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Chinese control Conference (CCC)

作者： Yu Chen Jun Hu Jiaxing Li Aozhan Zhou Hui Yu Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

In this paper, the distributed state estimation method with resilient attenuation feature is proposed for time-varying fractional-order complex networks under encoding-decoding mechanism. The encoding-decoding-induced dynamic errors for distinct nodes are characterized by the truncated Gaussian distributions. In order to compensate the effects induced by encoding-decoding scheme, the variances of encoding-decoding-induced dynamic errors are considered in process of designing the resilient distributed estimation algorithm. In particular, the upper bounds of updated estimation error covariances are derived firstly. Subsequently, the upper bounds are minimized by constructing the gain matrices at each sampling instant. Besides, a sufficient condition is provided to guarantee the boundedness of estimation error dynamics in the mean-square sense. Finally, the validity of distributed resilient state estimation scheme is demonstrated by a simulation example.

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Adaptive Decentralized Asymptotic Tracking control for Large-Scale Nonlinear systems With Unknown Strong Interconnections

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 173-186页

作者： Ben Niu Jidong Liu Ding Wang Xudong Zhao Huanqing Wang College of Information Science and Engineering Shandong Normal UniversityJinan 250014China School of Artificial Intelligence Nankai UniversityTianjin 300071China Faculty of Information Technology Beijing University of TechnologyBeijing 100124 State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Control Science and Engineering Dalian University of TechnologyDalian 116023China Department of Mathematical Science and Automatization Institute Bohai UniversityJinzhou 121000China

An adaptive decentralized asymptotic tracking control scheme is developed in this paper for a class of large-scale nonlinear systems with unknown strong interconnections,unknown time-varying parameters,and ***,by employing the intrinsic properties of Gaussian functions for the interconnection terms for the first time,all extra signals in the framework of decentralized control are filtered out,thereby removing all additional assumptions imposed on the interconnec-tions,such as upper bounding functions and matching ***,by introducing two integral bounded functions,asymptotic tracking control is ***,the nonlinear filters with the compensation terms are introduced to circumvent the issue of“explosion of complexity”.It is shown that all the closed-loop signals are bounded and the tracking errors converge to zero *** the end,a simulation example is carried out to demonstrate the effectiveness of the proposed approach.

关键词： Adaptive decentralized control asymptotic tracking control large-scale nonlinear systems unknown strong interconnections

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Decision-making and Planning Framework with Prediction-Guided Strategy Tree Search Algorithm for Uncontrolled Intersections 25

Decision-making and Planning Framework with Prediction-Guide...

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25th IEEE International Conference on Intelligent Transportation systems, ITSC 2022

作者： Zhang, Ting Fu, Mengyin Song, Wenjie Yang, Yi Wang, Meiling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China Nanjing University of Science and Technology Nanjing 210014 China

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468817

Uncontrolled intersections are important and challenging traffic scenarios for autonomous vehicles. Vehicles not only need to avoid collisions with dynamic vehicles instantaneously but also predict their behavior then make long-term decisions in reaction. To solve this problem, we propose a cooperative framework composed of a Primary Driver (PD) for motion planning and a Subordinate Driver (SD) for decision-making. SD is essentially the combination of a prediction module and a high-level behavior planner, which develops a prediction-guided strategy tree to determine the optimal action sequence. Especially, under the guidance of the prediction results, the tree branches are evaluated in security metrics, then get trimmed in action and observation space to reduce the dimensional complexity. With the assistance of SD, PD works as a collision checker and a low-level motion planner to generate a safe and smooth trajectory. We use the INTERACTION dataset to validate our method and achieve more than 90% success rate with efficiency improvement in various situations. © 2022 IEEE.

关键词： Uncertainty Decision making Prediction algorithms Planning Trajectory complexity theory Behavioral sciences

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Consistent Extended Kalman Filter Design for Maneuvering Target Tracking and Its Application on Hand Position Tracking

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Guidance, Navigation and control 2022年第2期2卷 33-58页

作者： Lin Tian Yang Xu Wenchao Xue Long Cheng The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190P.R.China School of Arti-cial Intelligence University of Chinese Academy of SciencesBeijing 100049P.R.China The Key Laboratory of Systems and Control National Center for Mathematics and Interdisciplinary SciencesAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190P.R.China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049P.R.China

This paper propees the consistent extended Kalman flter(CEKF)for the maneuvering target tracking(MTT)with nonlinear uncertain dynamics,and applies it on hand poition *** general modlel of the MTT system i presented with unmodleled dynamics in terms of nonlinear unknown function of *** CEKF is propoeed to ensure that the bounds of the estimation error's covariance matrix are av ailable through the flter *** a result,the creponding accuracy of the flter approach can be achieved ***,a CEKF-baaed MTT algorithm is constructed via the tumning aw of the critical parameter matrix QE Finally,the efectiveness of CEKF i verified by MTT numerical simulations and hand tacking expeiments under dilferent ***,two indices are employed to compare the CEKF with extended Kalman filter(EKF):the mean square errors(MSEa)and the bounded percentage,ie the percentage of the rang w bere the estimation error is encboed by the bound calculated by *** MSEs of CEKF are smaller than thoee of EKF,where the worst MSEa of CEKF and EKF are0.14 and 418 in the simulation,a8 well 80.11 and 059 in the expeiments,respectively;all bounded percentages of CEKF are larger than thoee of EKF,where the wonst average bounded percentages of CEKF and EKF ame 87.86%and 14.58%,8 well as 97.41%and 41.79%in the experiments,reapectively.

