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Adaptive leader-following attitude consensus of multiple rigid body systems with resilience to communication link faults

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Science China(Information Sciences) 2023年第10期66卷 319-320页

作者： housheng su Zhuohang LI Key Laboratory of Imaging Processing and Intelligence Control School of Artifcial Intelligence and Automation Huazhong University of Science and Technology

Distributed coordination in multi-agent systems has been widely utilized in attitude alignment of spacecraft and cooperative control of unmanned vehicles, which has attracted extensive attention from biology, physics, and engineering researchers [1]. With the growing complexity of tasks, an increase in space missions and engineering projects needs to be completed by the cooperative operation of multi-spacecraft or multi-robot systems.

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Structure-free containment control for uncertain underactuated multiple Euler-Lagrange systems

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Science China(Information Sciences) 2023年第11期66卷 150-168页

作者： housheng su Yali WU Liren ZHANG Xia CHEN Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology

This article studies the problem of structure-free distributed containment control for uncertain underactuated multiple Euler-Lagrange systems(MELSs) considering disturbances by using a layered approach. First, the second layer is the virtual layer constructed artificially for hierarchical control. We move all virtual nodes to the convex hull formed by leaders in the first layer by implementing containment control algorithms on all virtual nodes. Then, the third layer is the following layer, and we propose an adaptive robust tracking controller to ensure that each follower in the third layer tracks the corresponding virtual node in the second layer. So far, the underactuated MELSs can achieve containment control. Furthermore,through the theoretical derivation, sufficient conditions are obtained to achieve the objective of structure-free containment control. Finally, the effectiveness of the proposed stratified structure-free containment control method is verified by a simulation example.

关键词： Euler-Lagrange systems underactuated system containment control adaptive-robust control

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Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous Intelligent Systems 2021年第1期1卷 81-90页

作者： Xiuxian Li housheng su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

ConvMS:Improving Convolutional Knowledge Graph Embeddings via Integrating Information of Multiple subspaces

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Guidance, Navigation and Control 2023年第1期3卷 1-20页

作者： Yanhong Li housheng su School of Articial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 P.R.China

Knowledge graphs are involved in more and more applications to further improve *** to the inherent incompleteness of knowledge graphs resulted from data updating and missing,a number of knowledge graph completion models are proposed in *** obtain better performance,many methods are of high complexity,making it time-consuming for training and *** paper proposes a simple but e®ective model using only shallow neural networks,which combines enhanced feature interaction and multi-subspace information *** the enhanced feature interaction module,entity and relation embeddings are almost peer-to-peer interacted via multi-channel 2D *** the multi-subspace information integration module,entity and relation embeddings are projected to multiple subspaces to extract multi-view information to further boost *** experiments on widely used datasets show that the proposed model outperforms a series of strong *** ablation studies demonstrate the e®ectiveness of each submodule in the model.

关键词： Knowledge graph completion multi-channel 2D convolution multiple subspaces

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Controllability of neighborhood Corona product networks

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Science China(Information Sciences) 2024年第12期67卷 327-328页

作者： Bo LIU Xuan LI Qiang ZHANG Junjie HUANG housheng su Ministry of Education Key Laboratory for Intelligent Analysis and Security Governance of Ethnic Languages School of Information Engineering Minzu University of China School of Mathematical Sciences Inner Mongolia University Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology

Controlling networks aims to study the models, structures,and related dynamics of complex networks. The primary problem of controlling networks is to determine whether they are controllable. Nowadays, controllability has been widely studied and applied to system engineering and control theory, power systems, aerospace, and quantum systems. Various classical criteria include the Gram matrix criterion, Kalman rank criterion, and PBH test.

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Chinese Physics B 2023年第9期32卷 596-602页

作者：陈单蔡德福苏厚胜 School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China Institute of Artificial Intelligence Huazhong University of Science and TechnologyWuhan 430074China State Grid Hubei Electric Power Research Institute Wuhan 430077China

Real-world networks exhibit complex topological interactions that pose a significant computational challenge to analyses of such *** to limited resources,there is an urgent need to develop dimensionality reduction techniques that can significantly reduce the structural complexity of initial large-scale *** this paper,we propose a subgraph extraction method based on the node centrality measure to reduce the size of the initial network ***,nodes with smaller centrality value are removed from the initial network to obtain a subgraph with a smaller *** results demonstrate that various real-world networks,including power grids,technology,transportation,biology,social,and language networks,exhibit self-similarity behavior during the reduction *** present results reveal the selfsimilarity and scale invariance of real-world networks from a different perspective and also provide an effective guide for simplifying the topology of large-scale networks.

关键词： complex networks subgraph extraction self-similarity scale invariance

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Lattice-based Integration of Knowledge Graph Information for Chinese NER

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Lattice-based Integration of Knowledge Graph Information for...

Adaptive Leader-Follower Flocking for Uncertain Lagrange Systems with Input Saturation and External Disturbances

第43届中国控制会议

作者： Xiaoxue Wang housheng su School of Artificial Intelligence and Automation Huazhong University of Science and Technology

Knowledge Graph(KG) is a structured knowledge representation that encompasses abundant entity and relationship information, offering rich contextual insights for named entity recognition(NER). This study proposes the LIGNER model,which utilizes the Lattice-LSTM to integrate KG information into the process of NER for Chinese text. Lattice-LSTM is a neural network structure based on deep learning, which offers a flexible framework for organizing and representing *** LIGNER model integrates external information based on the Lattice framework, which helps to integrate structured knowledge from KG and improves the accuracy of NER. To address the challenge of low accuracy in long entity recognition, a new approach incorporating part-of-speech and position information is introduced. Experimental results on Chinese NER datasets demonstrate that LIGNER achieves advanced performance and efficiency compared with competitive methods.

关键词： Knowledge graph Lattice-LSTM Deep learning Chinese named entity recognition

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Adaptive Leader-Follower Flocking for Uncertain Lagrange Sys...

Event-Triggered Distributed Extended Kalman Filtering with Randomly Occurring Deception Attack: A Variance-Constrained Approach

第37届中国控制会议

作者： Sahar Yazdani housheng su Department of Electrical Engineering Zanjan Branch Islamic Azad University School of Automation Huazhong University of Science and Technology

In this work, we study the leader-follower flocking problem of multi-agent systems with uncertain Lagrange dynamics subject to input saturation and external disturbances. We propose an adaptive protocol for prevention of actuator saturation and deterioration of external disturbance and model uncertainty. Our protocol, in comparing to the existing work in the flocking is simple, technically and implantation. Under the designed protocol, velocity convergence of agents to that of the virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well.

关键词： Leader-follower flocking input saturation multi-agent system uncertain Lagrange dynamic external disturbance

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Event-Triggered Distributed Extended Kalman Filtering with R...