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arXiv 2025年

作者： Wu, Sicheng Liwang, Minghui Wang, Deqing Wang, Xianbin Wu, Chao Tang, Junyi Li, Li Jiao, Zhenzhen The School of Informatics Xiamen University Fujian China The Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China The Department of Electrical and Computer Engineering Western University ON Canada The School of Public Affairs Zhejiang University Hangzhou310027 China School of Information Science and Engineering Lanzhou University Lanzhou China The iF-Labs Beijing Teleinfo Technology Co. Ltd. CAICT China

To facilitate responsive and cost-effective computing resource scheduling and service delivery over edge-assisted mobile networks, this paper investigates a novel two-stage double auction methodology via utilizing an interesting idea of resource overbooking to overcome dynamic and uncertain nature from edge servers (sellers) and demand from mobile devices (as buyers). The proposed auction integrates multiple essential factors such as social welfare maximization and decision-making latency (e.g., the time for determining winning seller-buyer pairs) reduction, by introducing a stagewise strategy: an overbooking-driven pre-double auction (OPDAuction) for determining long-term cooperations between sellers and buyers before practical resource transactions as Stage I, and a real-time backup double auction (RBDAuction) for handling residual resource demands during actual transactions. In particular, by applying a proper overbooking rate, OPDAuction helps with facilitating trading contracts between appropriate sellers and buyers as guidance for future transactions, by allowing the booked resources to exceed supply. Then, since pre-auctions may cause risks, our RBDAuction adjusts to real-time market changes, further enhancing the overall social welfare. More importantly, we offer an interesting view to show that our proposed two-stage auction can support significant design properties such as truthfulness, individual rationality, and budget balance. Through extensive experiments, we demonstrate good performance in social welfare, time efficiency, and computational scalability, outstripping conventional methods in dynamic edge computing settings. Copyright © 2025, The Authors. All rights reserved.

关键词： Budget control

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Estimation of velocity potential of water waves using a Luenberger-like observer

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Science China(Information Sciences) 2020年第12期63卷 139-152页

作者： Yang YU Hai-Long PEI Cheng-Zhong XU Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangzhou South China University of Technology LAGEPP University Claude Bernard-Lyon 1

We propose a Luenberger-like observer for a water wave system. The water wave dynamics are assumed to be governed by the linearized water wave equation(LWWE). Our proposed observer estimates the velocity potential of water waves by measuring only the surface wave elevation. The information of the water-wave velocity field is then extracted from the gradient of the velocity potential. It is shown that the estimation error of the observer converges exponentially to zero as time tends to infinity. Furthermore,we numerically solve the LWWE and observer equation by the finite difference method. The efficiency of our proposed numerical scheme and the performance of the observer are validated by numerical simulation results.

关键词： linearized water wave equation LWWE Luenberger-like observer numerical simulations

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Discrete Time-Varying Four Fundamental Operations Implemented by Euler Forward Difference 36

Discrete Time-Varying Four Fundamental Operations Implemente...

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第36届中国控制会议

作者： Yunong Zhang Huihui Gong Jian Li Binbin Qiu Min Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781538629185

Time-varying problems are widely encountered in various engineering fields,such as signal processing,construction monitoring,and ***,traditional arithmetics intrinsically aim at time-invariant problems *** running on relatively low-speed processing units,traditional arithmetics may generate quite large and unacceptable lagging *** this paper,the problems of discrete time-varying four fundamental operations(TVFFO) are *** order to eliminate the lagging errors,based on Zhang dynamics(ZD) and Euler forward difference(EFD) formula,discrete computing models,which are named Euler-implemented discrete ZD(EIDZD) models,are proposed and *** that the EIDZD models are with an error pattern 0(g),where g denotes the sampling ***,illustrative numerical experiments of EIDZD models are also conducted,which show the high accuracy of EIDZD models.

关键词： Time-varying four fundamental operations(TVFFO) Zhang dynamics(ZD) Continuous time-varying models Euler forward difference(EFD) Euler-implemented discrete ZD(EIDZD) models Numerical experiments

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Robust controller Design for BTT Missile Equipped with Grid Fin 35

Robust Controller Design for BTT Missile Equipped with Grid ...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.

关键词： BTT missile H control dynamic characteristics grid fin

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ADRC for Nonlinear Time-Variant systems with Unknown orders 35

ADRC for Nonlinear Time-Variant Systems with Unknown orders

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第35届中国控制会议

作者： LI Xiangyang AI Wei TIAN Senping Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.

关键词： ADRC local model extended state observer nonlinear time-variant system unknown order data-driven control

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A Recurrent Neural Network Based Bicriteria Repetitive Motion Collision Avoidance Scheme for Motion Planning of Dual Redundant Manipulators 13

A Recurrent Neural Network Based Bicriteria Repetitive Motio...

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13th International Conference on Intelligent control and Information Processing, ICICIP 2025

作者： Chen, Shirui Gao, Huanli Hu, Shaolin Zhang, Zhijun The School of Automation Science and Engineering South China University of Technology Guangzhou510640 China The School of Automation Guangdong University of Petrochemical Technology Maoming Guangzhou525000 China The Guangzhou Key Laboratory of Brain-Computer Interaction and Applications Guangzhou China The Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering South China University of Technology Guangzhou510640 China Guangzhou510555 China The Jiangxi Thousand Talents Plan Nanchang University Nanchang330031 China The College of Computer Science and Engineering Jishou University Jishou416000 China Guangzhou510335 China The Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Shaanxi University of Technology Hanzhong723001 China The School of Information Science and Engineering Changsha Normal University Changsha410100 China The School of Automation Science and Engineering Maoming525000 China The Institute of Artificial Intelligence and Automation Guangdong University of Petrochemical Technology Maoming525000 China

