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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory autonomous systems Stability

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Robust Output Regulation With Prescribed Performance for Second-Order Non-Polynomial Nonlinear systems

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14234-14246页

作者： Liu, Wei Luo, Jialei Sun, Weijie South China University of Technology Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education School of Automation Science and Engineering Guangzhou510641 China

This article focuses on the robust output regulation problem with prescribed performance for uncertain second-order nonlinear systems with non-polynomial nonlinearity. According to the existing framework for the robust output regulation problem of such nonlinear systems, we introduce some standard assumptions, and then construct two internal models of nonlinear forms to reproduce the steady-state information. Then, we convert the considered problem into the robust stabilization problem with prescribed performance of an augmented system containing the studied nonlinear system and the internal models. We incorporate a novel error transformation into the existing technique to design a stabilization controller, based on which we synthesize our control law to solve our original problem. Finally, we present two simulation examples to test our results. © 2004-2012 IEEE.

关键词： Nonlinear systems Performance evaluation Regulation Steady-state Transient analysis Polynomials Mathematical models Output feedback Adaptive systems Symmetric matrices

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A Two-Stage Dynamic Parameters Identification Approach Based on Kalman Filter for Haptic Rendering in Telerobotics

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IEEE Robotics and Automation Letters 2025年第7期10卷 6600-6607页

作者： Wang, Ruize Cheng, Peng Ye, Qi Chen, Jiming Li, Gaofeng Zhejiang University College of Control Science and Engineering Hangzhou310027 China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China

In teleoperated physical Human-Robot Interaction (pHRI), accurate contact force feedback is essential for operators to experience intuitive and responsive interaction. However, the presence of end-effectors on the manipulator often interferes with the force feedback, misrepresenting the real contact forces. To render a precise force to operators, it is critical to eliminate the non-contact forces arising from the end-effector tool's inertia. To achieve this, the fast and accurate dynamic parameters identification for the end-effectors is essential. Currently, existing dynamic identification algorithms process all collected data in one stage, in which the sensor noises for static and dynamic parameters are coupled, resulting in poor performance. In this letter, we propose a two-stage method for end-effector's inertial parameters identification. Our proposed method breaks the identification process into two steps: the static and the dynamic processing stages, which can make full use of data features and significantly improve the accuracy of mass and Center-of-Mass (COM) identification. Additionally, we introduce the Kalman Filter (KF) into the linear fitting to improve the identification speed. Comparative and ablation experiments are designed to validate the effectiveness of the proposed method. The results demonstrate that our method outperforms the RTLS method in reducing identification errors by 96% for mass and 81.2%–87.6% for COM. As for the haptic rendering, the errors are also reduced by 36.3% in direction of interaction and 99.5% in direction of gravity after the elimination of the end-effector's inertia. © 2016 IEEE.

关键词： Grippers

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Development and Application of Coverage control Algorithms: A Concise Review

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14906-14927页

作者： Cheng, Bin He, Mingyuan Zhu, Zhongpan He, Bin Chen, Jie Tongji University Department of Control Science and Engineering Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai201203 China

Coverage control is a foundational domain within multi-agent systems, which has recently undergone substantial advancements. Model-based and optimization-based control methods have achieved new breakthroughs and applications, while data-driven and learning-based algorithms in coverage control have also yielded significant results. This review examines the evolution and application of coverage control algorithms in multi-agent systems. Moreover, this review then focuses on how contemporary algorithms build on traditional control strategies and integrate cutting-edge data-driven and adaptive learning techniques. Finally, it explores potential future directions, emphasizing the importance of interdisciplinary approaches in overcoming existing challenges and seizing new opportunities in coverage control deployment. This review aims to be a valuable resource for researchers and practitioners, guiding continued exploration in this field. Note to Practitioners - This work was motivated by the need to provide an overview of the development and research of existing multi-agent coverage control algorithms. Different application scenarios and constraints require different methods of multi-agent coverage control, each with varying efficiencies. For researchers and practitioners, deciding which coverage control method to use in specific scenarios, while considering practical constraints such as energy limitations, can be challenging. Therefore, this work offers an overview of existing multi-agent coverage control algorithms and suggests potential application scenarios. This review serves as a comprehensive reference for researchers and practitioners in the field, helping them identify suitable solutions to ensure efficient coverage. © 2004-2012 IEEE.

关键词： Learning algorithms

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Dynamic Regret for Distributed Online Composite Optimization

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IEEE Transactions on Automatic control 2025年第5期70卷 3056-3071页

作者： Hou, Ruijie Yu, Yang Li, Xiuxian Tongji University Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai201800 China Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Institute of Intelligent Science and Technology Shanghai201210 China

This article focuses on online composite optimization over multiagent networks. In the distributed setting, each agent has its own local loss function, which consists of a convex, strongly convex or strongly convex and smooth function, and a time-varying nonsmooth regularizer. Two distributed online algorithms are proposed and corresponding dynamic regrets are analyzed. Two proposed algorithms are based on signs of relative states. The first algorithm obtains (Formula presented) dynamic regret bound when each local loss is a general convex composite function, where CT is the path variation. If CT can be estimated in advance for convex or strongly convex local loss with a time-varying nonsmooth regularizer, then dynamic regret bounds are, respectively, in the order of (Formula presented) and o (log T(1 + CT)). The second algorithm is based on the first one, especially for handling the local loss composed of a strongly convex and smooth function with a nonsmooth regularizer, and then obtains o (1 + CT) dynamic regret bound. In the end, numerical results are given to support the theoretical findings. © 1963-2012 IEEE.

