检索结果-内蒙古大学图书馆

Chinese control and Decision Conference, CCDC

作者： Naeem Ajilforoushan Saba Ghorbani Barzegar Yongliang Lin Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In this paper, we propose an adaptive sliding mode control (SMC) design technique to track the desired trajectory of the skid-steering mobile robots in the presence of model uncertainties and perturbations. To enhance the stability of the robot and ensure accurate trajectory tracking, adaptive rules have been employed to estimate the upper bound of perturbations. This estimation, in turn, serves to stabilize the robot and guarantee the desired trajectory. Moreover, we analyze and calculate the convergence time of the sliding surface, ensuring its convergence within finite time. Additionally, efforts have been made to minimize the chattering phenomenon by smoothing the discontinuity of the sliding surface. Simulation results validate the efficacy of the proposed controller, demonstrating its ability to deliver acceptable performance in diverse scenarios.

关键词： Uncertainty Upper bound Trajectory tracking Perturbation methods Estimation Stability analysis Trajectory

来源：评论

学校读者我要写书评

暂无评论

The Immense Impact of Reverse Edges on Large Hierarchical networks

引用

Engineering 2024年第5期36卷 240-249页

作者： Haosen Cao Bin-Bin Hu Xiaoyu Mo Duxin Chen Jianxi Gao Ye Yuan Guanrong Chen Tamás Vicsek Xiaohong Guan Hai-Tao Zhang MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Intelligent Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Jiangsu Key Laboratory of Networked Collective Intelligence School of MathematicsSoutheast UniversityNanjing 210096China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA Department of Electronic Engineering City University of Hong KongHong Kong 999077China Department of Biological Physics Eötvös UniversityBudapest 1117Hungary MOE Key Laboratory for Intelligent Networks and Network Security School of Automation Science and EngineeringXi’an Jiaotong UniversityXi’an 710049China

Hierarchical networks are frequently encountered in animal groups,gene networks,and artificial engineering systems such as multiple robots,unmanned vehicle systems,smart grids,wind farm networks,and so *** structure of a large directed hierarchical network is often strongly influenced by reverse edges from lower-to higher-level nodes,such as lagging birds’howl in a flock or the opinions of lowerlevel individuals feeding back to higher-level ones in a social *** study reveals that,for most large-scale real hierarchical networks,the majority of the reverse edges do not affect the synchronization process of the entire network;the synchronization process is influenced only by a small part of these reverse edges along specific *** surprisingly,a single effective reverse edge can slow down the synchronization of a huge hierarchical network by over 60%.The effect of such edges depends not on the network size but only on the average in-degree of the involved *** overwhelming majority of active reverse edges turn out to have some kind of“bunching”effect on the information flows of hierarchical networks,which slows down synchronization *** finding refines the current understanding of the role of reverse edges in many natural,social,and engineering hierarchical networks,which might be beneficial for precisely tuning the synchronization rhythms of these *** study also proposes an effective way to attack a hierarchical network by adding a malicious reverse edge to it and provides some guidance for protecting a network by screening out the specific small proportion of vulnerable nodes.

关键词： Synchronizability Large hierarchical networks Reverse edges Information flows Complex networks

来源：评论

学校读者我要写书评

暂无评论

Learning Nonlinear Marine Predator Algorithm for Multi-objective Optimization of Setpoints in Wastewater Treatment Operations

Learning Nonlinear Marine Predator Algorithm for Multi-objec...

引用

Robotics, control and Automation (ICRCA), International Conference on

作者： Jiahua Liu Daoping Huang Yiqi Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education the School of Automation Science & Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

The nitrogen removal in wastewater treatment plants (WWTPs) usually consumes a significant amount of energy, for example, oxygen injection. To reduce energy consumption while ensure the quality in the effluent of WWTPs, this paper proposes a control strategy based on the Multi-Objective Nonlinear Marine Predator Algorithm (MONMPA). First, to address the unacceptable energy consumption issue due to fixed setpoints in the wastewater treatment process, a multi-objective setpoint optimization scheme is proposed in this paper. Second, to deal with uncontrollable inflow disturbances and uncertainty, a predictive controller with feedforward compensation for inflow disturbances is adopted to further accurately track the optimized setpoints. Finally, the proposed control strategy is compared with other standard approaches, and experimental results showed the effectiveness and superiority of this strategy.

