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Dynamic Target Enclosing Control Scheme for Multi-Agent Systems via a Signed Graph-Based Approach

第35届中国过程控制会议

作者： Xinyu Sun mengji shi Jiangfeng Yue Weihao Li Boxian Lin Kaiyu Qin School of Aeronautics and Astronautics University of Electronic Science and Technology of China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province National Laboratory on Adaptive Optics

This paper proposes an improved football team training algorithm(IFTTA), which integrates chaotic mapping and an opposition-based learning(OBL) strategy, addressing the deficiencies of the conventional algorithm such as sluggish earlystage convergence and susceptibility to local optima. Firstly, we propose a novel chaotic mapping technique, termed the iterative logistic-skew-tent map with infinite collapses(ILSTMIC), which exhibits robust chaotic characteristics. This mapping method is then utilized to optimize the initialization phase of the football team training algorithm(FTTA), significantly enhancing its early-stage convergence rate. Moreover, drawing parallels to the collaborative training practices among top-performing students in Chinese high schools, this paper incorporates a joint training phase into the FTTA based on the OBL approach, thereby augmenting its global optimization capabilities. The efficacy of the proposed IFTTA is validated against the CEC2022 benchmark,where it is compared with other leading optimization *** findings demonstrate that the IFTTA outperforms these algorithms in terms of both convergence speed and accuracy.

关键词： Meta-heuristic optimization Football team training algorithm Chaotic mapping Opposition-based learning

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 560-562页

作者： Weihao Li Kaiyu Qin mengji shi Jingliang Shao Boxian Lin the School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731 the Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu 611731China the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China

Dear Editor,This letter investigates the target enclosing control problem of multi-agent systems.A signed graph-based control strategy is presented,where the agents are steered to enclose the dynamic target from both sides as they *** is inspired by the phenomenon that signed networks exhibit bipartite clustering if the underlying graph is structurally balanced,so that the agents may naturally enclose the zero point from opposite sides(+and.)if proper controllers are *** adopting a distributed observer to estimate the information of dynamic target。

关键词： networks agent Dynamic

高压输电线路多无人机自主协同巡线设计与测试

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电力系统自动化 2017年第10期41卷 117-122页

作者：施孟佶秦开宇李凯郑永康电子科技大学航空航天学院四川省成都市611731 国网四川省电力公司攀枝花供电公司四川省攀枝花市617000 国网四川省电力公司电力科学研究院四川省成都市610072

针对目前巡检高压输电线路的固定翼无人机不能精细化巡查,而多旋翼无人机运动速度慢且需要人工遥控操作导致安全风险较大的问题,提出多架多旋翼无人机自主协同精细化巡线方案。探讨了利用两架部署在导线两侧的无人机通过机间通信协同巡... 详细信息

针对目前巡检高压输电线路的固定翼无人机不能精细化巡查,而多旋翼无人机运动速度慢且需要人工遥控操作导致安全风险较大的问题,提出多架多旋翼无人机自主协同精细化巡线方案。探讨了利用两架部署在导线两侧的无人机通过机间通信协同巡检高压输电杆塔和导线的方法,并采用机器学习技术和多智能体一致性控制算法设计无人机自主飞行控制器。根据设计结果开发一站四机系统验证巡线方案,实验部署两机为一组,两组并行作业。结果表明该系统按预期完成高压输电线路的巡检作业,未发生误报缺陷,相比单个遥控操作的多旋翼无人机巡检方案,多机协同方案无需人工干预飞行,总巡线速度超过单机最高时速,双机协同对单个杆塔的平均巡检时间小于遥控单机巡检时间的一半。

关键词：多旋翼无人机高压线巡线多无人机协同机器学习一致性

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高效串口并发通信模型的研究

计算机工程与应用 2011年第9期47卷 61-64页

作者：施孟佶桂勋陈小平刘强电子科技大学空天科学技术研究院成都610054

为满足现代工业自动化控制系统中的多串口并发通信需求,提出了基于完成端口机制在VC++开发平台上实现的高效解决方案。阐述了该方案的基本原理、实现流程,以及运行过程中常见问题的解决措施。该方案采用单件设计模式保证完成端口的唯一... 详细信息

