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Heterogeneous Image Knowledge Driven Visual Perception

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 255-257页

作者： Lan Yan Wenbo Zheng Fei-Yue Wang IEEE the College of Computer Science and Electronic Engineering Hunan UniversityChangsha 410082China the School of Computer Science and Artificial Intelligence Wuhan University of TechnologyWuhan 430070China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Dear Editor,This letter is concerned with visual perception closely related to heterogeneous *** the huge challenge brought by different image modalities,we propose a visual perception framework based on heterogeneous image knowledge,i.e.,the domain knowledge associated with specific vision tasks,to better address the corresponding visual perception problems.

关键词： Visual visual knowledge

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Photovoltaic,thermoelectric and electromagnetic generation technologies applied in power systems for mobile unmanned systems

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Science China(Technological Sciences) 2023年第3期66卷 599-629页

作者： DING Ning WANG XiangYang XIAN XiaoYang CAI YeYun LIU DaoMing DENG Fang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.

关键词： unmanned system renewable energy generation technology photovoltaic generation thermoelectric generation electromagnetic generation

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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control valve simulation method integrable into the global gradient algorithm

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ISH Journal of Hydraulic Engineering 2025年第1期31卷 1-7页

作者： Sivakumar, P. Gorev, N.B. Gorev, V.N. Kodzhespirova, I.F. Shedlovsky, I.A. Itanagar India Department for Functional Elements of Control Systems Institute of Technical Mechanics Dnipro Ukraine Department of Physics Dnipro University of Technology Dnipro Ukraine Department of Automation and Computer Systems Dnipro University of Technology Dnipro Ukraine

This paper presents a refinement of a method that simulates flow- and pressure-regulating valves by replacing them with pipes and adjusting the resistances (diameters) of those pipes to meet the valve settings. The method, referred to as the replacing pipe method (RPM), is readily integrable into the global gradient algorithm, which is the heart of the commonly used EPANET 2 water distribution system modeling software. The RPM proved to be more robust, yet slower than the EPANET 2 valve handling heuristics. In this work, the RPM was modified to increase its computational speed. The modification involved the RPM check valve handling algorithm and condition for updating the diameters of the valve-replacing pipes. The modified RPM was tested as part of a hybrid simulator, which switches from the EPANET 2 valve handling heuristics to the RPM when the former fails. The test networks included a large network with thousands of nodes, pipes, and valves, and a case of an ill-posed problem. As the testing showed, the modified RPM offers a significant reduction in the number of iterations compared to its previous version. © 2024 Indian Society for Hydraulics.

关键词： Safety valves

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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A Novel SPICE Modeling Approach for SiC D-MOSFET Based on BSIM3HV 3

A Novel SPICE Modeling Approach for SiC D-MOSFET Based on BS...

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3rd International Symposium on Semiconductor and Electronic Technology, ISSET 2024

作者： Cheng, He Yang, Zhijia Zhang, Chao Zhang, Zhipeng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China

ISBN: (纸本)9798350390285

SiC MOSFETs have emerged as a highly promising solution for power electronics applications due to their superior material properties, including a wide bandgap, high thermal conductivity, high critical electric field strength, and high saturation velocity of charge carriers. Accurate compact modeling of SiC D-MOSFETs is crucial when designing analog circuits for applications such as solar inverters, motor drives, high-voltage DC-DC converters, and uninterruptible power supplies (UPS). The current characteristics of SiC MOSFETs can be numerically assessed using TCAD simulation, which compares them against measurements from the device datasheet. In this paper, we present a comprehensive modeling approach for the SCT50N120 1200V SiC D-MOSFET from STMicroelectronics. The well-established industry-standard BSIM3HV SPICE model is employed, and its key parameters are optimized to achieve an accurate fit between the simulated and measured current characteristics. This optimization process yields an refined SPICE circuit simulation model for the targeted SiC D-MOSFET device, which is subsequently verified through simulations. Ultimately, we demonstrate reasonable agreement between the optimized SPICE model simulations and the measured datasheet results for the IDS- VGS and IDS-VDS characteristics across various bias conditions. © 2024 IEEE.

