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Ellipsoidal bounding set-membership identification approach for robust fault diagnosis with application to mobile robots

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Journal of systems Engineering and Electronics 2017年第5期28卷 986-995页

作者： Bo Zhou Kun Qian Xudong Ma Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).

关键词： set-membership identification fault diagnosis fault detection and isolation (FDI) bounded error mobile robot

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Semi-Global Stabilization via Homogeneous Output Feedback for a Class of Nonlinear Time-Delay systems

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Journal of systems Science & complexity 2016年第6期29卷 1538-1552页

作者： WANG Pan CHAI Lin FEI Shumin Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University

The semi-global stabilization problem for a class of nonlinear systems with state time-delay is addressed in this paper. By using Lyapunov-Krasovskii functional method and homogeneous dom- ination approach, a homogeneous observer and an output feedback controller with a scaling gain are designed. Then the sealing gain is adjusted such that the closed-loop system is semi-global asymptoti- cally stable. A numerical example is presented to illustrate the effectiveness of the obtained results in this paper.

关键词： Homogeneous domination approach Lyapunov-Krasovskii functional nonlinear time-delay systems output feedback semi-global.

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Online adaptive Q-learning method for fully cooperative linear quadratic dynamic games

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Science China(Information Sciences) 2019年第12期62卷 164-177页

作者： Xinxing LI Zhihong PENG Lei JIAO Lele XI Junqi CAI School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

A model-based offline policy iteration(PI) algorithm and a model-free online Q-learning algorithm are proposed for solving fully cooperative linear quadratic dynamic games. The PI-based adaptive Q-learning method can learn the feedback Nash equilibrium online using the state samples generated by behavior policies, without sending inquiries to the system model. Unlike the existing Q-learning methods, this novel Q-learning algorithm executes both policy evaluation and policy improvement in an adaptive *** prove the convergence of the offline PI algorithm by proving its equivalence to Newton's method while solving the game algebraic Riccati equation(GARE). Furthermore, we prove that the proposed Q-learning method will converge to the Nash equilibrium under a small learning rate if the method satisfies certain persistence of excitation conditions, which can be easily met by suitable behavior policies. Our simulation results demonstrate the good performance of the proposed online adaptive Q-learning algorithm.

关键词： adaptive dynamic programming reinforcement learning Q-learning fully cooperative linear quadratic dynamic games policy iteration off-policy

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Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation

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Journal of systems Engineering and Electronics 2013年第3期24卷 488-499页

作者： Haibin Sun Shihua Li Changyin Sun Key Laboratory of Measurement and Control of Complex Systems of Engineering(Ministry of Education) School of AutomationSoutheast University

The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods.

关键词： airbreathing hypersonic vehicle （AHV） fault-tolerant control （FTC） adaptive control input saturation.

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Further results on cloud control systems

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Science China(Information Sciences) 2016年第7期59卷 232-236页

作者： Yuanqing XIA Yongming QIN Di-Hua ZHAI Senchun CHAI School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is devoted to further investigating the cloud control systems(CCSs). The benefits and challenges of CCSs are provided. Both new research results of ours and some typical work made by other researchers are p... 详细信息

关键词： cloud control systems cloud computing cyber-physical systems networked control systems big data

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Integrated Communication and Learned Recognizer with Customized RIS Phases and Sensing Durations

arXiv

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arXiv 2025年

作者： Huang, Yixuan Yang, Jie Wen, Chao-Kai Jin, Shi National Mobile Communications Research Laboratory Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan

Future wireless communication networks are expected to be smarter and more aware of their surroundings, enabling a wide range of context-aware applications. Reconfigurable intelligent surfaces (RISs) are set to play a critical role in supporting various sensing tasks, such as target recognition. However, current methods typically use RIS configurations optimized once and applied over fixed sensing durations, limiting their ability to adapt to different targets and reducing sensing accuracy. To overcome these limitations, this study proposes an advanced wireless communication system that multiplexes downlink signals for environmental sensing and introduces an intelligent recognizer powered by deep learning techniques. Specifically, we design a novel neural network based on the long short-term memory architecture and the physical channel model. This network iteratively captures and fuses information from previous measurements, adaptively customizing RIS phases to gather the most relevant information for the recognition task at subsequent moments. These configurations are dynamically adjusted according to scene, task, target, and quantization priors. Furthermore, the recognizer includes a decision-making module that dynamically allocates different sensing durations, determining whether to continue or terminate the sensing process based on the collected measurements. This approach maximizes resource utilization efficiency. Simulation results demonstrate that the proposed method significantly outperforms state-of-the-art techniques while minimizing the impact on communication performance, even when sensing and communication occur simultaneously. Part of the source code for this paper can be accessed at https://***/kiwi1944/CRISense. Copyright © 2025, The Authors. All rights reserved.