为满足现代工业自动化控制系统中的多串口并发通信需求,提出了基于完成端口机制在VC++开发平台上实现的高效解决方案。阐述了该方案的基本原理、实现流程,以及运行过程中常见问题的解决措施。该方案采用单件设计模式保证完成端口的唯一性,并通过更高层次的封装,解决了用户操作不便的问题。对比实验表明:在大量串口并发通信的情况下,相对于常见的未采用完成端口机制而使用专用线程处理重叠I/O的多串口通信解决方案,该方案具有更高的效率和更少的系统资源耗费。

关键词：完成端口单件设计模式串口并发通信 VC++

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基于飞行试验和风洞试验数据的融合算法研究

空气动力学学报 2022年第6期40卷 45-50页

作者：邓晨陈功王文正郑凤麒施孟佶空气动力学国家重点实验室绵阳621000 中国空气动力研究与发展中心计算空气动力研究所绵阳621000 电子科技大学航空航天学院成都611731 飞行器集群智能感知与协同控制四川省重点实验室成都611731

飞行试验受飞行轨迹和试验激励的限制,通过飞行遥测数据辨识得到的实飞气动数据只能分布于飞行轨迹上的少量特征段。风洞试验由于受地面模拟能力的限制,试验数据与实飞飞行数据存在一定的天地差异。为了弥补飞行试验辨识数据和风洞试验... 详细信息

飞行试验受飞行轨迹和试验激励的限制,通过飞行遥测数据辨识得到的实飞气动数据只能分布于飞行轨迹上的少量特征段。风洞试验由于受地面模拟能力的限制,试验数据与实飞飞行数据存在一定的天地差异。为了弥补飞行试验辨识数据和风洞试验数据的“缺陷”,以一种典型轴对称飞行器为研究对象,对上述两种不同来源的气动数据进行数据融合方法研究。首先,通过气动力参数辨识方法得到飞行器沿实际飞行轨迹的六分量真实气动数据,然后比较与地面试验数据的差异性和一致性;最后分别采用基于梯度信息和基于高斯过程回归的数据融合方法对两种来源的气动数据进行融合。融合建模结果表明,两种融合模型预测数据均比单源模型精度更高;如果高、低精度数据的梯度信息较为一致,则基于梯度信息的数据融合方法效果更好;而基于高斯过程回归的数据融合方法能够给出融合数据的置信区间,有利于分析不确定度。

关键词：飞行试验数据风洞试验数据梯度信息高斯过程回归数据融合

An uncertainty investigation for liner impedance eduction methods

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Chinese Journal of Aeronautics 2024年第3期37卷 49-59页

作者： Weihao shi Xiaodong JING School of Energy and Power Engineering Beihang UniversityBeijing 100191China

Impedance eduction methods have been developed for decades to meet the increasing need for high-quality impedance data in the design and optimization of acoustic *** this end,it is important to fully investigate the uncertainty problem,to which only limited attention has been devoted so *** paper considers the possibility of acoustically-induced structural vibration as a nonnegligible uncertainty or error source in impedance eduction *** the frequency moves away from the resonant frequency,with the increase in the value of cavity reactance,the acoustic particle velocity inside liner orifices possibly decreases to the extent comparable to the vibration velocity of liner facing ***,the acoustically-induced vibration,although generally being weak except at the inherent structural frequencies,may considerably affect the impedance eduction results near the anti-resonant frequency where the liner has poor *** demonstrate the effect of structural vibration,the vibration velocity of liner facing sheet is estimated from the experimentally educed admittance of the liner samples whose orifices are sealed with ***,a three-dimensional numerical model is set up,in which normal particle velocity is introduced over the solid portion of liner facing sheet to imitate structural vibration,rather than directly solving the acoustic-structural coupling *** shown by the results,the vibration of liner facing sheet,whose velocity is as small as estimated by the experiment,can result in anomalous deviation of the educed impedance from the impedance model near the anti-resonant *** trend that the anomalous deviation varies with frequency is numerically captured.

