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Explicit feedback synthesis driven by quasi-interpolation for nonlinear model predictive control

IEEE Transactions on Automatic control 2025年

作者： Ganguly, Siddhartha Chatterjee, Debasish Indian Institute of Technology Bombay Systems and Control Engineering Mumbai India

We present QuIFS (Quasi-Interpolation driven Feedback Synthesis): an offline feedback synthesis algorithm for explicit nonlinear robust minmax model predictive control (MPC) problems with guaranteed quality of approximation. The underlying technique is driven by a particular type of grid-based quasi-interpolation scheme. The QuIFS algorithm departs drastically from conventional approximation algorithms that are employed in the MPC industry (in particular, it is neither based on multi-parametric programming tools nor does it involve kernel methods), and the essence of its point of departure is encoded in the following challenge-answer approach: Given an error margin ϵ > 0, compute in a single stroke a feasible feedback policy that is uniformly ϵ-close to the optimal MPC feedback policy for a given nonlinear system subjected to constraints and bounded uncertainties. Closed-loop stability guarantees under the approximate feedback policy are also established. We provide a couple of numerical examples to illustrate our results. © 1963-2012 IEEE.

关键词： Predictive control systems

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Data-driven finite-time adaptive attitude tracking control for spacecraft

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Advances in Space Research 2025年第12期75卷 8780-8791页

作者： Wang, Jianhui He, Guangping Bian, Guibin Geng, Shixiong College of Mechanical & Energy Engineering Beijing University Of Technology Beijing100124 China Department of Mechanical and Electrical Engineering North China University of Technology Beijing100144 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This paper proposes a novel data-driven finite-time adaptive control method for the spacecraft attitude tracking control problem with inertial uncertainty. Based on the dynamic regression extension technique, the disturbance unit matrix is introduced, and the parameter estimation law in the form of algebraic equations is presented, which realizes the arbitrarily small convergence of parameter estimation error. The convergence of parameter estimation errors is verified through stability analysis. Globally non-singular fast terminal sliding mode control is designed to achieve finite-time arrival of the sliding surface and convergence of the system state error. The stability analysis of the closed-loop system demonstrates the effectiveness of the proposed method. Furthermore, the effectiveness and superiority of the proposed method are verified through numerical simulations of spacecraft attitude tracking control. © 2025 COSPAR

关键词： Attitude control

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Development of Automatic Cartesian Robot Cannabis Seeder using LabVIEW 10

Development of Automatic Cartesian Robot Cannabis Seeder usi...

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10th International Conference on Digital Arts, Media and Technology and 8th ECTI Northern Section Conference on Electrical, Electronics, Computer and Telecommunications engineering, ECTI DAMT and NCON 2025

作者： Kosarat, Rujipan Sangwai, Keattipoom Wongjan, Anan Rajamangala University of Technology Lanna Faculty of Engineering Department of Software Engineering Chiangmai Thailand Rajamangala University of Technology Lanna Faculty of Engineering Department of Electronic Engineering and Automatic Control Systems Chiangmai Thailand

ISBN: (纸本)9798331543273

This article describes the invention of autonomous cannabis seeding equipment to reduce contamination and planting time. The automated cannabis seeder employs an NI myRIO control board to operate a y-axis stepper motor attached to a ball screw to move along the breadth of each row of 14 seed trays. Soil drilling and burial Drill all holes at the same depth. This promotes seed germination and lowers human-seed germ contamination. These 7 soil drill heads and 7 seeders use 3D printers to design and shape the workpiece. An 800-watt air pump smokes the cannabis seeds. Linear electric motors function in two rows in the z-axis. The buffer reverses the drowning process from row 14 to the first row, starting from the 3rd row and continuing through the final series of steps until 14 rows in the y-axis are complete. The hardware controls all program activities in LabVIEW. We tested the automated cannabis seeding machine 100 times on average, sowing cannabis seeds into 98 seed trays and dropping 93 seeds at 94.80% efficiency in 10.38 minutes. A 16 percent faster machine than human work is available. © 2025 IEEE.