关键词： SPICE

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Robust Internal Model-based control for Linear-Time-Invariant systems in Discrete-time Domain 63

Robust Internal Model-based Control for Linear-Time-Invarian...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Azimi, Atabak Koch, Stefan Reichhartinger, Markus Institute of Automation and Control at Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model-based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

This paper introduces a new strategy for robustly controlling linear discrete-time systems that experience both periodic disturbances modeled by an uncertain exosystem and bounded matched disturbances. The strategy, called internal model-based sliding mode control, combines the robustness of sliding mode control with the precise tracking capabilities of internal model-based control. This new approach, inspired by implicitly discretized first order sliding mode control, offers superior performance with reduced chattering compared to explicit methods while maintaining simplicity. By effectively suppressing chattering and leveraging the exosystem model incorporated in the internal model-based controller, the proposed method achieves superior disturbance rejection compared with feedback loops relying either on internal model-based control or sliding mode control only. The presented simulation example illustrates the application of the proposed controller and the obtained results show that significant disturbance rejection improvement is achieved. © 2024 IEEE.

关键词： Disturbance rejection

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Energy-based Swing-up control of the Soft Inverted Pendulum with Affine Curvature

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Nonlinear Dynamics 2025年 1-20页

作者： Wang, Yongjia Xin, Xin School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Institute of Intelligent Unmanned Systems Southeast University Nanjing210096 China

This paper studies the energy-based swing-up control of an underactuated soft inverted pendulum, a template model of soft robots with its base attached to the ground and its curvature described by an affine function. First, this paper presents a necessary and sufficient condition for the linear controllability of the robot around its upright equilibrium point (UEP). Next, without any constraint on its stiffness, this paper derives an energy-based controller to swing up the robot to its UEP, where the pendulum is in its upright position, and provides a necessary and sufficient condition such that the controller is free of singular points. Then, this paper characterizes the patterns of closed-loop equilibrium points with respect to the physical parameters of the pendulum and the gains of the derived controller, and analyzes the closed-loop motion corresponding to the special case in which desired convergence of the total mechanical energy is achieved. In such case, this paper reveals that the UEP is generically the unique closed-loop equilibrium point, and provides clarification regarding its stability. These results serve as guidelines of the design of soft robots and the tuning of control gains to achieve the desired performance of the swing-up control. Finally, this paper conducts numerical simulations to validate the theoretical results and to demonstrate the effectiveness and performance of the derived controller in swinging up the robot to its UEP from initial states far from the UEP, even under the challenging condition of very low stiffness. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Affine transforms

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State Estimation in Networked control systems with Time-Varying Delays: A Simple yet Powerful Observer Framework 63

State Estimation in Networked Control Systems with Time-Vary...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Stanojevic, Katarina Steinberger, Martin Horn, Martin Institute of Automation and Control Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

This paper presents a distinct framework for the design of an observer-based feedback control strategy for networked control systems (NCS) affected by unknown time-varying transmission delays larger than the sampling time Td. The pivotal element of the proposed strategy lies in the configuration of network nodes and a buffering mechanism which enable state estimation at the controller's side using observer strategies not initially designed for NCS. Consequently, the Luenberger-type observer can be designed independently from the utilized network, thus leading to a substantial reduction in the complexity typically associated with uncertain and time-varying NCS. Furthermore, the proposed framework allows the strategic incorporation of predicted state estimates in the controller design. This mitigates the effect of the network delay by reducing it by Td, which can significantly improve the system performance, as demonstrated in a simulation example. © 2024 IEEE.

关键词： Networked control systems

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Predefined-Time Distributed Fault-Tolerant control for Nonlinear Multiagent systems Suffering From Nonaffine Faults

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3300-3311页

作者： Cheng, Shuai Xin, Bin Chen, Jie Deng, Fang Qingdao University School of Automation Qingdao266071 China Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Department of Control Science and Engineering Shanghai200092 China

This article investigates the distributed predefined-time (PT) fault-tolerant control for nonlinear multiagent systems (NNMSs) with nonaffine faults. A novel distributed PT control scheme is proposed based on a new PT theorem. The switching functions are introduced into distributed control signals to avoid the singularity problem. The second-order filter technology is designed to solve "explosion of complexity" issues. The newly designed PT compensation signals are utilized to eliminate filter errors. The proposed distributed PT controller based on local information can guarantee that all signals of the closed-loop system are PT bounded, and consensus errors of NNMSs can be enforced to a small region around the origin within a predefined time. Compared with the finite/fixed time, the predefined time is an exact value given in advance, which remains constant regardless of initial states and control parameters. Finally, two comparative simulations are provided to demonstrate the presented strategy. © 2013 IEEE.

关键词： Adaptive control systems

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