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Chinese Automation Congress (CAC)

作者： Shuo Li Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems College of Automation Science and Enginneering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems School of Automation Science and Enginneering South China University of Technology Guangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time.

关键词： Backstepping Automation Attitude control Simulation autonomous aerial vehicles Stability analysis Quadrotors Lyapunov methods

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Qingda Granule Attenuates Hypertension-Induced Cardiac Damage via Regulating Renin-Angiotensin System Pathway

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Chinese Journal of Integrative Medicine 2025年第5期31卷 402-411页

作者： LONG Lin-zi TAN Ling XU Feng-qin YANG Wen-wen LI Hong-zheng LIU Jian-gang WANG Ke ZHAO Zhi-ru WANG Yue-qi WANG Chao-ju WEN Yi-chao HUANGMing-yan QU Hua FU Chang-geng CHEN Ke-ji Department of Geriatrics Xiyuan Hospital of China Academy of Chinese Medical SciencesBeijing100091China Department of Traditional Chinese Medicine the Eighth Affiliated Hospital of Sun Yat-Sen UniversityShenzhenGuangdong Province518033China Xiyuan Hospital National Cardiovascular Clinical Medical Research Center of Traditional MedicineBeijing100091China Graduate School of Beijing University of Chinese Medicine Beijing100091China Cardiovascular Department the Second Affiliated HospitalShanxi University of Chinese MedicineTaiyuan030002China Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imagingthe State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of SciencesBeijing100090China Cadre 2 Ward Xinjiang Uygur Autonomous Region Institute of Traditional Chinese MedicineUrumqi830000China Academy of Integrative Medicine Fujian Univrsity of Traditional Chinese MedicineFuzhou350122China

Objective:To assess the efficacy of Qingda Granule(QDG)in ameliorating hypertensioninduced cardiac damage and investigate the underlying mechanisms ***:Twenty spontaneously hypertensive rats(SHRs)were used to develope a hypertension-induced cardiac damage *** 10Wistar Kyoto(WKY)rats were used as normotension *** were administrated intragastrically QDG[0.9 g/(kg·d)]or an equivalent volume of pure water for 8 *** pressure,histopathological changes,cardiac function,levels of oxidative stress and inflammatory response markers were ***,to gain insights into the potential mechanisms underlying the protective effects of QDG against hypertensioninduced cardiac injury,a network pharmacology study was *** results were validated by Western blot,radioimmunoassay immunohistochemistry and quantitative polymerase chain reaction,***:The administration of QDG resulted in a significant decrease in blood pressure levels in SHRs(P<0.01).Histological examinations,including hematoxylin-eosin staining and Masson trichrome staining revealed that QDG effectively attenuated hypertension-induced cardiac ***,echocardiography demonstrated that QDG improved hypertension-associated cardiac ***-linked immunosorbent assay and colorimetric method indicated that QDG significantly reduced oxidative stress and inflammatory response levels in both myocardial tissue and serum(P<0.01).Conclusion:Both network pharmacology and experimental investigations confirmed that QDG exerted its beneficial effects in decreasing hypertensioninduced cardiac damage by regulating the angiotensin converting enzyme(ACE)/angiotensinⅡ(AngⅡ)/AngⅡreceptor type 1 axis and ACE/AngⅡ/AngⅡreceptor type 2 axis.

关键词： blood pressure cardiac damage hypertension Qingda Granule renin-angiotensin system

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Distributed Generalized Nash Equilibria Learning for Online Stochastic Aggregative Games

arXiv

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arXiv 2025年

作者： Du, Kaixin Meng, Min Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering College of Electronics and Information Engineering National Key Laboratory of Autonomous Intelligent Unmanned System Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper investigates online stochastic aggregative games subject to local set constraints and time-varying coupled inequality constraints, where each player possesses a time-varying expectation-valued cost function relying on not only its own decision variable but also an aggregation of all the players’ variables. Each player can only access its local individual cost function and constraints, necessitating partial information exchanges with neighboring players through time-varying unbalanced networks. Additionally, local cost functions and constraint functions are not prior knowledge and only revealed gradually. To learn generalized Nash equilibria of such games, a novel distributed online stochastic algorithm is devised based on push-sum and primal-dual strategies. Through rigorous analysis, high probability bounds on the regret and constraint violation are provided by appropriately selecting decreasing stepsizes. Moreover, for a time-invariant stochastic strongly monotone game, it is shown that the generated sequence by the designed algorithm converges to its variational generalized Nash equilibrium (GNE) almost surely, and the time-averaged sequence converges sublinearly with high probability. Finally, the derived theoretical results are illustrated by numerical simulations. Copyright © 2025, The Authors. All rights reserved.