关键词： Energy consumption Uncertainty Simulation Optimization methods Effluents Prediction algorithms Nitrogen Wastewater treatment Standards Robots

来源：评论

学校读者我要写书评

暂无评论

Recent Developments in Event-Triggered control of Nonlinear systems:An Overview

引用

无人系统（英文） 2023年第1期11卷 27-56页

作者： Pengpeng Zhang Tengfei Liu Jie Chen Zhong-Ping Jiang Department of Control Science & Engineering Frontiers Science Center for Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819P.R.China Department of Electrical and Computer Engineering New York University370 Jay StreetBrooklynNY 11201USA

Event-triggered control is a most popular paradigm for transferring feedback information in an economical"as needed"*** study of event-triggered control can be traced back to the *** significant advances on the topic of control over networks and the topic of nonlinear control systems over the last two decades,event-triggered control has quickly emerged as a major theoretical subject in control *** of event-triggered control are wide-spread ranging from embedded control systems and industrial control processes to unmanned systems and cyber-physical transportation *** this paper,we first review developments in the synthesis of event-triggered sampling *** event triggering mechanisms,such as static event trigger,dynamic event trigger,time-regularized event trigger,and event trigger with positive threshold offsets,are systematically ***,we study how to design a stabilizing controller that is robust with respect to the sampling ***,we review some recent results in the directions of self-triggered control,event-triggered tracking control and cooperative control,and event-triggered control of stochastic systems and partial differential equation *** applications of event-triggered control are also discussed.

关键词： Event-triggered control event-triggered sampling mechanism event-triggered controller

来源：评论

学校读者我要写书评

暂无评论

A Training-time Friendly network for Real-time Drone Detection

A Training-time Friendly Network for Real-time Drone Detecti...

引用

2023 IEEE/CIC International Conference on Communications in China, ICCC 2023

作者： Li, Miao Mao, Shengjian Wang, Hanzhuo Shi, Zhiguo Zhou, Chengwei Zhejiang University College of Control Science and Engineering Hangzhou310027 China Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China

ISBN: (纸本)9798350345384

The rapid development of the unmanned aerial vehicle (UAV) market poses potential threats to public safety and personal privacy, and vision sensors are widely deployed to detect intruding drones due to the intuitiveness and accessibility of videos. However, the pixel area of long-distance intrusion drones is small and the morphological features are weak, which makes identification and positioning difficult. At present, a lot of work has focused on improving the detection accuracy of drones, but there is very little to improve the detection speed of drones and shorten the network training time. Therefore, we propose a drone detector with high accuracy, short training time, and fast inference speed. In this work, we choose Centernet from the consideration of a light-head, single-stage, and anchor-free design that enables fast inference. In addition, we improve the original framework of Centernet through the separation strategy of identification features and positioning features. Furthermore, encoding more training samples from annotated boxes has a similar effect to increasing the batch size, which helps to increase the learning rate and speed up the training process. To this end, we introduce a new method of Gaussian elliptic coding and propose a new loss function for it. Considering the complexity of background during flight and the small size of the drone compared to the background, a background filter is used to reduce the influence of the complex background. In this paper, the proposed model is trained and tested on the Drone-vs-Bird dataset, and its mAP reaches 83.7%, and its FPS reaches 29.6. © 2023 IEEE.

