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Observer-based event-triggered formation tracking control for second-order multi-agent systems in constrained region

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Science China(Information Sciences) 2025年第2期68卷 151-169页

作者： Fenglan SUN Zhonghua XU Wei ZHU ■ KURTHS Key Lab of Intelligent Analysis and Decision on Complex Systems School of ScienceChongqing University of Posts and Telecommunications Key Lab of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of Complexity Science Potsdam Institute for Climate Impact Research Institute of Physics Humboldt University of Berlin

In this paper, an event-triggered time-varying formation tracking control for a class of second-order nonlinear multiagent systems(MAS) operating within a constrained region is investigated. To mitigate the negative effects of external unknown disturbance, a novel disturbance observer with performance guarantees is proposed, enabling precise disturbance *** the artificial potential field(APF) method, a repulsive potential function is introduced to prevent inter-agent collisions as well as collisions with environmental obstacles. To reduce continuous communication and frequent system updates, a sliding mode technique is incorporated into the formation tracking controller, utilizing an event-triggered mechanism. The controller is also applicable to the formation control of MAS in switching-constrained regions. The achievement of the specified timevarying geometric formation is rigorously demonstrated through the Lyapunov framework. Numerical simulations are presented to validate the effectiveness of the theoretical results.

关键词： formation tracking control region constraints repulsive potential function event-triggered mechanism

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Identification for Switched systems

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IFAC-PapersOnLine 2015年第28期48卷 514-519页

作者： Hu, Qiong Fei, Qing Ma, Hongbin Wu, Qinghe Geng, Qingbo State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

For a class of unstable discrete-time multi-variable switched systems with parametric uncertainty, an identification scheme is developed in this paper. Specifically, the identification algorithm is derived to identify the parameter vectors of potential subsystems based on the idea of least geometric mean squares. Furthermore, an neural network classifier is put forward for partition of the identified subsystems. Finally, feasibility and effectiveness of the proposed identification scheme are verified by numerical simulations, which show that the desirable identification performance is guaranteed with the proposed scheme. © 2015

关键词： Parameter estimation Computational fluid dynamics Geometric mean Identification algorithms Identification scheme Multi variables Neural network classifier Parameter vectors Parametric uncertainties Switched system

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Understanding the Influence of Random Impulse Noise on Visual SLAM 41

Understanding the Influence of Random Impulse Noise on Visua...

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第41届中国控制会议

作者： Nan Zhang Zhihong Peng Wei Quan School of Automation Beijing Institute of Technology Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The localization accuracy of visual SLAM depends on the image ***,in postdisaster rescue missions,the images obtained by the camera often contain considerable noise,which affects the pose estimation based on visual *** this paper,we study the influence of random impulse noise in images on the localization accuracy of visual SLAM,and reduce these influences by denoising and removing ***,the camera image is preprocessed by the traditional image noise reduction *** at the problem of a large number of mismatches in optical flow tracking due to the influence of residual noise,the improved random sample consensus method is adopted to remove *** judge the correct matching probability of optical flow tracking results by normalized cross-correlation matching before random *** use guided sampling to select matching points to estimate the camera motion model,to increase the robustness of the SLAM ***,our method is verified in the open-source solution *** show that after random impulse noise is added to the KITTI dataset,the pose estimation accuracy of the improved SLAM is higher than the pose estimation accuracy after noise reduction only,and it is also higher than the pose estimation results of the original images in multiple sequences of the KITTI dataset.

关键词： Visual SLAM Denoise NCC

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Distilling Siamese Trackers with Attention Mask 41

Distilling Siamese Trackers with Attention Mask

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第41届中国控制会议

作者： Han Sun Yongqiang Bai Wenbo Zhang State Key Lab of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge *** distillation is a common and effective model compression method,but it is difficult to be applied to the challenging task like object *** find out the fundamental cause is that the imbalance between the foreground and background in the object tracking task,which aggravates the problem of insufficient feature extraction ability of small ***,we propose the attention mask distillation(AMD) to help the student tracker focus on the foreground area faster and more *** attention mask can be easily obtained from the feature maps and brings fine-granularity to the traditional binary *** experimental results on OTB100 and VOT2018 show that our method enables the student tracker perform as well as the teacher *** the same time,it's able to run on the CPU at a hyper-real-time of 66 fps and achieves nearly 9 times model compression *** low computational and storage costs make it possible to deploy high-performance trackers on resource-constrained platforms.

