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63rd IEEE Conference on Decision and control, CDC 2024

作者： Vlahakis, Eleftherios E. Lindemann, Lars Sopasakis, Pantelis Dimarogonas, Dimos V. Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden University of Southern California Viterbi School of Engineering Department of Computer Science Los AngelesCA90089 United States Queen's University School of Electronics Electrical Engineering and Computer Science Northern Ireland Belfast United Kingdom

ISBN: (纸本)9798350316339

We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into deterministic and error components, we construct a probabilistic reachable tube (PRT) as the Cartesian product of reachable sets of the individual error systems driven by disturbances lying in confidence regions (CRs) with a fixed probability. By bounding the PRT probability with the specification probability, we tighten all state constraints induced by the STL specification by solving tractable optimization problems over segments of the PRT, and relax the underlying stochastic problem with a deterministic one. This approach reduces conservatism compared to tightening guided by the STL structure. Additionally, we propose a recursively feasible algorithm to attack the resulting problem by decomposing it into agent-level subproblems, which are solved iteratively according to a scheduling policy. We demonstrate our method on a ten-agent system, where existing approaches are impractical. © 2024 IEEE.

关键词： Stochastic systems

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Distributed Nash equilibrium for pursuit-evasion game with one evader and multiple pursuers

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Science China(Information Sciences) 2025年

作者： Libing WANG Zhixin LIU Shuo YUAN Zhiqiang PU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Wayne State University Institute of Automation Chinese Academy of Sciences

This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.

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Reference Model Design in Multiple Timescale Adaptive control

Reference Model Design in Multiple Timescale Adaptive Contro...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Eves, Kameron Valasek, John Electrical and Computer Engineering Engineering Department Utah Tech University Saint GeorgeUT84770 United States Vehicle Systems and Control Laboratory Aerospace Engineering Department Texas A and M University College StationTX77843-3141 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The method [K]control of Adaptive Multiple-timescale systems (KAMS) has been used as a method of adaptive control for systems with states that evolve at vastly different rates and with uncertain parameters. Prior research on KAMS has shown a relationship between the asymptotic behavior of the reference models and the behavior of the full-order closed-loop system. Poor reference model design can cause steady-state error or instability even if that reference model is acceptable in a single timescale context, due to adverse feedback between the reference models and the fast-state manifold. This paper simplifies KAMS control design and provides insight into multiple timescale reference models by identifying design considerations for the fast and slow reference models. For fast reference models, it is shown that the stability proofs used in KAMS control design necessarily require the manifold to be an asymptotically stable equilibrium of the fast reference model, despite prior work that allowed other possibilities. In the case of a slow reference model that is not asymptotically stable to its reference signal, it is common for the inner connection conditions to be dependent on the reference signal. This can cause the interconnection conditions to be ill-formatted for the application of the stability proofs used in KAMS control design. This paper addresses that case and proposes the use of Raffoul’s condition as a method to prove stability in the sense of Lyapunov. A linear quadrotor attitude stabilization problem is used as a framework for the slow reference model analysis. Results presented in the paper show that 1) the asymptotic stability of the fast reference model is a necessary condition for the KAMS stability proofs used in prior work and 2) Raffoul’s condition is a sufficient condition for Lyapunov sense stability even when the inner connection conditions are ill-formatted for the KAMS stability proofs used in prior work. © 2025, American Institute of Aeronautics

关键词： Model reference adaptive control

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Lightweight Direct Memory Access on FPGA Using AXI Protocol

Lightweight Direct Memory Access on FPGA Using AXI Protocol

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2023 Congress in computer Science, computer engineering, and Applied Computing, CSCE 2023

作者： Kidwell, Adam Horvath, Matthew P. Hanna, Darrin Jones, Bryant Oakland University Dept. of Electrical and Computer Engineering Rochester HillsMI United States Intrepid Control Systems TroyMI United States

ISBN: (纸本)9798350327595

This paper presents a lightweight AXI DMA controller architecture useful for embedded systems that do not require fully featured DMA controllers. Simulation is accomplished with VUnit, and implementation results are obtained on a Xilinx XC7Z010CLG400-1 FPGA. When compared with Xilinx's AXI DMA controller with the same configuration, the presented controller utilizes between 16 and 82% fewer resources with comparable speed. © 2023 IEEE.