关键词： Drones

来源：评论

学校读者我要写书评

暂无评论

General Simultaneous Localization and Mapping Scheme for mmWave Communication systems

引用

IEEE Internet of Things Journal 2024年第12期11卷 22521-22536页

作者： Du, Tao Yang, Jie Wen, Chao-Kai Xia, Shuqiang Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China Institute Of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation The State Key Laboratory Of Mobile Network And Mobile Multimedia Technology Shenzhen518055 China Southeast University National Mobile Communications Research Laboratory The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China

Utilizing high-resolution antenna arrays and wide bandwidth of the millimeter-wave (mmWave) spectrum in 5G new radio (NR) mmWave communication systems holds the potential for high-throughput data transmission while enabling user localization and environmental mapping. However, the majority of existing simultaneous localization and mapping (SLAM) algorithms rely on methods akin to the extended Kalman filter for generating initial map features. These methods prove ineffective when the measurement dimension is insufficient. Furthermore, there is a notable absence of research exploring mmWave prototype systems to evaluate and compare the performance and viability of various SLAM algorithms. To address these challenges, we propose an innovative probability hypothesis density (PHD) generation scheme for birth events and have developed a prototype system. Our approach, referred to as PHD-SLAM, exhibits remarkable effectiveness even in scenarios where the measurement dimension falls short of map features. This means it can function seamlessly with only delay or angle information available. Additionally, we have designed a 28GHz mmWave beam scanning prototype system that leverages the 5G NR frame for accomplishing SLAM algorithms. Following this, we conducted extensive simulations and experimental evaluations to gauge the performance of several leading-edge SLAM algorithms under diverse mmWave circumstances, encompassing PHD-based and belief propagation (BP) SLAM algorithms. Our analysis reveals that both PHD and BP SLAM can achieve agent localization precision within a decimeter and mapping precision within a meter, capitalizing on the angle parameters of mmWave signals. While BP SLAM showcases reduced computational demand, its estimation precision is marginally inferior to that of PHD-SLAM. © 2014 IEEE.

关键词： Belief propagation

来源：评论

学校读者我要写书评

暂无评论

Social Optimization in Noncooperative Games under Central Regulation

arXiv

引用

arXiv 2025年

作者： Du, Kaixin Meng, Min Li, Xiuxian Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering College of Electronics and Information Engineering The 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 China

This paper proposes a novel optimization problem building on noncooperative games under central regulation, which can be formulated as a bilevel structure. In the low-level, each player competes to minimize its own cost function that depends not only on the strategies of all players, but also on an intervention decision of the central regulator, while the central regulator located at the high-level attempts to achieve the social optimum, that is, to minimize the sum of cost functions of all players through an adjustable intervention decision. In this setting, under the intervention of the central regulator, the low-level players perform in a noncooperative game and aim to seek the Nash equilibrium, which indeed is related with the regulator’s decision. Meanwhile, the objective of the regulator is to choose a decision such that the social cost, i.e., the sum of cost functions of all players is minimum. This formulated bilevel social optimization problem is proven to be constrained, nonconvex and nonsmooth. To address this intricate problem, an inexact zeroth-order algorithm is developed by virtue of the smoothing techniques, allowing for the Nash equilibrium of the low-level game to be computed in an inexact manner. Levering the properties of smoothing techniques, it is rigorously shown that the devised algorithm achieves a sublinear convergence rate for computing a stationary point of a related optimization problem with a smoothed objective. Moreover, the sublinear convergence rate in the scenario where the exact equilibrium of the low-level game is available is also discussed. Finally, numerical simulations are conducted to demonstrate the efficiency of theoretical findings. Copyright © 2025, The Authors. All rights reserved.

