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Leader-Following Entrapping control of AUVs Using Bearing Measurements in Local Coordinate Frames

Guidance, Navigation and control 2022年第4期2卷 85-121页

作者： Yingbo Fu Ziwen Yang Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240P.R.China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240P.R.China Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240P.R.China

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is *** achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning *** bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local *** on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary *** present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time ***,the parameters tuning unit can calculate optimal parameters to improve overall ***,we extend our schemes to nonholonomic AUVs with unicycle ***,simulation results demonstrate the effectiveness of the proposed scheme.

关键词： Entrapping control discrete-time AUVs bearing measurements local coordinate frames

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Fault Diagnosis of Discrete-Event systems under Non-Deterministic Observations with Output Fairness

Fault Diagnosis of Discrete-Event Systems under Non-Determin...

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IEEE Conference on Decision and control

作者： Weijie Dong Shang Gao Xiang Yin Shaoyuan Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we revisit the fault diagnosis problem of discrete-event systems (DES) under non-deterministic observations. Non-deterministic observation is a general observation model that includes the case of intermittent loss of observations. In this setting, upon the occurrence of an event, the sensor reading may be non-deterministic such that a set of output symbols are all possible. Existing works on fault diagnosis under non-deterministic observations require to consider all possible observation realizations. However, this approach includes the case where some possible outputs are permanently disabled. In this work, we introduce the concept of output fairness by requiring that, for any output symbols, if it has infinite chances to be generated, then it will indeed be generated infinite number of times. We use an assume-guarantee type of linear temporal logic formulas to formally describe this assumption. A new notion called output-fair diagnosability (OF-diagnosability) is proposed. An effective approach is provided for the verification of OF-diagnosability. We show that the proposed notion of OF-diagnosability is weaker than the standard definition of diagnosability under non-deterministic observations, and it better captures the physical scenario of observation non-determinism or intermittent loss of observations.

关键词： Fault diagnosis Sufficient conditions Symbols Discrete-event systems Standards Testing

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Distributed Neighbor Selection on Matrix-weighted Networks

Distributed Neighbor Selection on Matrix-weighted Networks

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Haoyu Wei Lulu Pan Haibin Shao Dewei Li Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

This paper explores distributed neighbor selection in matrix-weighted networks, where a matrix-valued weight captures the interdependencies among agents’ states. We demonstrate the feasibility of preserving and, in certain cases, improving the convergence rate of matrix-weighted networks by having agents exclusively engage with a subset of their neighbors. Leveraging the inherent monotonicity of Laplacian matrix eigenvectors, we introduce a novel neighbor selection criterion that reduces network connections while enhancing convergence rates. Existing neighbor selection strategies often require acquiring information from all nodes before making decisions. In order to propose a distributed neighbor selection strategy for matrix-weighted networks, we establish a numerical relationship between Laplacian eigenvectors and a locally measurable metric. In essence, this paper extends prior findings from scalar-weighted networks to matrix-weighted networks.

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Heuristic Learning for Co-Design Scheme of Optimal Sequential Attack

arXiv

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arXiv 2023年

作者： Luo, Xiaoyu Pan, Haoxuan Fang, Chongrong Zhao, Chengcheng Cheng, Peng He, Jianping The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China

This paper considers a novel co-design problem of the optimal sequential attack, whose attack strategy changes with the time series, and in which the sequential attack selection strategy and sequential attack signal are simultaneously designed. Different from the existing attack design works that separately focus on attack subsets or attack signals, the joint design of the attack strategy poses a huge challenge due to the deep coupling relation between the sequential attack selection strategy and sequential attack signal. In this manuscript, we decompose the sequential co-design problem into two equivalent sub-problems. Specifically, we first derive an analytical closed-form expression between the optimal attack signal and the sequential attack selection strategy. Furthermore, we prove the finite-time inverse convergence of the critical parameters in the injected optimal attack signal by discrete-time Lyapunov analysis, which enables the efficient off-line design of the attack signal and saves computing resources. Finally, we exploit its relationship to design a heuristic two-stage learning-based joint attack algorithm (HTL-JA), which can accelerate realization of the attack target compared to the one-stage proximal-policy-optimization-based (PPO) algorithm. Extensive simulations are conducted to show the effectiveness of the injected optimal sequential attack. Copyright © 2023, The Authors. All rights reserved.

关键词： Optimization

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Technical Research on Multi-cloud Collaborative Consultation Platform for Remote Support

Technical Research on Multi-cloud Collaborative Consultation...

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International Conference on Big Data and information Analytics (BigDIA)

作者： Li Jia-Jun Liu Zhi-Wei Liu Chao Qie Kai-Ming Key Laboratory of Information System and Technology Beijing Institute of Control and Electronic Technology Beijing China

Remote support is a global trend and plays a vital role in the digital age. The multi-cloud collaborative conference platform for remote support can help users and technical teams solve various technical problems more conveniently and efficiently, and facilitate user collaboration and communication. This article will introduce the functions and applications of the multi-cloud collaborative conference platform for remote support in detail, analyze the advantages of the multi-cloud collaborative consultation platform, and look forward to the future development of the multi-cloud collaborative platform.

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Designing Cluster Consensus on Higher-Order Interaction Networks

Designing Cluster Consensus on Higher-Order Interaction Netw...

