG Fusheng ZHA Xin WANG Pengfei WANG Ping LI Qinyuan REN Fei CHEN State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Academy of Aerospace Technology Key Laboratory of Industrial Control Technology Zhejiang University

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

关键词： mobile manipulator whole-body control velocity controlled task priority null-space projection

Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

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Forming Circle Formations of Multi-agent Systems Under Actu...

5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems