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Neural-based prescribed-time consensus control for multiagent systems via dynamic memory event-triggered mechanism

Science China(Technological Sciences) 2025年第3期68卷 217-227页

作者： Xiaohong ZHENG Hui MA Qi ZHOU Hongyi LI School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Controland Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative ControlGuangdong University of TechnologyGuangzhou510006China School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou510006China College of Electronic and Information Engineering and the Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest UniversityChongqing400715China

This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a composite learning technique in NN *** method leverages the prediction error within the NN update law to enhance the accuracy of the unknown nonlinearity ***,by introducing a time-varying transformation,the study establishes a distributed prescribed-time control *** notable feature of this algorithm is its ability to predetermine the convergence time independently of initial conditions or control ***,the DMETM is established to reduce the actuation frequency of the *** the conventional memoryless dynamic event-triggered mechanism,the DMETM incorporates a memory term to further increase triggering *** a distributed estimator for the leader,the DMETM-based NN prescribed-time controller is designed in a fully distributed manner,which guarantees that all signals in the closed-loop system remain bounded within the prescribed ***,simulation results are presented to validate the effectiveness of the proposed algorithm.

关键词： consensus control composite learning control dynamic memory event-triggered control prescribed-time control multiagent systems(MASs)

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Convolution Type of Metaplectic Cohen's Distribution Time-Frequency Analysis Theory, Method and Technology

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IEEE Transactions on information Theory 2025年第3期71卷 2292-2314页

作者： Cui, Manjun Zhang, Zhichao Han, Jie Chen, Yunjie Cao, Chunzheng Nanjing University of Information Science and Technology School of Mathematics and Statistics Center for Applied Mathematics of Jiangsu Province Jiangsu International Joint Laboratory on System Modeling and Data Analysis Nanjing210044 China Nanjing University of Information Science and Technology School of Mathematics and Statistics Nanjing210044 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hainan Normal University Key Laboratory of Computational Science and Application of Hainan Province Haikou571158 China Nanjing University of Information Science and Technology School of Remote Sensing and Geomatics Engineering Nanjing210044 China

The conventional Cohen's distribution can't meet the requirement of additive noises jamming signals high-performance denoising under the condition of low signal-to-noise ratio, it is necessary to integrate the metaplectic transform for non-stationary signal fractional domain time-frequency analysis. In this paper, we embark on blending time-frequency operators and coordinate operator fractionizations to formulate the definition of the joint fractionizations metaplectic Wigner distribution (JFMWD), based on which we integrate the generalized metaplectic convolution to address the unified representation issue of the convolution type of metaplectic Cohen's distribution (CMCD), whose special cases and essential properties are also derived. We blend Wiener filter principle and fractional domain filter mechanism of the metaplectic transform to design the least-squares adaptive filter method in the JFMWD domain, giving birth to the least-squares adaptive filter-based CMCD whose kernel function can be adjusted with the input signal automatically to achieve the minimum mean-square error (MSE) denoising in Wigner distribution domain. We discuss the optimal symplectic matrices selection strategy of the proposed adaptive CMCD through the minimum MSE minimization modeling and solving. Some examples are also carried out to demonstrate that the proposed filtering method outperforms some state-of-the-arts including the classical Gaussian filter, the Cohen's distribution filtering methods with fixed kernel functions, the classical Wiener filter, the adaptive generalized linear canonical convolution-based filtering method, the adaptive Cohen's distribution filtering method, the adaptive JFMWD-based Cohen's distribution filtering method, and the adaptive generalized metaplectic convolution-based Cohen's distribution filtering method in noise suppression. © 1963-2012 IEEE.

关键词： Adaptive filtering

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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

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OSSR: Online Scalable Scheduling and Routing for Industrial Time-Sensitive Networking

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IEEE Transactions on Network Science and Engineering 2025年第3期12卷 1761-1775页

作者： Xu, Lei Xu, Qimin Zhang, Yanzhou Wang, Shouliang Chen, Cailian Guan, Xinping Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai200240 China Shanghai Jiao Tong University Shanghai Key Laboratory of Integrated Administration Technologies for Information Security Shanghai200240 China Shanghai Jiao Tong University School of Electronics Information and Electrical Engineering Shanghai200240 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Jiao Tong University SJTU-Paris Elite Institute of Technology Shanghai200240 China

As the promising deterministic networking technology of Industrial Internet of Things (IIoT), Time-Sensitive Networking (TSN) has been widely investigated in recent years. Most existing research focuses on offline scheduling and routing for TSN, which is time-consuming and thus unsuitable for dynamic stream demands. To tackle this problem, an online scalable scheduling and routing (OSSR) scheme is proposed for TSN in this paper. A novel slot occupancy representation (SOR) model is established based on divisibility theory to transform the clique-based to a three-level tree-based mode in complex IIoT scenarios. This transformation reduces the computational complexity of maximum slot occupancy judgment from exponential to linear complexity. Based on the above SOR model, a load balance metric for stream scheduling is constructed to guide the optimal routing. Assessed by this metric, an online decoupled routing and scheduling algorithm is proposed to minimize the maximum slot occupancy of all links while guaranteeing high scalability. Evaluation results show that the proposed OSSR scheme outperforms the existing approaches with better adaption to dynamics and lower slot occupancy of links. © 2013 IEEE.