ISBN: (纸本)9798331516147

To achieve low joint-angle drift and avoid mutual collision between dual redundant manipulators (DRMs) when they are doing collaboration works, a recurrent neural network based bicriteria repetitive motion collision avoidance (BRMCA) scheme is proposed for motion planning of DRMs. By designing a combined optimization objective encompassing both repetitive motion criterion and collision avoidance criterion, the BRMCA scheme has larger feasible region and less constraint contradiction issues compared with traditional inequality constraints based method. Furthermore, by incorporating velocity-level kinematic model and physical limits of DRMs into the scheme, a time varying quadratic programming (TVQP) problem is formulated. The linear variational inequality-based primal–dual neural network (LVI-PDNN) is used to solve the proposed scheme due to the high accuracy and low computation complexity. Finally, through comparison simulations of tracking Circle-shape and C-shape trajectories between BRMCA scheme and minimum velocity norm (MVN) scheme, it exhibits that the proposed BRMCA scheme can achieve low joint-angle drift, collision avoidance and high tracking accuracy when DRMs are doing cooperative tasks. © 2025 IEEE.

关键词： Recurrent neural networks

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GPS/SINS/MC Integrated Navigation Algorithm Research Based on Zero Velocity Update 36

GPS/SINS/MC Integrated Navigation Algorithm Research Based o...

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第36届中国控制会议

作者： Fuchun Liu Shengjie Cao Yifeng Chen Xuan Su College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control（ASNC）Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781538629185

The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update（ZUPT） technology is used for the error correction in this *** a relevant algorithm,the zero velocity detection algorithm is applied in the carrier *** method has achieved an integrated navigation system filtering algorithm based on *** simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.

关键词： Integrated Navigation Zero Velocity Update Kalman Filter

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Horseshoe and entropy in a fractional-order unified system

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Chinese Physics B 2011年第1期20卷 175-180页

作者：李清都陈述周平 Key Laboratory of Networked Control and Intelligent Instrument of Ministry of Education Chongqing University of Posts and Telecommunications Institute for Nonlinear Systems Chongqing University of Posts and Telecommunications

This paper studies chaotic dynamics in a fractional-order unified system by means of topological horseshoe theory and numerical computation. First it finds four quadrilaterals in a carefully-chosen Poincare section, then shows that the corresponding map is semiconjugate to a shift map with four symbols. By estimating the topological entropy of the map and the original time-continuous system, it provides a computer assisted verification on existence of chaos in this system, which is much more convincible than the common method of Lyapunov exponents. This new method can potentially be used in rigorous studies of chaos in such a kind of system. This paper may be a start for proving a given fractional-order differential equation to be chaotic.

关键词： chaos topological horseshoe fractional-order system generalised Lorenz system

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Research on Indoor Robot SLAM of RBPF Improved with Geometrical Characteristic Localization 29

Research on Indoor Robot SLAM of RBPF Improved with Geometri...

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第29届中国控制与决策会议

作者： Liu Fuchun Chen Yifeng Li Yunze College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control(ASNC)Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509046584

LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamiliar environment with uncertain position and orientation. On the issue of setting the dynamic threshold value to zone the LIDAR scanning points in the process of constructing the geometry map, with the consideration of the character of RPLIDAR which is used in our research, this paper has analyzed and proposed the specific dynamic threshold values, which make the zoning of LIDAR scanning points more reasonable. In order to improve the robustness of SLAM, we have used regular particle filter(RPF) as the location algorithm. In order to solve the problem of unable to add auxiliary information under the traditional MCL framework, we have taken full use of the high accuracy character of the geometry matching and locating, and have used the result of it to improve the importance density function of RPF. Based on the idea of Rao-Blackwellization, the improved RBPF-SLAM has been proposed. The validity and feasibility of the improved RBPF-SLAM have been proved with simulations and experiments.

关键词： Simultaneous Localization and Mapping LIDAR robot particle filter

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Cooperative Hierarchical Coverage control of Multi-Agent systems with Non-holonomic Constraints in Poriferous Environments

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IEEE Transactions on control of Network systems 2025年

作者： Zou, Jiayu Zhang, Hai-Tao Zhai, Chao Xing, Ning Ma, Yong Liu, Xingjian Huazhong University of Science and Technology School of Artificial Intelligence and Automation The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China China University of Geosciences School of Automation China The MOE Engineering Research Center of Intelligent Technology for Geo-Exploration Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Academician Workstation of China COSCO Shipping Corporation Ltd. Shanghai200120 China Wuhan University of Technology Sanya Science and Education Innovation Park Sanya572000 China Wuhan University of Technology Chongqing Research Institute Chongqing401120 China

It has long posed a challenging task to optimally deploy multi-agent systems (MASs) to cooperatively coverage poriferous environments in real cooperative detection applications. In response to this challenge, this paper proposes a hierarchical coverage control (HCC) protocol for MASs to perform sector-based coverage operations. First, a distributed Voronoi partition-based sweep-and-assign protocol, combined with a sectorial partition method, is developed, enabling the segmentation of a whole poriferous region into multiple sectorial sub-subregions. Following this procedure, an extreme search scheme is developed to determine the optimal amount of agents for each subregion. After this allocation, a distributed controller is proposed to deploy the agents, considering non-holonomic constraints, into designated niche positions. Additionally, sufficient conditions are derived to guarantee the asymptotical stability of the present HCC. The analytical challenge of the present study stems from the non-convex characteristics inherent in the loss function induced by porous environments. This non-convexity renders the task of globally optimizing the assignment of MASs intractable. Finally, numerical simulations are conducted to validate the effectiveness of the present coverage control approach. © 2014 IEEE.

关键词： Nonlinear control systems

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