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Optimizing Polynomial-Time Solutions to a Network Weighted Vertex Cover Game

IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 512-523页

作者： Jie Chen Kaiyi Luo Changbing Tang Zhao Zhang Xiang Li the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004 Yuxi Middle School Taizhou 317399China IEEE the College of Physics and Electronics Information Engineering Zhejiang Normal UniversityJinhua 321004China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004China the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433 the Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201210China

Weighted vertex cover(WVC)is one of the most important combinatorial optimization *** this paper,we provide a new game optimization to achieve efficiency and time of solutions for the WVC problem of weighted *** first model the WVC problem as a general game on weighted *** the framework of a game,we newly define several cover states to describe the WVC ***,we reveal the relationship among these cover states of the weighted network and the strict Nash equilibriums(SNEs)of the ***,we propose a game-based asynchronous algorithm(GAA),which can theoretically guarantee that all cover states of vertices converging in an SNE with polynomial ***,we improve the GAA by adding 2-hop and 3-hop adjustment mechanisms,termed the improved game-based asynchronous algorithm(IGAA),in which we prove that it can obtain a better solution to the WVC problem than using a the ***,numerical simulations demonstrate that the proposed IGAA can obtain a better approximate solution in promising computation time compared with the existing representative algorithms.

关键词： Game-based asynchronous algorithm(GAA) game optimization polynomial time strict Nash equilibrium(SNE) weighted vertex cover(WVC)

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Safe Risk-Averse Bayesian Optimization for controller Tuning

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IEEE Robotics and Automation Letters 2023年第12期8卷 8208-8215页

作者： Konig, Christopher Ozols, Miks Makarova, Anastasia Balta, Efe C. Krause, Andreas Rupenyan, Alisa Inspire Ag Control and Automation Group Zurich8005 Switzerland Eth Zurich Automatic Control Laboratory Zurich8092 Switzerland Eth Zurich Learning & Adaptive Systems Group Zurich8092 Switzerland Zhaw Zurich University of Applied Sciences Zhaw Centre for Artificial Intelligence Winterthur8400 Switzerland

controller tuning and parameter optimization are crucial in system design to improve both the controller and underlying system performance. Bayesian optimization (BO) has been established as an efficient model-free method for controller tuning and adaptation. Standard methods, however, are not enough for high-precision systems to be robust with respect to unknown input-dependent noise and stable under safety constraints. In this work, we present a novel data-driven approach, RAGoOSe, for safe controller tuning in the presence of heteroscedastic noise, combining safe learning with risk-averse Bayesian optimization. We demonstrate the method for synthetic benchmark and compare its performance to established BO-based tuning methods. We further evaluate RaGoose performance on a real precision-motion system utilized in semiconductor industry applications and compare it to the built-in auto-tuning routine. © 2016 IEEE.

关键词： Benchmarking

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Comparison of Methods to Design Parametric Uncertainty Compensator for adaptive control System of Quadrotor Euler Angles

Comparison of Methods to Design Parametric Uncertainty Compe...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Danila, Lavrinenko Anton, Glushchenko Konstantin, Lastochkin National Research University of Electronic Technology Miet Institute of Micro Devices and Control Systems Moscow Russia V.A. Trapeznikov Institute of Control Sciences of Ras Ya.Z. Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9798350345551

Using a mathematical model of a quadrotor, the Euler angle dynamics equations are analyzed to obtain a linear regression that describes the plant parametric uncertainty. Based on this representation, model reference adaptive control systems with both adjustable baseline controller and uncertainty compensator based on (i) a linear regression and (ii) a neural network are designed. Asymptotic stability of the augmented tracking error is proved for both systems. The results of numerical experiments demonstrate that the neural-network-based compensator, in contrast to the linear-regression-based one, copes with the matched uncertainty that is not included in the original description of the plant. © 2023 IEEE.

关键词： Model reference adaptive control

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Quadrotor control under Prespecified State-Space Bounds 6

Quadrotor Control under Prespecified State-Space Bounds

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Kuznetsov, Mikhail Vrazhevsky, Sergey Kopysova, Eseniya Itmo University Department of Control Systems and Informatics Saint-Petersurg Russia Itmo University Laboratory of Adaptive and Intelligent Control of Networked and Distributed Systems Ipme Ras Department of Control Systems and Informatics Saint-Petersurg Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

The article suggests a robust control algorithm for a quadrotor tracking control problem considering a linearised quadrotor model. The main achievement obtained is a controller with a guarantee of finding output signals within the boundaries given by differentiable functions. The proposed method is used for a quadcopter model separately for each degree of freedom. The results are verified using computer simulation. © 2022 IEEE.