关键词： Nash equilibrium

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Trust Recognition in Human-Robot Cooperation Using EEG

arXiv

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arXiv 2024年

作者： Xu, Caiyue Zhang, Changming Zhou, Yanmin Wang, Zhipeng Lu, Ping He, Bin The Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai201210 China Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210 China

Collaboration between humans and robots is becoming increasingly crucial in our daily life. In order to accomplish efficient cooperation, trust recognition is vital, empowering robots to predict human behaviors and make trust-aware decisions. Consequently, there is an urgent need for a generalized approach to recognize human-robot trust. This study addresses this need by introducing an EEG-based method for trust recognition during human-robot cooperation. A human-robot cooperation game scenario is used to stimulate various human trust levels when working with robots. To enhance recognition performance, the study proposes an EEG Vision Transformer model coupled with a 3-D spatial representation to capture the spatial information of EEG, taking into account the topological relationship among electrodes. To validate this approach, a public EEG-based human trust dataset called EEGTrust is constructed. Experimental results indicate the effectiveness of the proposed approach, achieving an accuracy of 74.99% in slice-wise cross-validation and 62.00% in trial-wise cross-validation. This outperforms baseline models in both recognition accuracy and generalization. Furthermore, an ablation study demonstrates a significant improvement in trust recognition performance of the spatial representation. The source code and EEGTrust dataset are available at https://***/CaiyueXu/EEGTrust. © 2024, CC BY-NC-SA.

关键词： Topology

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Circular Target Attack-Defense Stackelberg Game for Multi-Agents systems

Circular Target Attack-Defense Stackelberg Game for Multi-Ag...

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第35届中国过程控制会议

作者： Ning Xing Hai-Tao Zhang Yaozhong Zheng School of Artificial Intelligence and Automation Engineering Research Center of Autonomous Intelligent Unmanned Systems Key Laboratory of Image Processing and Intelligent Control State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and Technology

In this paper, the problem of guarding a circular area is proposed and solved using a Stackelberg differential game theoretic approach. The objective of the attacker is to breach the perimeter of the defended area, while the defenders endeavor to thwart such attempts. The dynamics of the attack-defense game are modeled according to the distance and position relations among defenders, attackers, and the center of defense area. The optimal Stackelberg equilibrium control strategies for both defenders and attackers are designed to guarantee the defense mission's success. Then, the effectiveness of the proposed method is validated through numerical simulation.

关键词： Multi-agents system Stackelberg differential game graphical game

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HIDG-based PSO Algorithm: Suspicious Sensor Selection for Power Grid Monitoring System Under Data Integrity Attack 5

HIDG-based PSO Algorithm: Suspicious Sensor Selection for Po...

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5th International Conference on Electrical Engineering and control Technologies, CEECT 2023

作者： Li, Pandeng Liang, Zhihong Yang, Yiwei Dong, Liangyu Suo, Yuhan Hao, Yi Electric Power Research Institute Csg Guangdong Provincial Key Laboratory of Power System Network Security Guangdong Guangzhou China China Industrial Control Systems Cyber Emergency Response Team Beijing China Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9798350342253

With the development of communication and sensing technology, it has become possible to monitor the operating status of the power grid system through a series of sensors. However, malicious adversaries may launch data integrity attacks to compromise the measurements of certain sensors, causing the grid monitoring system to fail to grasp the correct system operating status. To solve the NP-hard suspicious sensor selection problem, this paper proposes an efficient attack detection scheduling algorithm, the Particle Swarm Optimization algorithm based on historical information directional guidance (HIDG-based PSO algorithm). The proposed algorithm is utilized with its unique evolutionary mechanism, which reduces the computational power requirements for sensor selection. For the problem of uncertainty in evolutionary algorithms, this paper uses historical information to guide the selection of suspicious sensors at the current moment. The simulation results show that the proposed algorithm can efficiently select suspicious sensors, which will greatly improve the efficiency of attack detection and ensure the security of information fusion of the power grid monitoring system. © 2023 IEEE.