关键词： AXI DMA Embedded systems FPGA

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Named Entity Recognition in Chinese Medical Texts Based on RoBERTa-WWM-IDCNN-CRF 25

Named Entity Recognition in Chinese Medical Texts Based on R...

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Tang, Lan Kong, Jie Xu, Liang Xi'an Shiyou University School of Computer Xi'an China Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin China

ISBN: (纸本)9798350366600

Electronic medical records and doctor-patient conversations contain a wealth of useful information, such as disease symptoms, drug names, and cure cycles. Traditional deep learning approaches utilize bidirectional recurrent neural networks to encode text, which cannot effectively capture long-distance dependencies in text. In order to identify medical entity types in various texts more accurately, a named entity recognition approach based on RoBERTa-WWM-IDCNN-CRF is proposed. This approach introduces the RoBERTa-WWM pre-trained model, in order to improve the overall understanding of long Chinese texts for the first time. The model generates semantic representations containing prior knowledge. Then, the generated semantic representations are feed to the IDCNN to extract sentence level characteristics. Finally, the global optimal solution is obtained and the results of the named entity are produced through the CRF. The experiment indicates that the improvement of F1 score, accuracy, and recall of RoBERTa-WWM-IDCNN-CRF model are 7.94%, 4.52% and 10.02% comparing with the classical BiLSTM-CRF model. © 2024 IEEE.

关键词： Convolutional neural networks

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Finite Sample Analysis for a Class of Subspace Identification Methods 63

Finite Sample Analysis for a Class of Subspace Identificatio...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： He, Jiabao Ziemann, Ingvar Rojas, Cristian R. Hjalmarsson, Hakan Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden University of Pennsylvania PhiladelphiaPA19104 United States

ISBN: (纸本)9798350316339

While subspace identification methods (SIMs) are appealing due to their simple parameterization for MIMO systems and robust numerical realizations, a comprehensive statistical analysis of SIMs remains an open problem, especially in the non-asymptotic regime. In this work, we provide a finite sample analysis for a class of SIMs, which reveals that the convergence rates for estimating Markov parameters and system matrices are O(1 / SN), in line with classical asymptotic results. Based on the observation that the model format in classical SIMs is non-causal because of a projection step, we choose a parsimonious SIM that bypasses the projection step and strictly enforces a causal model to facilitate the analysis, where a bank of ARX models are estimated in parallel. Leveraging recent results from a finite sample analysis of an individual ARX model, we obtain a union error bound for an array of ARX models and proceed to derive error bounds for system matrices using robustness results for the singular value decomposition. © 2024 IEEE.

关键词： Singular value decomposition

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Fractional-order binary bat algorithm for feature selection on high-dimensional microarray data

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Journal of Ambient Intelligence and Humanized Computing 2023年第6期14卷 7453-7467页

作者： Esfandiari, Ahmad Farivar, Faezeh Khaloozadeh, Hamid Department of Computer and Mechatronics Engineering Science and Research Branch Islamic Azad University Tehran Iran Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Seyed-Khandan Shariati Ave. Tehran16317-14191 Iran

High-dimensional microarray data suffer from the confounding effects of irrelevant, redundant and noisy genes on the scalability and efficiency of classification algorithms. In order for an effective dimensionality reduction and the selection of informative genes, this paper introduces a novel approach using fractional calculus concepts. This study proposes a modified version of binary the bat algorithm named fractional-order binary bat algorithm (FBBA) able to control the convergence process using more historical memory of bat behaviors. The gene selection technique contains a two-stage hybrid filter/wrapper method which employs a new correlation-based feature clustering (CFC) algorithm in the filter stage and the FBBA in the wrapper stage. The CFC-FBBA is evaluated on ten microarray gene expression datasets by employing the support vector machine classifier with a k-fold Monte Carlo cross validation data partitioning model. Furthermore, the results show that the CFC-FBBA, while minimizing the size of the gene subset, achieves the highest classification accuracy in most cases compared to several state-of-art hybrid techniques. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Classification (of information)

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Tabular Dyna-Q Algorithm for Online Calculation of LQR Gains: A Simulation Study 9

Tabular Dyna-Q Algorithm for Online Calculation of LQR Gains...