关键词： Scheduling algorithms

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A Valuable and Low-Budget Process Scheme of Equivalized 1 nm Technology Node Based on 2D Materials

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Nano-Micro Letters 2025年第8期17卷 294-305页

作者： Yang Shen Zhejia Zhang Zhujun Yao Mengge Jin Jintian Gao Yuhan Zhao Wenzhong Bao Yabin Sun He Tian College of Integrated Circuit Science and Engineering Shanghai Key Laboratory of Multidimensional Information ProcessingEast China Normal UniversityShanghai 200241People’s Republic of China Institute of Microelectronics and Beijing National Research Center for Information Science and Technology(BNRist) Tsinghua UniversityBeijing 100084People’s Republic of China State Key Laboratory of ASIC and System School of MicroelectronicsFudan UniversityShanghai 200433People’s Republic of China Shaoxin Laboratory Shaoxing 312000People’s Republic of China

Emerging two-dimensional(2D)semiconductors are among the most promising materials for ultra-scaled transistors due to their intrinsic atomic-level *** the stacking process advances,the complexity and cost of nanosheet field-effect transistors(NSFETs)and complementary FET(CFET)continue to *** 1 nm technology node is going to be based on Si-CFET process according to international roadmap for devices and systems(IRDS)(2022,https://***/),but not publicly confirmed,indicating that more possibilities still *** miniaturization advantage of 2D semiconductors motivates us to explore their potential for reducing process costs while matching the performance of next-generation nodes in terms of area,power consumption and *** this study,a comprehensive framework is built.A set of MoS2 NSFETs were designed and fabricated to extract the key parameters and *** then for benchmarking,the sizes of 2D-NSFET are scaled to a extent that both of the Si-CFET and 2D-NSFET have the same average device *** these conditions,the frequency of ultra-scaled 2D-NSFET is found to improve by 36%at a fixed power *** work verifies the feasibility of replacing silicon-based CFETs of 1 nm node with 2D-NSFETs and proposes a 2D technology solution for 1 nm nodes,i.e.,“2D eq 1 nm”*** the same time,thanks to the lower characteristic length of 2D semiconductors,the miniaturized 2D-NSFET achieves a 28%frequency increase at a fixed power ***,developing a standard cell library,these devices obtain a similar trend in 16-bit RISC-V *** work quantifies and highlights the advantages of 2D semiconductors in advanced nodes,offering new possibilities for the application of 2D semiconductors in high-speed and low-power integrated circuits.

关键词： Two-dimensional semiconductors 1 nm technology node Nanosheet field-effect transistors Complementary field-effect transistors Horizontal scaling

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Concentric Circular Nested Array Design Method for Acoustic Imaging Based on Differential Coarray Model

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IEEE Sensors Journal 2025年第10期25卷 18106-18114页

作者： Xie, Zhiyuan Yang, Yan Zhang, Junyan Zhu, Wenzhao Bai, Zonglong North China Electric Power University Department of Electronic and Communication Engineering Baoding071003 China Hebei Provincial Key Laboratory of Power Internet of Things Baoding071003 China Yanshan University Key Laboratory of Intelligent Control and Neural Information Processing Education Ministry of China Qinhuangdao066004 China

Acoustic imaging intuitively illustrates the locations of sound sources and has a wide range of applications, including fault detection. However, this technology requires a substantial number of microphones, which increases the complexity and cost of the data acquisition system. To reduce the number of microphones while maintaining the performance of acoustic imaging, this article introduces a concentric circular nested array (CCNA) design method. By extending the array using a differential coarray model, a virtual uniform concentric circular array is achieved. This virtual array preserves the advantages of the circular array structure while minimizing the number of required microphones. The performance of the proposed array is validated through simulation experiments. The simulation results demonstrate that the CCNA offers higher resolution, a greater dynamic range (DR), and improved positioning accuracy in acoustic imaging compared to other arrays. Finally, this article compares the acoustic imaging results of the CCNA with those of the uniform circular array (UCA) through experiments. The experimental results reveal that the positioning accuracy of the proposed CCNA surpasses that of the UCA, thereby confirming the superiority of the proposed design. © 2001-2012 IEEE.