关键词： Stepping motors

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Topology-Driven Attribute Recovery for Attribute Missing Graph Learning in Social Internet of Things

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IEEE Internet of Things Journal 2025年第11期12卷 16298-16313页

作者： Li, Mengran Chen, Junzhou Yu, Chenyun Jiang, Guanying Zhang, Ronghui Shen, Yanming Song, Houbing Herbert Shenzhen Campus of Sun Yat-sen University School of Intelligent Systems Engineering Shenzhen518107 China Baidu Inc Beijing100085 China Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education School of Electronic Information and Electrical Engineering Dalian116024 China Department of Information Systems Baltimore County BaltimoreMD21250 United States

With the advancement of information technology, the Social Internet of Things (SIoT) has fostered the integration of physical devices and social networks, deepening the study of complex interaction patterns. Text Attribute Graphs (TAGs) capture both topological structures and semantic attributes, enhancing the analysis of complex interactions within the SIoT. However, existing graph learning methods are typically designed for complete attributed graphs, and the common issue of missing attributes in Attribute Missing Graphs (AMGs) increases the difficulty of analysis tasks. To address this, we propose the Topology-Driven Attribute Recovery (TDAR) framework, which leverages topological data for AMG learning. TDAR introduces an improved pre-filling method for initial attribute recovery using native graph topology. Additionally, it dynamically adjusts propagation weights and incorporates homogeneity strategies within the embedding space to suit AMGs' unique topological structures, effectively reducing noise during information propagation. Extensive experiments on public datasets demonstrate that TDAR significantly outperforms state-of-the-art methods in attribute reconstruction and downstream tasks, offering a robust solution to the challenges posed by AMGs. The code is available at https://***/limengran98/TDAR. © 2014 IEEE.

关键词： Undirected graphs

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A Zero-Sequence Current Analysis Approach for Rotating Machinery Fault Diagnosis of Induction Motor Drivetrain Based on Sparse Learning

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IEEE Transactions on Power Electronics 2025年第7期40卷 9800-9810页

作者： Liu, Zhao-Hua Long, Jun-Jie Wei, Hua-Liang Liu, Kan Zhang, Ying-Jie Li, Xiao-Hua Hunan University of Science and Technology School of Information and Electrical Engineering Xiangtan411201 China The University of Sheffield School of Electrical and Electronic Engineering Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Hunan University College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Fault diagnosis of rotating machinery driven by induction motors has received increasing attention. Current diagnostic methods, which can be performed on existing inverters or current transformers of three-phase induction machines, have become a more economical and reliable alternative to vibration diagnostic methods. Existing references mainly focus on the stator current analysis of single-phase, but most single-phase current analysis methods utilize only a fraction of the total information accessible in the three-phase system. Field experience shows that zero-sequence current (ZSC) has more distinctive fault characteristics compared to single-phase current, and therefore it is better to use in mechanical fault detection and diagnostic tasks. This article proposes a novel sparse learning-based method for ZSC analysis for induction rotating motor drive fault diagnosis. First, it elaborates and compares the effectiveness of ZSC in revealing fault characteristics compared with single-phase current by analyzing the fault diagnosis mechanism of ZSC. In addition, the method proposes a correlation entropy-enhanced sparse learning method for the problem of high-frequency noise and interference in the ZSC signals, so as to enhance the learning of the features of the noise-containing signals. The diagnostic efficacy of the proposed method has been verified through experiments on two real datasets. © 1986-2012 IEEE.