关键词： Scheduling algorithms

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ADRC with built-in RLC control scheme for uncertain systems with periodic reference input

ADRC with built-in RLC control scheme for uncertain systems ...

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Data Driven control and Learning systems (DDCLS)

作者： Xiangyang Li Jian Huang Senping Tian Wei Ai Key Laboratory of Autonomous Systems and Network Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China Kunming Shipborne Equipment Research and Test Center Kunming China

Active disturbance rejection control (ADRC) method has shown strong capabilities to handle system uncertainties. As for dealing with the periodic reference input signal, the repetitive learning control (RLC) method is often applied in practice to improve the system performance. In this paper, a distinct framework is proposed for the design and implementation of integrating the advantages of RLC and ADRC for uncertain systems with periodic reference input. An extra control input produced by built-in RLC scheme is added to the state error feedback (SEF) part of ADRC system. The stability of ADRC with built-in RLC scheme is proved. Simulations show that the proposed method is effective and can achieve better performance than the classic ADRC.

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Asymptotic Trajectory Tracking of Stratospheric Airships Based on RISE controllers Under External Uncertainties

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Liu, Can Li, Baoquan Dai, Fengzhi Shi, Wuxi Zhang, Xuebo Tiangong University School of Control Science and Engineering Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems Tianjin300387 China Tianjin University of Science and Technology College of Electronic Information and Automation Tianjin300222 China Nankai University Institute of Robotics and Automatic Information Systems Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

For a stratospheric airship under internal and external uncertainties, controller strategies with robust integral sign of the error (RISE) are proposed for asymptotic trajectory tracking control. Specifically, a fully connected neural network (FCNN) is constructed with adaptive weight updating to estimate internal uncertainties of the airship system. Then, a self-tuning RISE controller is designed to track trajectories with compensating external disturbance, which enables gain adjustment in realtime according to system feedback. Based on Lyapunov technique and LaSalle-Yoshizawa corollary extension, system stability is strictly analyzed, and asymptotic convergence performance is obtained for trajectory tracking by the designed controller. Moreover, a RISE controller is designed with fixed gain matrices for the airship based on classic control strategies, and asymptotic tracking is also proved. Finally, numerical simulations are conducted with spiral and hovering control to verify performance of the proposed strategies. © 1965-2011 IEEE.

关键词： Lyapunov methods

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A Novel Tandem Ducted Fan UAV Attitude control Based on Cascade PID controller

A Novel Tandem Ducted Fan UAV Attitude Control Based on Casc...

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第42届中国控制会议

作者： Ziqi Yu Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Engineering Technology Research Center of GuangdongSouth China University of Technology

In this paper, we introduce a novel tandem ducted fan unmanned aerial vehicle(UAV) and focus on the attitude control problem of it. Firstly, the structural layout of this new vehicle is introduced, then the force analysis and mathematical formula are performed based on kinematic and dynamical formulas. Secondly, this section is not only focuses on the degsign of controller but also the analysis of its advantages. For example, how they can improve system performance through frequency domain analysis, implementation of specific algorithms. Thirdly, an outdoor flight experiment is completed. The experimental process is as follows: after having the appropriate parameters, the vehicle is first allowed to fly to a height of about 10 meters and hover down, and then three attitude angle changes are performed. Finally, we conclude that the cascade PID controller for this type of UAV attitude control is simple, practical and can cope with many flight conoditions and indicate the shortcomings of this dissertation and future work.

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Event-Triggered Output Voltage Practical Tracking control for Uninterruptible Power Supply systems

Event-Triggered Output Voltage Practical Tracking Control fo...

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Chinese control and Decision Conference, CCDC

作者： Ben Wu Wei Liu Weijie Sun Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

In this paper, by using the output regulation theory, we research the output voltage practical tracking problem for un-interruptible power supply systems under event-triggered control technique. By configuring the desired poles for a controllable pair and solving the regulator equations, a state feedback gain and a feedforward gain can be obtained for designing the control law. Further, under event-triggered mechanism, a control law that can be applied to a digital platform directly is designed to solve our problem. Moreover, it can be verified that the voltage tracking error can converge to a pre-specified neighborhood of the origin.

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