关键词： Acoustic imaging

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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A Novel Optimal Distributed Nonlinear Filter for Simultaneous State and Unknown Input Estimation in Multi-Sensor Networks

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IEEE Signal processing Letters 2025年 32卷 1745-1749页

作者： Ding, Bo Wei, Yuanchu Zhang, Enze Fang, Huajing Yangzhou University College of Information Engineering Yangzhou225127 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China

This letter investigates the problem of simultaneous state and unknown input estimation in a nonlinear system within multi-sensor networks. To avoid the linearization errors caused by existing methods, such as statistical linear regression techniques and first-order Taylor approximation, a novel optimal distributed nonlinear filter is proposed based on the unscented transformation and unbiased minimum variance criterion. First, the unscented transformation is applied to generate predicted estimates and the covariance matrix. Second, input and state estimation are carried out in an unbiased minimum variance manner using measurements from the nonlinear system. Third, a distributed strategy leveraging average consensus is employed to incorporate local estimates from neighboring sensors. Finally, simulation results confirm that the proposed method achieves substantial improvements in estimation accuracy compared to existing methods. © 1994-2012 IEEE.

关键词： Covariance matrix

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Model-Driven Deep Learning-Based Optimization of Downlink Precoding and Fronthaul Compression in Cell-Free MIMO systems

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IEEE Transactions on Network Science and Engineering 2025年第3期12卷 1804-1817页

作者： Chen, Yijie Xia, Wenchao Cai, Shu Zheng, Gan Zhu, Hongbo Nanjing University of Posts and Telecommunications Jiangsu Key Laboratory of Wireless Communications and Internet of Things Engineering Research Center of Health Service System Based on Ubiquitous Wireless Networks Ministry of Education Nanjing210003 China Nanjing University of Posts and Telecommunications Jiangsu Key Laboratory of Intelligent Information Processing and Communication Technology Nanjing210003 China

Cell-free multiple-input multiple-output (MIMO) system is a promising solution for wireless communications. However, the potential in improving system performance is restricted due to the capacity-limited fronthaul links. To tackle this problem, we utilize the compress-and forward approach, which leverages various compression and encoding techniques to reduce the fronthaul overhead. Thus, jointly optimizing precoding and fronthaul compression presents a significant challenge. However, current optimization algorithms frequently entail high computational complexity because of their iterative processes, rendering impractical for real-time use. To overcome this challenge, we present a model-driven deep learning-based framework to characterize the structure of precoding vectors and the compression matrix via low-dimensional parameters, leveraging the uplink-downlink duality as the expert knowledge. A deep neural network can learn these low-dimensional "key features" from channel state information. Simulation results indicate that our approach achieves performance comparable to the optimal algorithm and substantially reduces complexity. © 2013 IEEE.

关键词： Channel state information

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A Novel Coprime Nested Array with Enhanced DOFs and Reduced Mutual Coupling for DOA Estimation of Noncircular Sources

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IEEE Transactions on Vehicular Technology 2025年 1-13页

作者： Peng, Zhe Gong, Qishu Xie, Huikai School of Integrated Circuits and Electronics Beijing100081 China BIT Chongqing Institute of Microelectronics and Microsystems Chongqing401332 China Beijing Institute of Control and Electronics Technology Key Laboratory of Information System and Technology Beijing100038 China

Recently, many sparse array configurations have been designed for direction of arrival (DOA) estimation of noncircular sources due to their capability of constructing high-performance difference-sum coarray. Nested array, coprime array, along with their improved structures are the most commonly used array configurations. Nested arrays could provide O(R2) degrees of freedom (DOFs) with only R sensors, but suffer from severe mutual coupling effect owing to closely arranged elements. Coprime arrays generally offer a lower number of DOFs than nested arrays, but are more robust to mutual coupling effect due to sparser array structure. Unfortunately, existing sparse arrays cannot possess the benefits of nested arrays and coprime arrays at the same time within the framework of difference-sum coarray. To compensate for the above shortcoming, we first analyze the nesting property for difference coarray, and generalize the nesting property to difference-sum coarray, allowing nearly half of the sensors to be removed from dense subarray. Then, a new nested configuration called thinned coprime nested array (TCNA) is proposed, whose dense subarray is a coprime structure that satisfies the aforementioned nesting property. TCNA can generate a comparable number of DOFs to nested arrays due to the nesting property between two subarrays. Meanwhile, the mutual coupling effect is greatly reduced since its dense subarray is replaced with a coprime structure, which limits the number of sensor pairs with small spacing. Therefore, TCNA is able to combine the advantages of both nested array and coprime array. Finally, simulations verify the superiority of TCNA with respect to DOF ratio, coupling leakage, and DOA estimation accuracy. © 1967-2012 IEEE.

关键词： Direction of arrival

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