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9th International Conference on engineering and Emerging Technology, ICEET 2023

作者： Farooghi, Kian Samadi, Mahdieh Khaloozadeh, Hamid K. N. Toosi University of Technology Department of Systems and Control Tehran Iran University of Tabriz Faculty of Electrical and Computer Engineering Tabriz Iran

ISBN: (纸本)9798350316926

This paper presents a novel approach for the online calculation of Linear Quadratic Regulator (LQR) gains using the Tabular Dyna-Q algorithm. By leveraging Q-learning, this technique enables the determination of gains for unknown dynamic systems by using input-output data only. The proposed algorithm is particularly advantageous for situations where acquiring input-output data is expensive or time-consuming, as it effectively reduces computation time by reusing previous data. To validate the accuracy of the calculations and control scheme, a simulation example is provided. The results indicate the effectiveness of the Tabular Dyna-Q algorithm in accurately computing LQR gains and its potential application in real-world scenarios. This research contributes to advancing the field of control theory by offering an efficient and reliable method for online gain calculation in dynamic systems. © 2023 IEEE.

关键词： Reinforcement learning

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Learning Communities from Equilibria of Nonlinear Opinion Dynamics 63

Learning Communities from Equilibria of Nonlinear Opinion Dy...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Xing, Yu Bizyaeva, Anastasia Johansson, Karl H. Kth Royal Institute of Technology and with Digital Futures Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm Sweden Cornell University Sibley School of Mechanical and Aerospace Engineering IthacaNY United States

ISBN: (纸本)9798350316339

This paper studies community detection for a nonlinear opinion dynamics model from its equilibria. It is assumed that the underlying network is generated from a stochastic block model with two communities, where agents are assigned with community labels and edges are added independently based on these labels. Agents update their opinions following a nonlinear rule that incorporates saturation effects on interactions. It is shown that clustering based on a single equilibrium can detect most community labels (i.e., achieving almost exact recovery), if the two communities differ in size and link probabilities. When the two communities are identical in size and link probabilities, and the intercommunity connections are denser than intra-community ones, the algorithm can achieve almost exact recovery under negative influence weights but fails under positive influence weights. Utilizing fixed point equations and spectral methods, we also propose a detection algorithm based on multiple equilibria, which can detect communities with positive influence weights. Numerical experiments demonstrate the performance of the proposed algorithms. © 2024 IEEE.

关键词： Nash equilibrium

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Adaptive Sampling of Algal Blooms Using an Autonomous Underwater Vehicle and Satellite Imagery

Adaptive Sampling of Algal Blooms Using an Autonomous Underw...

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2023 IEEE Conference on control Technology and Applications, CCTA 2023

作者： Fonseca, Joana Rocha, Alexandre Aguiar, Miguel Johansson, Karl H. Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science and Digital Futures StockholmSE-100 44 Sweden

ISBN: (纸本)9798350335446

This paper proposes a method that uses satellite data to improve adaptive sampling missions. We find and track algal bloom fronts using an autonomous underwater vehicle (AUV) equipped with a sensor that measures the concentration of chlorophyll a. Chlorophyll a concentration indicates the presence of algal blooms. The proposed method learns the kernel parameters of a Gaussian process model using satellite images of chlorophyll a from previous days. The AUV estimates the chlorophyll a concentration online using locally collected data. The algal bloom front estimate is fed to the motion control algorithm. The performance of this method is evaluated through simulations using a real dataset of an algal bloom front in the Baltic. We consider a real-world scenario with sensor and localization noise and with a detailed AUV model. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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