关键词： Impedance eduction Uncertainty analysis Acoustically-induced structural vibration Anti-resonant frequency Perforated liner

No Reference Image Sharpness Assessment Based on Global Color Difference Variation

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Chinese Journal of Electronics 2024年第1期33卷 293-302页

作者： Chenyang shi Yandan LIN School of Artificial Intelligence Anhui Polytechnic University School of Mechanical Engineering Anhui Polytechnic University Department of Light Sources and Illuminating Engineering Fudan University Academy for Engineering & Technology Fudan University

Image quality assessment(IQA) model is designed to measure the image quality in consistent with subjective ratings by computational models. In this research, a valid no reference IQA(NR-IQA) model for color image sharpness assessment is proposed based on local color difference map in a color space. In the proposed model, the absolute color difference variation and relative color difference variation are combined to evaluate sharpness in YIQ color space(a color coordinate system for the development of the United States color television system). The difference between sharpest and blurriest spot of an image is represented by the absolute color difference variation, and relative color difference variation expresses the variation in the image content. Extensive experiments are performed on five publicly available benchmark synthetic blur databases and two real blur databases, and the results prove that the proposed model work better than the other state-of-the-art and latest NR-IQA models for the prediction accuracy on blurry images. Besides, the model maintains the lowest computational complexity.

关键词： Image quality TV Image color analysis Databases Computational modeling Color Predictive models

Adaptive Space Expansion for Fast Motion Planning

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1499-1514页

作者： Shenglei shi Jiankui Chen State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

The sampling process is very inefficient for sam-pling-based motion planning algorithms that excess random sam-ples are generated in the planning *** this paper,we pro-pose an adaptive space expansion(ASE)approach which belongs to the informed sampling category to improve the sampling effi-ciency for quickly finding a feasible *** ASE method enlarges the search space gradually and restrains the sampling process in a sequence of small hyper-ellipsoid ring subsets to avoid exploring the unnecessary ***,for a con-structed small hyper-ellipsoid ring subset,if the algorithm cannot find a feasible path in it,then the subset is ***,the ASE method successively does space exploring and space expan-sion until the final path has been ***,we present a particular construction method of the hyper-ellipsoid ring that uniform random samples can be directly generated in *** last,we present a feasible motion planner BiASE and an asymptoti-cally optimal motion planner BiASE*using the bidirectional exploring method and the ASE *** demon-strate that the computation speed is much faster than that of the state-of-the-art *** source codes are available at https://***/shshlei/ompl.

关键词： Adaptive space expansion(ASE) hyper-ellipsoid ring informed sampling motion planning.

Quantization and Event-Triggered Policy Design for Encrypted Networked Control

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 946-955页

作者： Yongxia shi Ehsan Nekouei the Department of Electrical Engineering City University of Hong KongHong KongChina

This paper proposes a novel event-driven encrypted control framework for linear networked control systems(NCSs),which relies on two modified uniform quantization policies,the Paillier cryptosystem,and an event-triggered *** to the fact that only integers can work in the Pailler cryptosystem,both the real-valued control gain and system state need to be first quantized before *** is dramatically different from the existing quantized control methods,where only the quantization of a single value,e.g.,the control input or the system state,is *** handle this issue,static and dynamic quantization policies are presented,which achieve the desired integer conversions and guarantee asymptotic convergence of the quantized system state to the ***,the quantized system state is encrypted and sent to the controller when the triggering condition,specified by a state-based event-triggered strategy,is *** doing so,not only the security and confidentiality of data transmitted over the communication network are protected,but also the ciphertext expansion phenomenon can be ***,by tactfully designing the quantization sensitivities and triggering error,the proposed event-driven encrypted control framework ensures the asymptotic stability of the overall closedloop ***,a simulation example of the secure motion control for an inverted pendulum cart system is presented to evaluate the effectiveness of the theoretical results.

关键词： Cyber-security encrypted control event-triggered control(ETC) networked control systems(NCSs) semi-homomorphic encryption