关键词： Cost functions

来源：评论

学校读者我要写书评

暂无评论

Bridging Training and Execution via Dynamic Directed Graph-Based Communication in Cooperative Multi-Agent systems

arXiv

引用

arXiv 2024年

作者： Zhang, Zhuohui He, Bin Cheng, Bin Li, Gang Department of Control Science & Engineering Tongji University China National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University China

Multi-agent systems must learn to communicate and understand interactions between agents to achieve cooperative goals in partially observed tasks. However, existing approaches lack a dynamic directed communication mechanism and rely on global states, thus diminishing the role of communication in centralized training. Thus, we propose the Transformer-based graph coarsening network (TGCNet), a novel multi-agent reinforcement learning (MARL) algorithm. TGCNet learns the topological structure of a dynamic directed graph to represent the communication policy and integrates graph coarsening networks to approximate the representation of global state during training. It also utilizes the Transformer decoder for feature extraction during execution. Experiments on multiple cooperative MARL benchmarks demonstrate state-of-the-art performance compared to popular MARL algorithms. Further ablation studies validate the effectiveness of our dynamic directed graph communication mechanism and graph coarsening networks. Copyright © 2024, The Authors. All rights reserved.

关键词： Directed graphs

来源：评论

学校读者我要写书评

暂无评论

A Light-weight and Rapid Table Tennis Ball Trajectory Prediction Approaches towards Online Bouncing Task

A Light-weight and Rapid Table Tennis Ball Trajectory Predic...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Peisen Xu Gaofeng Li Qi Ye Jiming Chen College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

It is essentially required to predict the ball’s flight trajectory accurately and timely for a robotic table tennis ball bouncing task. Existing solutions, which can be categorized into model-based and learning-based groups, both exhibits unpleasant disadvantages. For example, they often require to identify many dynamic parameters accurately or to collect extensive labeled data, which are generally very difficult or costly to achieve in real world. In this paper, we proposed a light-wight and rapid trajectory prediction approach for online table tennis bouncing tasks based on a simplified model. In the proposed approach, the ball’s flight poses are captured and estimated by a low-cost RGB-D camera. Then the ball’s landing position is predicted in advance by using a fitted 3D parabola. Compared with existing solutions, our proposed approach is lightweight and easy to deploy. In experiments, 66 flight trajectories of the ball are collected to serve as benchmark. The prediction errors for all landing positions are all less than 20mm, in which most of them are less than 10mm. In addition, the prediction can be achieved 141.7ms in advance, which is fast enough for the robotic arm to plan and move itself to the predicted landing point.

关键词： Location awareness Solid modeling Three-dimensional displays Accuracy Sports equipment Predictive models Manipulators Robustness Trajectory Sports

来源：评论

学校读者我要写书评

暂无评论

Multi-Vehicle Trajectory Planning at V2I-enabled Intersections based on Correlated Equilibrium

arXiv

引用

arXiv 2024年

作者： Wang, Wenyuan Yi, Peng Hong, Yiguang Department of Control Science and Engineering Tongji University China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University China National Key Laboratory of Autonomous Intelligent Unmanned Systems China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

Generating trajectories that ensure both vehicle safety and improve traffic efficiency remains a challenging task at intersections. Many existing works utilize Nash equilibrium (NE) for the trajectory planning at intersections. However, NE-based planning can hardly guarantee that all vehicles are in the same equilibrium, leading to a risk of collision. In this work, we propose a framework for trajectory planning based on Correlated Equilibrium (CE) when V2I communication is also enabled. The recommendation with CE allows all vehicles to reach a safe and consensual equilibrium and meanwhile keeps the rationality as NE-based methods that no vehicle has the incentive to deviate. The Intersection Manager (IM) first collects the trajectory library and the personal preference probabilities over the library from each vehicle in a low-resolution spatial-temporal grid map. Then, the IM optimizes the recommendation probability distribution for each vehicle's trajectory by minimizing overall collision probability under the CE constraint. Finally, each vehicle samples a trajectory of the low-resolution map to construct a safety corridor and derive a smooth trajectory with a local refinement optimization. We conduct comparative experiments at a crossroad intersection involving two and four vehicles, validating the effectiveness of our method in balancing vehicle safety and traffic efficiency. Copyright © 2024, The Authors. All rights reserved.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：