关键词： Induction motors

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Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

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IEEE Robotics and Automation Letters 2025年第6期10卷 6456-6463页

作者： Sun, Ning Wang, Zelong Cheng, Long Li, Houcheng Niu, Ben Sun, Xijin Li, Ke Shandong Normal University School of Information Science and Engineering Jinan China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing China Shandong University Institute of Intelligent Medical Engineering School of Control Science and Engineering Jinan China

Hand exoskeletons have become increasingly crucial for the rehabilitation of hand function, as relevant studies have shown that using the exoskeletons to assist in rehabilitation training can improve hand motor function. However, developing a human-robot kinematic compatibility exoskeleton while providing sufficient assistance torque is still a challenge. This paper develops a series-parallel self-aligning index finger exoskeleton to assist the index finger in flexion/extension and adduction/abduction training. A series-parallel mechanism driven by two motors simultaneously was proposed for the metacarpophalangeal (MCP) joint, which can ensure human-robot joint axes self-alignment and increase the joint assistance torque. A kinematic compatibility analysis method was proposed, and the kinematic compatibility of the series-parallel mechanism was analyzed. The degrees of freedom and forward kinematics of the proposed mechanism were analyzed, and its workspace was calculated, which results show that the motion range of the MCP joint can meet the grasping training requirements. Preliminary experiments were carried out, and the results indicate that the motion trajectory coefficients of the marker points at the MCP, PIP, and DIP joints averaged for all subjects with and without the proposed exoskeleton are 0.993, 0.956, and 0.939, respectively, which can verify the kinematic transparency of the proposed mechanism. The assistance torque generated by the proposed mechanism on the MCP joint can meet the joint assistance torque requirements. In a word, the proposed exoskeleton can achieve flexion/extension and adduction/abduction training, human-robot joint axes self-alignment, and provide sufficient assistance torque. © 2016 IEEE.

关键词： Exoskeleton (Robotics)

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Silicon Optical Filter With Widely Tunable Bandwidth Driving by Intelligent Algorithms

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Journal of Lightwave Technology 2025年第11期43卷 5358-5365页

作者： Duan, Jiazhu Liu, Cangli Zhang, Dayong Zhao, Xiangjie Liu, Li China Academy of Engineering Physics Institute of Fluid Physics Mianyang621900 China China Academy of Engineering Physics Mianyang621900 China China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Capitalizing two silicon rings assisted a Mach-Zehnder interferometer (MZI) structure, we propose and demonstrate picometer narrowband optical filters featuring widely tunable bandwidths, high extinction ratios and low in-band ripples. By tuning the bandwidth of any ring or the resonance offset between the two rings, the filter bandwidth could be flexibly manipulated. Notably, by controlling the phase of the two rings and the MZI structures, the extinction ratios and shape factors of the filter could be commendably improved. It is worth mentioning that a genetic algorithm is employed to efficiently manipulate the various heaters on the optical filter, enabling the attainment of desired target filtering waveforms. Experimental results demonstrate the filter capability to widely adjust its 3dB-bandwidth while maintaining high extinction ratios, low in-band ripples and favorable shape factors. To the best of our knowledge, it is a record bandwidth tuning range among the algorithm-driven pm-narrowband optical filters. With the dominant advantages and high performance, the proposed optical filters are competent to dynamically process the on-chip narrowband signals. © 1983-2012 IEEE.

关键词： Mach-Zehnder interferometers

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Noncollocated Output Feedback control for the Semilinear Parabolic PDEs Under Input and Output Quantization

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IEEE Transactions on Automatic control 2025年第5期70卷 2934-2947页

作者： Zhao, Xuena Liu, Zhijie Zhang, Shuang Liu, Yu He, Wei University of Science and Technology Beijing Institute of Artificial Intelligence Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Beijing100083 China School of Automation Science and Engineering Engineering Research Center of Precision Electronic Manufacturing Equipment of Ministry of Education Guangzhou510640 China Institute of Artificial Intelligence Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Beijing100083 China School of Automation Beijing102206 China