关键词： Long short-term memory

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Improved Stability Criteria on Discrete-time systems with Time-varying and Distributed Delays

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International Journal of Automation and computing 2013年第3期10卷 260-266页

作者： Ting Wang Ming-Xiang Xue Chun Zhang Shu-Min Fei Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University

This work was supported by National Natural Science Foun- dation of China （Nos. 60905009, 61004032, 61104119, 61174076, and 61172135）, and Jiangsu Province Natural Science Foundation （Nos. SBK201240801 and BK20123... 详细信息

关键词： Discrete-time system global stability interval time-varying delay distributed delay reciprocal convex technique.

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Adaptive-triggered H ∞ sliding-mode optimal control for nonlinear input-limited systems

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Communications in Nonlinear Science and Numerical Simulation 2025年 149卷

作者： Hongxu Zhang Honggui Wang Department of Applied Mathematics Harbin University of Science and Technology Harbin 150080 China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin 150080 China

This paper concentrates on the H ∞ sliding mode optimal control (SMOC) problem for nonlinear systems with mismatched interference and constrained input. Firstly, an adaptive-triggered strategy for the discontinuous control part is employed, which can suppress input interference and the separated matched disturbances. Also, the system trajectories are guaranteed to converge to the sliding manifold. Moreover, the adaptive-triggered strategy is optimized into self-triggered strategy with the aim to avoid the real-time measurement of triggered conditions, and the minimum time interval is obtained to prevent Zeno phenomenon. Subsequently, the optimal H ∞ control problem of sliding motion turns into a two-person ZS game issue. To derive the solutions of event-trigger HJI equation, an adaptive dynamic programming (ADP) algorithm with critic-only structure is implemented to obtain the optimal control online. Furthermore, by utilizing the Lyapunov technique, the uniformly ultimately bounded (UUB) conditions about system state and the weight estimation error are obtained. At last, simulation outcomes are analyzed to validate the effectiveness of the control strategy.

关键词： Sliding mode control

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Research on Temperature Error Calibration Method of Fluxgate Sensor

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Journal of Advanced Computational Intelligence and Intelligent Informatics 2025年第3期29卷 583-591页

作者： Yang, Ruiping Ge, Jian Luo, Wang Hu, Xiangyun She, Jinhua Chugo, Daisuke Dong, Haobin School of Automation China University of Geosciences No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education No 388 Lumo Road Hongshan District Hubei Wuhan 430074 China School of Engineering Kwansai Gakuin University 1 Gakuen Uegahara Hyogo Sanda 669-1330 Japan School of Geophysics and Geomatics China University of Geosciences No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China Hubei Subsurface Multi-scale Imaging Key Laboratory No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China School of Engineering Tokyo University of Technology 1404-1 Katakuramachi Hachioji Tokyo 192-0982 Japan

The fluxgate sensor is the most widely used sensor in vector magnetic measurement. However, during long-term continuous observation, the fluxgate sensor will produce large measurement errors due to changes in ambient temperature. This paper proposes a temperature calibration method for the fluxgate sensor based on polynomial fitting to address the temperature error of fluxgate sensors. First, the effect of temperature on the performance indicators of the fluxgate sensor was analyzed. Second, according to the existing temperature-magnetic field data, a temperature calibration model of the fluxgate sensor was constructed. Compared with other temperature calibration methods, the result shows that the proposed temperature calibration method is relatively simple and can better achieve real-time calibration for sensor application scenarios. Finally, to verify the effectiveness of the proposed method, numerous laboratory experiments were implemented. The temperature drift was reduced from about 700 nT before calibration to about 1 nT, root mean square error RMSE = 11.7189, indicating that the proposed method has a good temperature calibration effect on the data measured by the fluxgate sensor within the variable temperature background. © Fuji Technology Press Ltd.

关键词： curve fitting error fluxgate sensor magnetic sensor temperature calibration

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Adaptive control Based on Neural Networks for an Uncertain 2-DOF Helicopter System With Input Deadzone and Output Constraints

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 807-815页

作者： Yuncheng Ouyang Lu Dong Lei Xue Changyin Sun IEEE the School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.

关键词： 2-degree of freedom (DOF) helicopter adaptive control input deadzone integral barrier Lyapunov function neural networks output constraints

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