关键词： Object Tracking Siamese Network Knowledge Distillation Attention Mask

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Boosting Black-Box Adversarial Attacks with Meta Learning 41

Boosting Black-Box Adversarial Attacks with Meta Learning

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第41届中国控制会议

作者： Junjie Fu Jian Sun Gang Wang Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Deep neural networks(DNNs) have achieved remarkable success in diverse ***,it has been demonstrated that DNNs are very vulnerable to adversarial examples even in black-box settings.A large number of black-box attack methods have been proposed to in the ***,those methods usually suffer from low success rates and large query counts,which cannot fully satisfy practical *** this paper,we propose a hybrid attack method which trains meta adversarial perturbations(MAPs) on surrogate models and performs black-box attacks by estimating gradients of the *** method uses the meta adversarial perturbation as an initialization and subsequently trains any black-box attack method for several ***,the MAPs enjoy favorable transferability and universality,in the sense that they can be employed to boost performance of other black-box adversarial attack *** experiments demonstrate that our method can not only improve the attack success rates,but also reduces the number of queries compared to other methods.

关键词： Deep neural networks adversarial examples black-box attack meta adversarial perturbation transferability

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A Resilient Data-Driven controller Against DoS Attacks 41

A Resilient Data-Driven Controller Against DoS Attacks

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第41届中国控制会议

作者： Wenjie Liu Jian Sun Gang Wang Jie Chen Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the stabilization problem of linear time-invariant systems under Denial-of-Service(DoS)***,system matrices are unknown,and only some input-output trajectories collected from off-line experiments are ***,in the model-based case,it has been proven that systems equipped with a predictor-based state feedback controller achieve resilience against DoS ***,this is difficult or even impossible to be implemented in the absence of a system model,thus leading to resilient control challenging in the data-based *** maintain resilience against DoS attacks in the data-based case,a data-driven model predictive control(MPC) scheme is proposed such that future system input-output trajectories can be obtained by solving a data-dependent optimal *** this scheme,a data-driven resilient control strategy is developed such that the system achieves the same level of resilience of the DoS attacks as the model-based ***,a numerical example is given to validate the effectiveness of the proposed method.

关键词： Denial-of-service attack data-driven control model predictive control input-to-state stability

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Fully distributed consensus of second-order multi-agent systems using adaptive event-based control

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Science China(Information Sciences) 2018年第12期61卷 199-201页

作者： Wei ZHU Qianghui ZHOU DANDan WANG Gang FENG Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Key Lab of Industrial Internet of Things & Networked Control Ministry of EducationChongqing University of Posts and Telecommunications Department of Mechanical and Biomedical Engineering City University of Hong Kong

Dear editor,In recent years, the distributed consensus of multiagent systems (MASs) has attracted compelling attention because of its potential applications in many fields such as sensor networks, unmanned aerial vehicle (UAV) formation flying, and multiple signals tracking. The central task in the distributed consensus of MASs is to design distributed control protocols to achieve the consensus

关键词： In MAS Fully distributed consensus of second-order multi-agent systems using adaptive event-based control

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Distributed solver for linear matrix inequalities: an optimization perspective

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control Theory and Technology 2021年第4期19卷 507-515页

作者： Weijian Li Wen Deng Xianlin Zeng Yiguang Hong Department of Automation University of Science and Technology of ChinaHefei 230027AnhuiChina Key Lab of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

In this paper,we develop a distributed solver for a group of strict(non-strict)linear matrix inequalities over a multi-agent network,where each agent only knows one inequality,and all agents co-operate to reach a consensus solution in the intersection of all the feasible *** formulation is transformed into a distributed optimization problem by introducing slack variables and consensus ***,by the primal–dual methods,a distributed algorithm is proposed with the help of projection operators and derivative ***,the convergence of the algorithm is analyzed,followed by illustrative simulations.

关键词： Distributed computation Distributed optimization Linear matrix inequalities Primal-dual method

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From Unmanned systems to Autonomous intelligent systems

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Engineering 2022年第5期8卷 16-19页

作者： Jie Chen Jian Sun Gang Wang Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 200092China Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

*** Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century *** that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can *** attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].

关键词： frontier inert policy

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment 43

Photoelectric Intelligent Detection Platform Based on Multif...

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43rd Chinese control Conference, CCC 2024

作者： Xu, Qianjing Chen, Wenjie Xue, Zhijun State Key Lab of Intelligent Control and Decision of Complex Systems Beijing10081 China Beijing Institute of Technology School of Automation Beijing100081 China

ISBN: (纸本)9789887581581

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson Series. The photoelectric intelligent platform can be used to run multiple target detection algorithms after design and implementation. Completed as follows. First of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing box. Secondly, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availability of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing equipment. Overall, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Program debugging

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