关键词： Maneuvering target tracking hand position tracking extended Kalman¯lter(EKF) consistency

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Assessing the effectiveness of the intervention measures of COVID-19 in China based on dynamical method

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Infectious Disease Modelling 2023年第1期8卷 159-171页

作者： Xiaomeng Wei Mingtao Li Xin Pei Zhiping Liu Juan Zhang Complex Systems Research Center Shanxi University030006ShanxiChina Shanxi Key Laboratory of Mathematical Techniques and Big Data Analysis on Disease Control and Prevention 030006ShanxiChina School of Mathematical Sciences Shanxi University030006ShanxiChina College of Mathematics Taiyuan University of Technology030024ShanxiChina School of Data Science and Technology North University of China030051ShanxiChina

Normalized interventions were implemented in different cities in China to contain the outbreak of COVID-19 before December ***,the differences in the intensity and timeliness of the implementations lead to differences in final size of the *** the outbreak of COVID-19 in three representative cities Xi'an,Zhengzhou and Yuzhou in January 2022,as examples,we develop a compartmental model to describe the spread of novel coronavirus and implementation of interventions to assess concretely the effectiveness of Chinese interventions and explore their impact on epidemic *** applying reported human confirmed cases to verify the rationality of the model,we apply the model to speculate transmission trend and length of concealed period at the initial spread phase of the epidemic(they are estimated as 10.5,7.8,8.2 days,respectively),to estimate the range of basic reproduction number(2.9,0.7,1.6),and to define two indexes(transmission rate vt and controlled rate vc)to evaluate the overall effect of the *** is shown that for Zhengzhou,vc is always more than v t with regular interventions,and Xi'an take 8 days to achieve vc>v t twice as long as Yuzhou,which can interpret the fact that the epidemic situation in Xi'an was more *** carrying out parameter values,it is concluded that in the early stage,strengthening the precision of close contact tracking and frequency of large-scale nucleic acid testing of non-quarantined population are the most effective on controlling the outbreaks and reducing final ***,if the close contact tracking strategy is sufficiently implemented,at the late stage largescale nucleic acid testing of non-quarantined population is not essential.

关键词： COVID-19 Close contact tracking Large-scale nucleic acid testing Dynamics The basic reproduction number Sensitivity analysis

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Recursive Filtering for Time-Varying Nonlinear Delayed systems with Stochastic Parameter Matrices and Censored Measurements

Recursive Filtering for Time-Varying Nonlinear Delayed Syste...

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Chinese control Conference (CCC)

作者： Shuo Yang Jun Hu Peixia Gao Ruijie Dong Zhihui Wu Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

This paper discusses the design problem of recursive filtering method for time-varying nonlinear delayed systems (NDSs) with stochastic parameter matrices (SPMs) and censored measurements. In particular, the Tobit Type I model provides a description of the censored measurements. The main objective of this paper is to construct a recursive filter for NDSs with both SPMs and censored measurements. The upper bound of the filtering error covariance is first calculated via mathematical induction, and the upper bound is then minimized by choosing proper filter gain. Besides, a sufficient condition is provided to guarantee that the filtering error is uniformly bounded in the mean-square sense. Finally, the viability and applicability of the proposed filtering method are demonstrated using a numerical simulation.

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Entropic stochastic resonance of finite-size particles in confined Brownian transport

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Physical Review E 2024年第5期109卷 054110-054110页

作者： Hai-Wei Hu Lin Du Ai-Li Fan Zi-Chen Deng Celso Grebogi School of Mathematics and Statistics Northwestern Polytechnical University Xi'an 710072 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'an 710072 China School of Aeronautics Northwestern Polytechnical University Xi'an 710072 China Institute for Complex Systems and Mathematical Biology Kingdom College University of Aberdeen Aberdeen AB24 3UE United Kingdom

