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Drift-free localisation using prior cross-source map for indoor low-light environments

IET Cyber-systems and Robotics 2023年第1期5卷 122-131页

作者： Junyi Tao Weichen Dai Da Kong Jiayan Wan Bin He Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina School of Computer Science Hangzhou Dianzi UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

In this study,a localisation system without cumulative errors is ***,depth odometry is achieved only by using the depth information from the depth *** the point cloud cross-source map registration is realised by 3D particle filtering to obtain the pose of the point cloud relative to the ***,we fuse the odometry results with the point cloud to map registration results,so the system can operate effectively even if the map is *** effectiveness of the system for long-term localisation,localisation in the incomplete map,and localisation in low light through multiple experiments on the self-recorded dataset is *** with other methods,the results are better than theirs and achieve high indoor localisation accuracy.

关键词： indoor positioning robots

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & Complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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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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Competitive Meta-Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1902-1904页

作者： Boxi Weng Jian Sun Gao Huang Fang Deng Gang Wang Jie Chen National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081 Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China School of Automation Tsinghua UniversityBeijing 100084China Department of Control Science and Engineering Tongji UniversityShanghai 201804 National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China IEEE

Dear Editor,This letter is concerned with developing meta-learning models for fast,stable,and effective few-shot learning across tasks over a few training ***,deep and reinforcement learning(RL)is widely used in auton... 详细信息

关键词： robot autonomous concerned

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Sampled-Data Output Voltage Practical Tracking for Uninterruptible Power Supply systems with Transmission Delays

Sampled-Data Output Voltage Practical Tracking for Uninterru...

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2024 International Annual Conference on Complex systems and Intelligent Science, CSIS-IAC 2024

作者： Jia, Mengqi Liu, Wei Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9798331504755

This paper aims at addressing output voltage practi-cal tracking problem for uninterruptible power supply systems by devising an aperiodic sampled-data control scheme. We consider the presence of transmission delay in the input channel. We demonstrate that the problem can be solved by a predictor-based sampled-data dynamic output feedback control law. Moreover, the tracking error can converge to a prescribed neighborhood of the origin. © 2024 IEEE.

关键词： Delay control systems

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Robust Output Voltage Tracking with Prescribed Performance for Single-Phase UPS Inverters

Robust Output Voltage Tracking with Prescribed Performance f...

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2024 China Automation Congress, CAC 2024

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

ISBN: (纸本)9798350368604

This paper deals with the robust output voltage tracking problem with prescribed performance for single-phase voltage source uninterruptible power supply inverters. We construct two linear internal models to reproduce the steady-state information, based on which we transform our problem into the robust stabilization problem with prescribed performance of an augmented system. Then, we incorporate a novel error transformation into the existing framework for the robust output regulation problem to design a stabilization controller, based on which we synthesize our control law to make the tracking error converge to zero asymptotically while always satisfying the prescribed performance. © 2024 IEEE.

关键词： Uninterruptible power systems

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Non-Overshooting Output Regulation of Linear systems via Positive systems Method 6

Non-Overshooting Output Regulation of Linear Systems via Pos...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Deng, Xuanjin Liu, Wei School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education Guangzhou China

ISBN: (纸本)9798350353594

This paper investigates the non-overshooting output regulation problem by using the analysis and synthesis approaches of positive systems. Combining linear programming with gain matrix decomposition technique, a state feedback control law with two different kinds of design parameters is designed to ensure the stability and positivity of the corresponding closed-loop systems, which leads to the solvability of the non-overshooting output regulation problem of linear systems. Finally, an example is given to verify the effectiveness of the proposed design. © 2024 IEEE.

关键词： State feedback

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Low-frequency bandgap and vibration suppression mechanism of a novel square hierarchical honeycomb metamaterial

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Applied Mathematics and Mechanics(English Edition) 2024年第10期45卷 1841-1856页

作者： Xingjian DONG Shuo WANG Anshuai WANG Liang WANG Zhaozhan ZHANG Yuanhao TIE Qingyu LIN Yongtao SUN State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Department of Mechanics Tianjin UniversityTianjin 300350China Tianjin Key Laboratory of Nonlinear Dynamics and Control Tianjin UniversityTianjin 300350China School of Mechanical and Automotive Engineering Guangxi University of Science and TechnologyLiuzhou 545006Guangxi Zhuang Autonomous RegionChina

The suppression of low-frequency vibration and noise has always been an important issue in a wide range of engineering *** address this concern,a novel square hierarchical honeycomb metamaterial capable of reducing low-frequency noise has been *** combining Bloch’s theorem with the finite element method,the band structure is *** results indicate that this metamaterial can produce multiple low-frequency bandgaps within 500 Hz,with a bandgap ratio exceeding 50%.The first bandgap spans from 169.57 Hz to 216.42 *** reveal the formation mechanism of the bandgap,a vibrational mode analysis is *** analysis demonstrates that the bandgap is attributed to the suppression of elastic wave propagation by the vibrations of the structure’s two protruding corners and overall expansion ***,detailed parametric analyses are conducted to investigate the effect ofθ,i.e.,the angle between the protruding corner of the structure and the horizontal direction,on the band structures and the total effective bandgap *** is found that reducingθis conducive to obtaining lower frequency *** propagation characteristics of elastic waves in the structure are explored by the group velocity,phase velocity,and wave propagation ***,the transmission characteristics of a finite periodic structure are investigated *** results indicate significant acceleration amplitude attenuation within the bandgap range,confirming the structure’s excellent low-frequency vibration suppression capability.

关键词： wave propagation vibration suppression metamaterial low-frequency bandgap

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A Monocular Biological Simultaneous Localization and Mapping Method Based on a Bionic Vision Model

A Monocular Biological Simultaneous Localization and Mapping...

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2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023

作者： Guo, Sitong Zhang, Yu Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China

ISBN: (纸本)9798350301113

Animals can navigate robustly through large unknown environments, utilizing inaccurate sensor and egomotion cues. Inspired by the mechanism of the human visual system, this paper presents a biological simultaneous localization and mapping (SLAM) system based on a monocular vision sensor to perform navigation tasks in complex environments. Specifically, our contributions are two folds: an improved monocular visual odometry with a scale recovery algorithm to calibrate the estimated robot pose, and a bionic vision model based on image enhancement algorithm and feature extraction approach to detect closed-loop. Experiments on public datasets demonstrate that our proposed method performs competitively in illumination-varying scenarios indoors and outdoors, which achieve a trade-off to maintain performances in terms of accuracy, execution time, and robustness. © 2023 IEEE.

关键词： Vision

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Deterministic Learning-Based Robust Practical Output Regulation for Second-Order Nonlinear systems

Deterministic Learning-Based Robust Practical Output Regulat...

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2024 International Annual Conference on Complex systems and Intelligent Science, CSIS-IAC 2024

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

ISBN: (纸本)9798331504755

This article intends to investigate the semi-global robust practical output regulation problem for a class of second-order nonlinear systems with parametric and non-parametric uncertainties based on deterministic learning method. First, by constructing the internal models, the robust output regulation problem is transformed into the semi-global robust practical stabilization problem. Second, we propose an adaptive neural control (ANC) strategy to solve the stabilization problem and utilize the radial basis function neural networks (RBF NNs) to identify unknown dynamic. Moreover, under the persistently exciting (PE) property, the unknown dynamics can be identified and the learned knowledge is saved as some constant NN weights. Finally, we design an deterministic learning-based adaptive neural control (DLANC) law with the learned knowledge to solve the output regulation problem and improve control performance. © 2024 IEEE.

关键词： Contrastive Learning

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