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第41届中国控制会议

作者： Shanshan Fu Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is aimed at the second-order linear multi-agent formation *** to the failure of the actuator in a node,the wrong interactive information is transmitted between nodes,so that the entire system cannot complete the expected task.A distributed adaptive fault isolation and fault tolerance method based on consistency theory is *** the consistency error variable is designed according to the connection relationship between nodes and the faulty node,which eliminates the influence of the faulty node on the neighbor ***,an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor *** stability of the designed approach is proved by constructing a reasonable Lyapunov *** results show that the proposed adaptive control approach has good robustness.

关键词： Fault Isolation Adaptive control Fault Tolerant control Uniformity

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Improved Model-Predictive Current control of Permanent Magnet Synchronous Motor Drives with Designed Cost Function 41

Improved Model-Predictive Current Control of Permanent Magne...

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第41届中国控制会议

作者： Yi Yang Wei Shen Dan Li Luwei Shao State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Model predictive current control(MPCC) is widely applied in electrical drives and power electronics because of its simplicity and ***,steady-state errors are always present because of the inaccurate prediction induced by changing actual *** paper proposes a simple strategy for improving MPCC performance,which reduces steadystate errors and eliminates the additional prediction *** cost function,which is made up of tracking mistakes,is used in MPCC to choose the best switching *** paper introduces a new cost function that also includes actual current *** is a coefficient of actual current errors that enhances the appropriateness of permanent magnet synchronous motor(PMSM) *** results show superior performance of the proposed MPCC to that of conventional MPCC.

关键词： PMSM MPCC Cost function Current errors

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LAUNet:A Latent Action Units Network for Facial Expression Recognition 41

LAUNet:A Latent Action Units Network for Facial Expression R...

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第41届中国控制会议

作者： Junlin Zhang Kaoru Hirota Yaping Dai Sijie Yin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The inter-class similarity of facial expressions is one of the key challenges in Facial Expression Recognition(FER).In this manuscript,a Latent Facial Action Units Network(LAUNet) is proposed for the problem of inter-class similarity of facial expressions in *** proposed method recognizes subtle differences between facial expressions by learning Latent Facial Action Units Features(LAUFs).Specifically,LAUNet is composed of two parts:the Latent Facial Action Units Features Extraction Network(LEN) and the Latent Facial Action Units Selection Network(LSN).Firstly,LEN extracts LAUFs from the feature map of the backbone using the spatial attention ***,taking advantage of the channel attention mechanism,LSN captures the latent relationships between features from LAUFs to select effective features for *** are performed on the dataset after removing the invalid data of non-face images from the original FER2013 *** with some previous state-of-the-art methods,LAUNet achieves the highest accuracy rate of 71.31%.Depending on the backbone,LAUNet can improve the accuracy by up to 5.46% compared to the original architecture of the backbone.

关键词： Facial Expression Recognition Attention Mechanism Computer Vision

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Robust Model Predictive control for PMSM Drives Against Parameter Mismatch 41

Robust Model Predictive Control for PMSM Drives Against Para...

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第41届中国控制会议

作者： Luwei Shao Wei Shen Fan Li Chuanyu Ge State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an advanced control method of permanent magnet synchronous motor(PMSM),finite control set model predictive control(FCS-MPC) has earned widespread attention for its advantages of intuitive concept,splendid dynamic performance and capability of handling the constraints and ***,the dependence on the model parameter accuracy is the main barrier for FCS-MPC to be applied to the industry *** order to solve this issue,this paper presents a robust FCS-MPC against parameter *** proposed strategy utilizes the prediction error in the d-and q-axis currents during the past instant to calculate the compensation which should be added to the predicted currents in the next ***,the cost function in the proportional-integral form is designed as ***,the simulation results and experimental results prove the proposed method's effectiveness in suppressing the influence of model parameter mismatch on the control performance of PMSM.