We demonstrate the existence of entropic stochastic resonance (ESR) of passive Brownian particles with finite size in a double- or triple-circular confined cavity, and compare the similarities and differences of ESR in the double-circular cavity and triple-circular cavity. When the diffusion of Brownian particles is constrained to the double- or triple-circular cavity, the presence of irregular boundaries leads to entropic barriers. The interplay between the entropic barriers, a periodic input signal, the gravity of particles, and intrinsic thermal noise may give rise to a peak in the spectral amplification factor and therefore to the appearance of the ESR phenomenon. It is shown that ESR can occur in both a double-circular cavity and a triple-circular cavity, and by adjusting some parameters of the system, the response of the system can be optimized. The differences are that the spectral amplification factor in a triple-circular cavity is significantly larger than that in a double-circular cavity, and compared with the ESR in a double-circular cavity, the ESR effect in a triple-circular cavity occurs within a wider range of external force parameters. In addition, the strength of ESR also depends on the particle radius, and smaller particles can induce more obvious ESR, indicating that the size effect cannot be safely neglected. The ESR phenomenon usually occurs in small-scale systems where confinement and noise play an important role. Therefore, the mechanism that is found could be used to manipulate and control nanodevices and biomolecules.

关键词： Brownian motion Stochastic dynamical systems Brownian dynamics Fokker–Planck equation Langevin equation

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Multi-Home Energy Coordination Scheduling Based on Adaptive Dynamic Programming

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The International Journal of Intelligent control and systems 2024年第1期29卷 30-36页

作者： Kang Xiong Qinglai Wei Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China.

Implementing cooperative scheduling of multi-home microgrid energy and reducing the dependence on the main grid have become the focus of microgrid energy management *** paper proposes a new multi-agent adaptive dynamic programming(MAADP)method for the cooperative control of distributed home *** home is defined as a learning agent that needs to reasonably schedule the energy storage system to meet the respective load demand while accomplishing cooperative scheduling among the individual *** addition,an energy clearing center(ECC)is introduced to complete the energy exchange between each microgrid to protect the benefits of all *** proposed method adopts the learning strategy of“centralized learning and decentralized execution”to avoid the leakage of private *** experimental comparison with the benchmark method verifies that the method can realize the cooperative scheduling of each home and reduce the dependence on the main grid.

关键词： Multi-home scenarios adaptive dynamic programming(ADP) optimal home energy management smart grid

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AirVista: Empowering UAVs with 3D Spatial Reasoning Abilities Through a Multimodal Large Language Model Agent

AirVista: Empowering UAVs with 3D Spatial Reasoning Abilitie...

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International Conference on Intelligent Transportation

作者： Fei Lin Yonglin Tian Yunzhe Wang Tengchao Zhang Xinyuan Zhang Fei-Yue Wang Department of Engineering Science Faculty of Innovation Engineering Macau University of Science and Technology Macau China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China Capital University of Economics and Business Beijing China Department of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

In urban environments, complex transportation demands, including land, air, and maritime transport, are increasingly growing. While significant advancements have been made in land transportation and autonomous driving, research on urban air mobility (UAM) systems is still in its early stages. This paper presents an innovative urban air unmanned aerial vehicle (UAV) framework: AirVista, which is designed and built based on the Artificial systems, Computational experiments, and Parallel execution (ACP) approach, integrated with a multimodal large language model (MLLM) agent. Considering that UAM tasks often require UAVs to possess fine-grained spatial perception and reasoning capabilities, and given that existing MLLMs are somewhat lacking in exploring 3D spaces, this paper further proposes an instruction fine-tuning strategy integrated with 3D spatial knowledge, which has been validated experimentally for its effectiveness. Additionally, to enhance the understanding of the efficiency of MLLM for UAV tasks, this paper delves into prompt fine-tuning templates tailored for UAV task decomposition. Through experimental demonstrations, we showcase that the prompt-tuned MLLM exhibits efficient task decomposition and execution capabilities in handling complex UAV tasks.

关键词： Three-dimensional displays Large language models Urban areas Land transportation Autonomous aerial vehicles Cognition Space exploration Planning

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Relatively Exact controllability for Fractional Stochastic Delay Differential Equations of Order Κ∈ (1,2]

SSRN

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SSRN 2023年

作者： Huang, Jizhao Luo, Danfeng Zhu, Quanxin Department of Mathematics Guizhou University Guiyang550025 China MOE-LCSM School of Mathematics and Statistics Hunan Normal University Changsha410081 China Key Laboratory of Control and Optimization of Complex Systems College of Hunan Province Hunan Normal University Changsha410081 China

In this paper, our main purpose is to study a class of fractional stochastic delay differential equations (FSDDEs) of order κ ∈ (1,2]. Firstly, we present a concept of delay Grammian matrix involving delayed matrix functions of sine. Subsequently, the relatively exact controllability of linear FSDDEs is obtained by using Grammian matrix. Furthermore, based on Krasnoselskii’s fixed point theorem, we explore the relatively exact controllability of the nonlinear addressed equations. In addition, with the aid of delay Gronwall inequality, Jensen¨ inequality and Ito isometry, existence of optimal control for thê Lagrange problem is derived. Finally, the theoretical conclusions are supported through two examples. © 2023, The Authors. All rights reserved.

关键词： Differential equations

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