关键词： Robust control

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Nonlinear Suboptimal Robust control for Twin Rotor MIMO System 6

Nonlinear Suboptimal Robust Control for Twin Rotor MIMO Syst...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Vrazhevsky, Sergey Kopysova, Eseniya Kuznetsov, Mikhail Itmo University Laboratory of Adaptive and Intelligent Control of Networked and Distributed Systems Ipme Ras Department of Control Systems and Informatics Saint Petersburg Russia Itmo University Department of Control Systems and Informatics Saint Petersburg Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

The article deals with a problem of suboptimal stabilization for a nonlinear plant under disturbances presence with application to a laboratory setup 'Twin Rotor MIMO System' (TRMS). First, a complete nonlinear model of TRMS is considered and linearized using feedback linearization technique. Then, a Linear Quadratic Regulator is applied to obtain a stable closed-loop system with prespecified cost function minimization for the case when no disturbances affect the system. At the last step of algorithm synthesis, unknown bounded disturbances are taken into account, and a specialized dynamical system called 'auxiliary loop' is defined to compensate disturbances and ensure convergence of the closed-loop system solutions to the optimal case. © 2022 IEEE.

关键词： Robust control

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Pole Placement Optimization for Disturbance Rejection in Discrete-Time systems 16

Pole Placement Optimization for Disturbance Rejection in Dis...

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16th International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference), STAB 2022

作者： Alexandrov, Vadim V.A. Trapeznikov Institute of Control Sciences of RAS Ya Z Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9781665465861

The control design problem for LTI SISO discrete time system is considered. The controller that minimizes the load sensitivity function H∞ norm, subject to such requirements for the system quality as the stability margin, the noise sensitivity function H∞ norm limiting, damping ratio and the maximum time constant of the system, is found using the optimization procedure, where the variables form the roots of the closed-loop system characteristic polynomial. © 2022 IEEE.

关键词： Disturbance rejection

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Linear-Quadratic Regulator for Quadcopter Altitude with control Filtering 16

Linear-Quadratic Regulator for Quadcopter Altitude with Cont...

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16th International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference), STAB 2022

作者： Alexandrov, Vadim Rezkov, Ilya V.A. Trapeznikov Institute of Control Sciences of RAS Ya Z. Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9781665465861

The problem of linear-quadratic regulator design, where a state feedback is supplemented by integral action, is considered. The regulator structure includes a derivative of control to reduce the impact of measurement noise. The application of such regulator for a quadcopter altitude control is investigated. The results of an experimental flight are presented, which confirm the effectiveness of the approach. © 2022 IEEE.

关键词： Altitude control

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Neural Network-based Direct Model Reference adaptive control of Quadrotor Attitude 16

Neural Network-based Direct Model Reference Adaptive Control...

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16th International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference), STAB 2022

作者： Glushchenko, Anton Lastochkin, Konstantin V.A. Trapeznikov Institute of Control Sciences of RAS Ya Z. Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9781665465861

The scope of this research is to develop a model reference adaptive control system of a quadrotor attitude. Unlike many known papers, the plant parametric uncertainties are taken into consideration, and their explicit equation is obtained for the Euler angles control loops. It is a linear regression with nonlinear elements in both the regressor vector and time-varying parameters matrix. Having analyzed such an equation, a neural network is chosen to compensate for the uncertainty, and a mathematically sounded set of its inputs is defined. The adaptive laws to adjust the network parameters are derived, and the asymptotic convergence of the tracking error is shown. A Parrot Mambo quadrotor model is used as a testbed. The proposed system has reduced the sum of squared errors between the setpoint and Euler angles compared to k^{x}x+k^{r}r controller. © 2022 IEEE.

关键词： Attitude control

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Nonlinear control Law Design for Overhead Crane to Supress Load Oscillations 5

Nonlinear Control Law Design for Overhead Crane to Supress L...

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5th International Conference on control systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Petrov, Vladislav Glushchenko, Anton Vorobyev, Vladislav Lastochkin, Konstantin NUST MISIS Department of Automated and Information Control Systems N.a. Y.I. Eremenko Stary Oskol Russia Institute of Control Sciences of RAS N.a. V.A. Trapeznikov Adaptive and Robust Systems Laboratory N.a. Ya.Z. Tsypkin Moscow Russia

ISBN: (纸本)9798350309126

The problems of trolley position tracking and stabilization of the suspended load are solved simultaneously for an overhead crane. The model of the trolley-pendulum system is derived. To solve the problem under consideration, a nonlinear control law is designed using the second Lyapunov method, which guarantees asymptotic stability of the control error. The derived law is validated via numerical experiments. The obtained results corroborate the effectiveness of the proposed solution. © 2023 IEEE.

关键词： Lyapunov functions

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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