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IEEE Conference on Decision and control

作者： Haoyu Wei Lulu Pan Haibin Shao Dewei Li Wenbin Yu Shibei Xue Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

This paper examines the cluster consensus design problem on higher-order interaction networks. Specifically, the higher-order interaction mechanism is captured by matrix-weighted networks that allow the interdependency across the dimensions of the agents' states, and the matrix-valued weight matrices $A_{ij}\in \mathbb{R}^{d\times d}$ associated with specific edges are further assumed to share the same nullspace for design purposes. Under mild assumptions on network connectivity, we first examine the case that the nullspace of positive semi-definite edges is spanned by a nonzero vector $\boldsymbol{\xi}\in \mathbb{R}^{d}$ and show that the predictable cluster consensus can be achieved, which is eventually located in the 1-dimensional linear space determined by span $\{\boldsymbol{\xi}\}$ and the average of agents' initial states. Moreover, the transient state of agents in each cluster can also be explicitly characterized. Namely, the derivative of the average state of agents in each cluster is perpendicular to span $\{\boldsymbol{\xi}\}$ . To generalize the above results, we proceed to examine the case that the nullspace of positive semi-definite edges is spanned by more than one linearly independent $d$ -dimensional vector, in which case, analogous results can be obtained, and the explicit geometric interpretation is also provided.

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Passive Sources Localization based on Constellation Signal

Passive Sources Localization based on Constellation Signal

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International Conference on Big Data and information Analytics (BigDIA)

作者： Qishu Gong Jian Han Yan Liu Key Laboratory of Information System and Technology Beijing Institute of Control and Electronic Technology Beijing China

Constellation satellites are important space-based devices with wider irradiation range and less blind coverage. Passive target detection with the space-based constellation satellites as radiation source will play an increasingly important role for situational awareness. This paper analyzes signal model for the passive radar and the characteristics of the passive detection system with the satellite as radiation source. Then, to improve detection accuracy with weak signal and low signal-to-noise ratio, a few algorithms are presented from the perspective of increasing the available virtual sensors, i.e., degrees of freedom. Finally, theoretical analysis confirms the high detection accuracy and low hardware cost of the above algorithms compared to the traditional algorithms. The above performance superiority ensures accurate situational awareness, thus effectively supporting precise and efficient mission planning and command.

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Piano Concerto Source Separation Based on Speech Separation and Channel Attention

Piano Concerto Source Separation Based on Speech Separation ...

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2024 International Conference on Culture-Oriented Science and Technology, CoST 2024

作者： Liu, Jingyu Zhou, JingJing He, Xinyan He, Wei Communication University of China State Key Laboratory of Media Convergence and Communication 100024 China Communication University of China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Ministry of Culture and Tourism 100024 China Communication University of China School of Information and Communication Engineering 100024 China Communication University of China School of Faculty of International Media 100024 China

ISBN: (纸本)9798350380347

The Mossformer model excels in speech separation but has not been effectively applied to music source separation. Music sources have complex characteristics and higher sampling rates, making separation tasks more challenging. We addressed a rarely explored task of separating piano concerto recordings into individual piano and orchestral tracks. This process involves intricate coordination between the piano and orchestra, creating highly complex audio signals in both time and frequency domains. Our main contributions include: (1) adapting the speech separation model for the novel task of piano concerto source separation, constructing and processing a specialized dataset.(2) introducing channel attention in the separation module to dynamically adjust feature focus based on instrument characteristics, enhancing key features. Experiments on the Piano Concerto Dataset (PCD) showed improved separation performance, with a 0.22dB average Signal-to-Distortion Ratio (SDR) increase over the baseline model. © 2024 IEEE.

关键词： Source separation

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A New True Random Number Generator Based on Chaotic Circuit Architecture

A New True Random Number Generator Based on Chaotic Circuit ...

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2022 International Conference on Cyber Security, Artificial Intelligence, and Digital Economy, CSAIDE 2022

作者： Lv, Fei Diao, Jin School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education Wuhan China

ISBN: (纸本)9781510657304

In the fields of information security, the application of random numbers is becoming more and more widespread. True random numbers (TRNs) tend to have better randomness and unpredictability than pseudo random numbers (PRNs). Chaotic systems are very suitable for constructing true random number generators (TRNG) due to their periodic infinity, randomicity, long-term unpredictability, high sensitivity to initial values and parameters, etc. However, when chaotic systems are implemented by finite state machines, their dynamic characteristics will disappear, such as periodic infinity and initial value sensitivity, and there are serious safety concerns about the random number generator designed on this basis. In order to address the degradation problem of the chaotic systems, this paper proposes a true random number generator based on the chaotic circuit, implements a complete hardware system, and tests its randomness. © 2022 SPIE.

关键词： Chaotic systems

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Optimizing Parameter Design with Frequency and Clock Drift Constraints in Microgrids∗ 63

Optimizing Parameter Design with Frequency and Clock Drift C...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Yu, Chang Lu, Xiaoqing Wuhan University of Science and Technology School of Information Science and Engineering Wuhan430081 China Huazhong University of Science and Technology Ministry of Education Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China Wuhan University School of Electrical Engineering and Automation Wuhan430000 China

ISBN: (纸本)9798350316339

Microgrids subjected to secondary cooperative control encounter significant challenges, including operational constraints and clock drifts, adversely affecting their stability and efficiency. This paper provides conditions that assure optimal microgrid performance in both transient and steady-state scenarios, focusing on the effects of clock drifts and fluctuations in load. Furthermore, we introduce a novel approach for designing secondary control parameters, specifically engineered to minimize steady-state discrepancies attributable to clock drifts while ensuring adherence to standards for transient operations. Comprehensive experimental validations corroborate the effectiveness of our proposed solutions. © 2024 IEEE.

关键词： Microgrids

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