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第43届中国控制会议

作者： Yunkai Lv Huaicheng Yan Kai Rao Penghui Yang Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education East China University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This work considers the localizability of multi-agent systems based on local bearing measurement.A novel prescribedtime orientation estimation algorithm is first proposed to guarantee that the local reference frame of the follower agent is aligned with the global *** orientation estimation algorithm is then applied to the problem of position estimation,and a prescribedtime distributed localization estimation algorithm is *** global convergence is derived based on the cascade *** simulation results are provided to prove the effectiveness of the proposed estimation methods.

关键词： Local bearing information orientation estimation prescribed-time

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The Evolution of Cooperation in Multiplayer Snowdrift Games with Environmental Feedback

The Evolution of Cooperation in Multiplayer Snowdrift Games ...

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第43届中国控制会议

作者： Tao Sun Haili Liang Xiaotong Yu Zhao Zhou Yang Xu Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and AutomationShanghai University Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Human societies and natural environments form a complex ecological system,in which human activities can change the ecological environment,the changes in the ecological environment can influence human social activities in *** paper introduces a punitive mechanism as environmental feedback into co-evolutionary systems,and proposes a replicator dynamic model which aims to explain the evolutionary strategies adopted by populations for the multiplayer snowdrift *** obtain the necessary and sufficient condition for the existence and stability of the internal equilibrium point by studying on the Jacobian matrix,and the effectiveness of the theoretical results is examined by numerical *** identify that the threshold parameter in multiplayer snowdrift games determines the evolution of the closed-loop ***,the system exhibits limit cycles when the threshold is small *** the threshold increases,the system converges to a stable internal equilibrium ***,if the threshold reaches a sufficiently large value,the proportion of cooperators in the population is high,while the group of punishers becomes extinct,indicating the loss of environmental feedback.

关键词： Evolutionary Games Multiplayer Snowdrift Games Environmental Feedback Stability Analysis

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Vision-based formation control of multiple UAVs with event-triggered integral sliding mode control

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Cyber-Physical Systems 2020年第4期6卷 231-251页

作者： Chen, Siqing Jin, Xin Zhang, Wenle Tang, Yang Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and Technology Shanghai China

Vision-based formation control offers an alternate solution for unmanned aerial vehicles (UAVs) to work together in the external position system denied environment. In this paper, we present a vision-based formation control strategy with the advantages of high tracking performance and low consumption of communication resources. A vision-based multi-robot localisation methods is applied to get precise position information, and the extended Kalman filter (EKF) is used to fuse measurement data from different sensors. The integral sliding mode controller (ISMC) is utilised to ensure the fast convergence and robustness to the desired formation, and the event-triggered communication scheme is employed to reduce redundant transmission of state information used in the formation controller. The simulation results in Gazebo with a team of three UAVs are given to illustrate the effectness of the proposed control strategy. © 2020 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Extended Kalman filters

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Vision-based trajectory tracking control of quadrotors using super twisting sliding mode control

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Cyber-Physical Systems 2020年第4期6卷 207-230页

作者： Wu, Wenhui Jin, Xin Tang, Yang Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and Technology Shanghai China

A trajectory-tracking problem for a vision-based quadrotor control system is investigated in this paper. A super twisting sliding mode (STSM) controller is proposed for finite-time trajectory tracking control. With the help of the homogeneous technique, the closed-loop system is proved to be finite-time stable. In addition, due to the introduction of super twisting mechanism, the controller can restrain chattering effect of sliding mode control. On the other hand, a pose estimation through data fusion is proposed to localise the quadrotor. A Kalman filter (KF) is utilised to fuse the estimated pose from semi-direct monocular visual odometry (SVO) with data from inertial measurement unit (IMU). A number of simulations are carried out on MATLAB and physical engine simulator Gazebo. The results show that the proposed system controller has better performances in terms of robustness and anti-disturbance than the proportional–integral–derivative (PID) controller and the first order sliding mode controller. © 2020 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Closed loop systems

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Differentially Private Opinion Dynamics of Influence Networks

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IEEE Transactions on control of Network Systems 2025年

作者： Wu, Guanglei Zhang, Wenbing Mao, Shuai Wu, Xiaotai Tang, Yang Yangzhou University School of Mathematical Sciences Jiangsu225002 China Nantong University Department of Electrical Engineering Nantong226019 China Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu241000 China East China University of Science and Technology Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education Shanghai200237 China

In this paper, a unified influence networks model incorporating differential privacy mechanisms (DPMs), called the differentially private opinion dynamics (DPODs) model is proposed. In this model, each individual uses protected opinions rather than the private opinions of his/her neighbors to update his/her private opinions, where the protected opinion of an individual is a blend of private opinions and random noise following Laplace distribution. Building on stochastic analysis techniques and matrix theory, we show that the influence network under consideration converges under specific conditions governing individual sensitivities and interaction weights. In addition, the statistical properties related to convergence accuracy are established by utilizing the Markov inequality to estimate a lower bound on the probability of all individuals' final opinions converging to a neighborhood formed by their initial opinions' convex hull. We further conduct a differential privacy analysis to validate the efficacy of the proposed DPMs in safeguarding the private opinions of all individuals. Finally, two examples including one of the Karate-Club networks are provided to shed new light on the effectiveness of the theoretical results. © 2014 IEEE.

关键词： Differential privacy

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Sliding mode control for Markovian jump systems under deception attacks 33

Sliding mode control for Markovian jump systems under decept...