In the context of increasingly networked control systems, this article concentrates on the noncollocated control issue of input and output quantization for industrial processes governed by semilinear parabolic partial differential equation (PDE) systems. Both the control and measurement signals are quantized and transmitted through the network, which causes signal errors and reduces the stability and robustness of the system. A Luenberger-type PDE observer is developed to overcome the control difficulty of quantized measurement feedback signals and noncollocated pointwise sensors. Based on the observed value, a feedback controller is proposed, which undergoes quantization and operates on the distributed actuators within the domain. By employing the Lyapunov direct method, it is demonstrated that the observer can accurately track the system state with exponential precision, and the closed-loop system is exponentially converged. The well-posedness analysis of the closed-loop system is discussed via the C0-semigroup method. The performance of the developed control strategy is validated through simulation examples. © 1963-2012 IEEE.

关键词： Feedback control

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Superhydrophobic ceramic membrane coupled with a biphasic solvent for efficient CO_(2)capture

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Green Energy & Environment 2025年第4期10卷 834-844页

作者： Kaili Xue Zhen Chen Xiaona Wu Heng Zhang Haiping Chen Junhua Li State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China Beijing Key Laboratory of Pollutant Monitoring and Control in Thermoelectric Production Process School of EnergyPower and Mechanical EngineeringNorth China Electric Power UniversityBeijing102206China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and EngineeringNorth China Electric Power UniversityBeijing102206China

An innovative strategy was proposed by integration of membrane contactor(MC)with biphasic solvent for efficient CO_(2) capture from flue *** accessible fly ash-based ceramic membrane(CM)underwent hydrophobic modification through silane grafting,followed by fluoroalkylsilane decoration,to prepare the superhydrophobic membrane(CSCM).The CSCM significantly improved resistance to wetting by the biphasic solvent,consisting of amine(DETA)and sulfolane(TMS).Morphological characterizations and chemical analysis revealed the notable enhancements in pore structure and hydrophobic chemical groups for the modified *** of wetting/bubbling behavior based on static wetting theory referred the liquid entry pressure(LEP)of CSCM increased by 20 kPa compared to pristine *** with traditional amine solvents,the biphasic solvent presented the expected phase *** experiments demonstrated that the CO_(2) capture efficiency of the biphasic solvent increased by 7%,and the electrical energy required for desorption decreased by 32%.The 60-h continuous testing and supplemental characterization of used membrane confirmed the excellent adaptability and durability of the *** study provides a potential approach for accessing hydrophobic ceramic membranes and biphasic solvents for industrial CO_(2) capture.

关键词： Carbon capture Membrane contactor Hydrophobic modification Membrane wetting Biphasic solvent

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Long-Range Vehicle Detection of LiDAR using Adaboost Classification

Long-Range Vehicle Detection of LiDAR using Adaboost Classif...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Lim, Na-Young Lee, Jeon-Hyeok Park, Tae-Hyoung Chungbuk National University Department of Intelligent Systems & Robotics Cheongju Korea Republic of Chungbuk National University Department of Control & Robot Engineering Cheongju Korea Republic of

ISBN: (纸本)9798331531614

In recent developments, autonomous racing has garnered attention as it aims to overcome the limitations of standard autonomous driving systems. Achieving safe racing conditions necessitates both fast and long-range perception. However, current 3D LiDAR object detection methods face challenges with high computational costs and limited detection ranges. These issues make them unsuitable for racing scenarios. To address these challenges, this paper proposes a clustering-based long-range vehicle detection method that relies solely on LiDAR. First, the method removes ground points and foreground points and clusters the remaining points. Subsequently, these clusters are classified as vehicles using AdaBoost, generating 2D bounding boxes in the range view. Experimental results demonstrate superior performance, achieving a computational efficiency of 53 Hz and a long-range detection accuracy of over 80%, compared to voxel-based and range-based methods. This approach offers a viable solution for autonomous racing environments. © 2025 IEEE.

关键词： Autonomous vehicles

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