关键词： permanent magnet synchronous motor finite control set model predictive control parameter mismatch

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An Adversarial Video Moment Retrieval Algorithm 41

An Adversarial Video Moment Retrieval Algorithm

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第41届中国控制会议

作者： Mohan Jia Zhongjian Dai Yaping Dai Zhiyang Jia School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In one-stage methods for video moment retrieval,the common representations indirectly supervised by boundary prediction fail to fully preserve the inherent characteristic of the video and query,which limits the retrieval *** solve this problem,an Adversarial Video Moment Retrieval(AVMR) algorithm is proposed to learn the common representations with modality invariance and cross-modal *** is implemented through the process of adversarial learning between a feature projector and a modality *** feature projector tries to generate a modality-invariant common representation and to confuse the modality *** modality classifier tries to discriminate between different modalities based on the generated representation by the feature *** triplet constraints are further imposed on the feature projector to preserve the underlying cross-modal semantic structure of *** experimental results show that AVMR surpasses the baseline Attentive Cross-modal Relevance Matching(ACRM) by 1.10% and 1.73% in the "mIoU" metric on two public datasets Charades-STA and TACoS,respectively.

关键词： Video Moment Retrieval Cross-modal Retrieval Deep learning Adversarial Learning

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Semantic Coherence Guided Multiview Similarity for Image Classification with Varied Supervision

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第6期5卷 3072-3082页

作者： Zhang, Chunjie Cao, Ping Bai, Huihui Zheng, Xiaolong Beijing Jiaotong University Institute of Information Science Beijing100044 China Beijing Jiaotong University Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China University of Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems The State of Key Laboratory of Management and Control for Complex System Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100190 China

Pairwise similarity has been widely used for image classification by propagating the class information from labeled images to unlabeled images and predicting the classes of unlabeled images accordingly. Although widely used, pairwise similarity based classification methods have two drawbacks. On one hand, visual-semantic similarity consistency does not always hold due to semantic gap. On the other hand, the reliability of pairwise similarity is also influenced by the number and underlying distribution of labeled images. A well-designed classification model cannot be easily generalized to few-shot classification tasks. To solve these two problems, in this article, we propose a semantic coherence guided multiview similarity (SCG-MV) for image classification method with varied supervision levels. We measure the semantic coherence between image pairs for classifier learning. This is achieved by first conducting line search along the line segment between each image pair, and then measure the semantics of each interval. The similarity of one image pair can then be obtained by aggregating the semantic coherence of all the intervals. In this way, we can model image similarities more finely and discriminatively. To make use of multiview information, we also use the semantic coherence guided image similarities to learn multiview classifiers. The proposed semantic coherence guided method can be combined with other similarity based methods for image classification with various levels of supervision. We conduct both few-shot and fully supervised classification experiments on four datasets with the results well prove the discriminative power and generalization ability of the proposed method. © 2020 IEEE.

关键词： Semantics

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Development and control of Underwater Gliding Robots:A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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Relaxed Stability Criteria for Time-Delay systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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Deep Learning-based Moving Object Segmentation:Recent Progress and Research Prospects

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Machine Intelligence Research 2023年第3期20卷 335-369页

作者： Rui Jiang Ruixiang Zhu Hu Su Yinlin Li Yuan Xie Wei Zou College of Information Engineering Shanghai Maritime UniversityShanghai201306China School of Computer Science and Technology East China Normal UniversityShanghai200062China Research Center of Precision Sensing and Control Institute of AutomationChinese Academy of SciencesBeijing100190China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China

Moving object segmentation(MOS),aiming at segmenting moving objects from video frames,is an important and challenging task in computer vision and with various *** the development of deep learning(DL),MOS has also entered the era of deep models toward spatiotemporal feature *** paper aims to provide the latest review of recent DL-based MOS methods proposed during the past three ***,we present a more up-to-date categorization based on model characteristics,then compare and discuss each category from feature learning(FL),and model training and evaluation *** FL,the methods reviewed are divided into three types:spatial FL,temporal FL,and spatiotemporal FL,then analyzed from input and model architectures aspects,three input types,and four typical preprocessing subnetworks are *** terms of training,we discuss ideas for enhancing model *** terms of evaluation,based on a previous categorization of scene dependent evaluation and scene independent evaluation,and combined with whether used videos are recorded with static or moving cameras,we further provide four subdivided evaluation setups and analyze that of reviewed *** also show performance comparisons of some reviewed MOS methods and analyze the advantages and disadvantages of reviewed MOS methods in terms of ***,based on the above comparisons and discussions,we present research prospects and future directions.

关键词： Moving object segmentation(MOS) change detection background subtraction deep learning(DL) video understanding

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