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第33届中国控制与决策会议

作者： Bei Chen Yugang Niu Zhiru Cao The School of Electric and Electronic Engineering Shanghai University of Engineering Science The Key Laboratory of Advanced Control and Optimization for Chemical Process (East China University of Science and Technology) Ministry of Education The Key Laboratory of Advanced Control and Optimization for Chemical Proces (East China University of Science and Technology)s Ministry of Education

ISBN: (纸本)9781665431293

This research article considers the design of static output-feedback sliding mode control for Markovian jump systems,in which the attacker may inject false information into the communication channel between the controller and the *** key issue is how to design the feasible sliding mode control law to overcome the effects of unknown and time-varying *** this end,an on-line estimation scheme is introduced to deal with the unknown network attack *** then,a linear sliding surface is constructed based on the measured output information and an outputfeedback sliding mode controller is correspondingly *** is shown that the reachability of the specified sliding surface can be achieved and the asymptotic stability of the closed-loop system can be ensured under the derived sufficient ***,simulation examples are provided to verify the developed static output-feedback sliding mode control strategy.

关键词： Markovian Jump Systems Sliding Mode control Deception Attacks Static Output-feedback control

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Privacy Preservation by Local Design in Cooperative Networked control Systems

arXiv

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arXiv 2022年

作者： Yang, Chao Yang, Wen Shi, Hongbo Key Laboratory of Advanced Control and Optimization for Chemical Processes Dept. of Automation East China University of Science and Technology Shanghai200237 China

In this paper, we study the privacy preservation problem in a cooperative networked control system working for the task of LQG control. The system consists of a user and a server: the user owns the state process, the server provides computation capability, and the user employs the server to compute control inputs for it. To enable the server's computation, the user needs to provide the measurements of the process states to the server. However, the user regards the states as privacy and wants the server to have deviated knowledge of the state estimates rather than the true value. Regarding that, we propose a novel local design of privacy preservation, which creates a deviation in the server's knowledge of the state estimates from the true value. Meanwhile, we propose an associated privacy metric to measure the deviation and analyze the privacy performance accordingly. Furthermore, we analyze the service loss in the LQG control performance caused by the privacy scheme. Finally, we study the performance trade-off between the privacy preservation and the LQG control, where the proposed optimization problems are solved by numerical methods efficiently. Copyright © 2022, The Authors. All rights reserved.

关键词： Networked control systems

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Causal reasoning in typical computer vision tasks

arXiv

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arXiv 2023年

作者： Zhang, Kexuan Sun, Qiyu Zhao, Chaoqiang Tang, Yang Key Laboratory of Advanced Control and Optimization for Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China

Deep learning has revolutionized the field of artificial intelligence. Based on the statistical correlations uncovered by deep learning-based methods, computer vision has contributed to tremendous growth in areas like autonomous driving and robotics. Despite being the basis of deep learning, such correlation is not stable and is susceptible to uncontrolled factors. In the absence of the guidance of prior knowledge, statistical correlations can easily turn into spurious correlations and cause confounders. As a result, researchers are now trying to enhance deep learning methods with causal theory. Causal theory models the intrinsic causal structure unaffected by data bias and is effective in avoiding spurious correlations. This paper aims to comprehensively review the existing causal methods in typical vision and vision-language tasks such as semantic segmentation, object detection, and image captioning. The advantages of causality and the approaches for building causal paradigms will be summarized. Future roadmaps are also proposed, including facilitating the development of causal theory and its application in other complex scenes and systems. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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Monocular depth estimation based on deep learning: An overview

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Science China(Technological Sciences) 2020年第9期63卷 1612-1627页

作者： ZHAO ChaoQiang SUN QiYu ZHANG ChongZhen TANG Yang QIAN Feng Key Laboratory of Advanced Control and Optimization for Chemical Process Ministry of EducationEast China University of Science and TechnologyShanghai 200237China

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences of multiple viewpoints. Meanwhile, the predicted depth maps are sparse. Inferring depth information from a single image(monocular depth estimation) is an ill-posed problem. With the rapid development of deep neural networks, monocular depth estimation based on deep learning has been widely studied recently and achieved promising performance in accuracy. Meanwhile, dense depth maps are estimated from single images by deep neural networks in an end-to-end manner. In order to improve the accuracy of depth estimation, different kinds of network frameworks, loss functions and training strategies are proposed subsequently. Therefore, we survey the current monocular depth estimation methods based on deep learning in this review. Initially, we conclude several widely used datasets and evaluation indicators in deep learning-based depth estimation. Furthermore, we review some representative existing methods according to different training manners: supervised, unsupervised and semi-supervised. Finally, we discuss the challenges and provide some ideas for future researches in monocular depth estimation.

关键词： autonomous systems monocular depth estimation deep learning unsupervised learning

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Secure Impulsive Synchronization in Lipschitz-Type Multi-Agent Systems Subject to Deception Attacks

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1326-1334页

作者： Wangli He Zekun Mo Qing-Long Han Feng Qian IEEE Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and TechnologyShanghai 200237China School of Software and Electrical Engineering Swinburne University of TechnologyMelbourne VIC 3122Australia

Cyber attacks pose severe threats on synchronization of multi-agent *** attack,as a typical type of cyber attack,can bypass the surveillance of the attack detection mechanism silently,resulting in a heavy ***,the problem of mean-square bounded synchronization in multi-agent systems subject to deception attacks is investigated in this *** control signals can be replaced with false data from controllerto-actuator channels or the *** success of the attack is measured through a stochastic variable.A distributed impulsive controller using a pinning strategy is redesigned,which ensures that mean-square bounded synchronization is achieved in the presence of deception *** sufficient conditions are derived,in which upper bounds of the synchronization error are ***,two numerical simulations with symmetric and asymmetric network topologies are given to illustrate the theoretical results.

关键词： Deception attacks impulsive control multi-agent systems(MASs) synchronization

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