关键词： Optimization algorithms

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Geometric attitude tracking control of quadrotor UAVs with adaptive extended state observers

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ISA Transactions 2025年 160卷 289-297页

作者： Wang, Liping Chen, Jiapeng Huang, Yuyuan Zhu, Yongbin Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou510640 China

This paper studies a geometric attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) with adaptive extended state observers (AESOs). Through coordinate transformation, the error dynamic of AESO can be transformed into a canonical form which is easier to analyze by linear time-varying theory. In the presence of unknown disturbances and system uncertainties, the estimated error and stability of AESO can be analyzed. Simultaneously, a geometric tracking controller is developed on SO(3) with AESOs which guarantees that the error exponentially converges to a bounded set related to the estimated error. Some examples and a flight test are given to verify the availability of the control scheme. © 2025

关键词： Unmanned aerial vehicles (UAV)

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A dynamic point cloud fast compression framework based on eliminating spatial and temporal redundancy

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Multimedia Tools and Applications 2025年 1-19页

作者： Su, Kainan Wang, Zunran Yang, Chenguang The Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou510641 China Huawei Technologies Co Ltd Shenzhen518028 China

Dynamic point clouds can be compressed by eliminating spatial and temporal redundancy, but few research studies have considered both simultaneously. Existing research can only distinguish the specific foreground and background of the scene, achieving the former with a limited compression ratio, while the latter relies on 3D motion estimation with high computing complexity. Therefore, it is difficult to meet the real-time requirement of building remote human-robot interaction system. Aiming at the shortcomings of the above methods, a dynamic point cloud fast compression framework based on eliminating spatial and temporal redundancy is proposed. On the one hand, for eliminating the spatial redundancy, the information of the recognized objects in point cloud data will be replaced with their categories and poses. On the other hand, we eliminate the temporal redundancy by using the motion vector of the point cloud macroblock. Specifically, in order to reduce cost time of the 3D motion estimation, we firstly introduce the 2D image ORB feature to calculate the motion vector from current frame to key frame, and then look for the similar macroblock in key frame. Thus, the information of the macroblocks similar to the key frame in the current frame is replaced by the index of the corresponding macroblocks of the key frame and the motion vector. Experimental results show that the proposed method has higher computational efficiency and compression quality than the existing compression algorithm. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Semantic Segmentation

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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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MMH-FE:AMulti-Precision and Multi-Sourced Heterogeneous Privacy-Preserving Neural network Training Based on Functional Encryption

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Computers, Materials & Continua 2025年第3期82卷 5387-5405页

作者： Hao Li Kuan Shao Xin Wang Mufeng Wang Zhenyong Zhang The State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550025China Key Laboratory of Computing Power Network and Information Security Ministry of EducationShandong Computer Science CenterQilu University of Technology(Shandong Academy of Sciences)Jinan250014China China Industrial Control Systems Cyber Emergency Response Team Beijing100040China

Due to the development of cloud computing and machine learning,users can upload their data to the cloud for machine learning model ***,dishonest clouds may infer user data,resulting in user data *** schemes have achieved secure outsourced computing,but they suffer from low computational accuracy,difficult-to-handle heterogeneous distribution of data from multiple sources,and high computational cost,which result in extremely poor user experience and expensive cloud computing *** address the above problems,we propose amulti-precision,multi-sourced,andmulti-key outsourcing neural network training ***,we design a multi-precision functional encryption computation based on Euclidean ***,we design the outsourcing model training algorithm based on a multi-precision functional encryption with multi-sourced ***,we conduct experiments on three *** results indicate that our framework achieves an accuracy improvement of 6%to 30%.Additionally,it offers a memory space optimization of 1.0×2^(24) times compared to the previous best approach.

关键词： Functional encryption multi-sourced heterogeneous data privacy preservation neural networks

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An Integrated Model of Train Timetable and Speed Profile for Single Bi-directional Track

An Integrated Model of Train Timetable and Speed Profile for...

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International Conference on Artificial Intelligence and autonomous Transportation, AIAT 2024

作者： Wu, Wenxing Xun, Jing Liu, Xiaoyu Fu, Minxue State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong University Beijing China Delft Center for Systems and Control Delft University of Technology Delft2628CD Netherlands

ISBN: (纸本)9789819639762

In this paper, we consider the integrated model of train timetable and speed profile for a single bi-directional track. This problem aims to schedule train passes along single track from opposite directions to avoid conflicts. It is assumed that there are different types of stations along the track, and trains can only pass each other simultaneously at stations that have sidings. Focusing on the operation scenario, we propose an integrated model of train timetable and speed profile optimization. To address the nonlinear constraints generated by the meeting conflicts in the single bi-directional operation, the Big-M method is used to transform the constraints into linear constraints incorporating binary integer variables such as meeting and train priority. Thus, a mixed integer linear programming (MILP) model is constructed, which can be solved using the Gurobi solver. The model is formulated with two objective functions: one aims to minimize the time deviation of trains running in pairs considering passenger satisfaction, and the other is to minimize the total train travel time. The proposed model is applied to solve the problem based on a single-line urban railway and the feasibility of the model is verified. The results show that the total train travel time is effectively reduced by 29.8%. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Travel time

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