The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requ...The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.展开更多
Communicating on millimeter wave(mmWave)bands is ushering in a new epoch of mobile communication which provides the availability of 10 Gbps high data rate transmission.However,mmWave links are easily prone to short tr...Communicating on millimeter wave(mmWave)bands is ushering in a new epoch of mobile communication which provides the availability of 10 Gbps high data rate transmission.However,mmWave links are easily prone to short transmission range communication because of the serious free space path loss and the blockage by obstacles.To overcome these challenges,highly directional beams are exploited to achieve robust links by hybrid beamforming.Accurately aligning the transmitter and receiver beams,i.e.beam training,is vitally important to high data rate transmission.However,it may cause huge overhead which has negative effects on initial access,handover,and tracking.Besides,the mobility patterns of users are complicated and dynamic,which may cause tracking error and large tracking latency.An efficient beam tracking method has a positive effect on sustaining robust links.This article provides an overview of the beam training and tracking technologies on mmWave bands and reveals the insights for future research in the 6th Generation(6G)mobile network.Especially,some open research problems are proposed to realize fast,accurate,and robust beam training and tracking.We hope that this survey provides guidelines for the researchers in the area of mmWave communications.展开更多
Atom tracking technology enhanced with innovative algorithms has been implemented in this study,utilizing a comprehensive suite of controllers and software independently developed domestically.Leveraging an on-board f...Atom tracking technology enhanced with innovative algorithms has been implemented in this study,utilizing a comprehensive suite of controllers and software independently developed domestically.Leveraging an on-board field-programmable gate array(FPGA)with a core frequency of 100 MHz,our system facilitates reading and writing operations across 16 channels,performing discrete incremental proportional-integral-derivative(PID)calculations within 3.4 microseconds.Building upon this foundation,gradient and extremum algorithms are further integrated,incorporating circular and spiral scanning modes with a horizontal movement accuracy of 0.38 pm.This integration enhances the real-time performance and significantly increases the accuracy of atom tracking.Atom tracking achieves an equivalent precision of at least 142 pm on a highly oriented pyrolytic graphite(HOPG)surface under room temperature atmospheric conditions.Through applying computer vision and image processing algorithms,atom tracking can be used when scanning a large area.The techniques primarily consist of two algorithms:the region of interest(ROI)-based feature matching algorithm,which achieves 97.92%accuracy,and the feature description-based matching algorithm,with an impressive 99.99%accuracy.Both implementation approaches have been tested for scanner drift measurements,and these technologies are scalable and applicable in various domains of scanning probe microscopy with broad application prospects in the field of nanoengineering.展开更多
Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating...Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating information from nearby gathers to ensure picked velocity aligns with seismic horizons while also improving picking accuracy. The conventional method of velocity picking from a semblance volume is computationally demanding, highlighting a need for a more efficient strategy. In this study, we introduce a novel method for automatic velocity picking based on multi-object tracking. This dynamic tracking process across different semblance panels can integrate information from nearby gathers effectively while maintaining computational efficiency. First, we employ accelerated density clustering on the velocity spectrum to discern cluster centers without the requirement for prior knowledge regarding the number of clusters. These cluster centers embody the maximum likelihood velocities of the main subsurface structures. Second, our proposed method tracks key points within the semblance volume. Kalman filter is adopted to adjust the tracking process, followed by interpolation on these tracked points to construct the final velocity model. Our synthetic data example demonstrates that our proposed algorithm can effectively rectify the picking errors of the clustering algorithm. We further compare the performances of the clustering method(CM), the proposed tracking method(TM), and the variational method(VM) on a field dataset from the Gulf of Mexico. The results attest that our method offers superior accuracy than CM, achieves comparable accuracy with VM, and benefits from a reduced computational cost.展开更多
In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is prop...In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.展开更多
Lateral intakes are common in rivers.The pump effciency and sediment deposition are determined by the local hydrodynamic characteristics and mainstream division width.The hydraulic characteristics of lateral withdrawa...Lateral intakes are common in rivers.The pump effciency and sediment deposition are determined by the local hydrodynamic characteristics and mainstream division width.The hydraulic characteristics of lateral withdrawal from inclined river slopes at different intake elevations should be investigated.Meanwhile,the division width exhibits significant vertical non-uniformity at an inclined river slope,which should be clarified.Hence,a three-dimensional(3-D)hydrodynamic and particle-tracking model was developed with the Open Source Field Operation and Manipulation(Open FOAM),and the model was validated with physical model tests for 90°lateral withdrawal from an inclined side bank.The flow fields,withdrawal sources,and division widths were investigated with different intake bottom elevations,withdrawal discharges,and main channel velocities.This study showed that under inclined side bank conditions,water entered the intake at an oblique angle,causing significant 3-D spiral flows in the intake rather than two-dimensional closed recirculation.A lower withdrawal discharge,a lower bottom elevation of the intake,or a higher main channel velocity could further strengthen this phenomenon.The average division width and turbulent kinetic energy were smaller under inclined side bank conditions than under vertical bank conditions.With a low intake bottom elevation,a low withdrawal discharge,or a high main channel velocity,the sources of lateral withdrawal were in similar ranges near the local inclined bank in the vertical direction.Under inclined slope conditions,sediment deposition near the intake entrance could be reduced,compared to that under vertical slope conditions.The results provide hydrodynamic and sediment references for engineering designs for natural rivers with inclined terrains.展开更多
This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the instal...Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the installation of expensive hardware in advance.While inside-out tracking controllers have been proposed,they often suffer from limitations such as interaction limited to the tracking range of the sensor(e.g.,a sensor on the head-mounted display(HMD))or the need for pose value modification to function as an input interface(e.g.,a sensor on the controller).This study investigates 6DoF pose estimation methods without restricting the tracking range,using a smartphone as a controller in augmented reality(AR)environments.Our approach involves proposing methods for estimating the initial pose of the controller and correcting the pose using an inside-out tracking approach.In addition,seven pose estimation algorithms were presented as candidates depending on the tracking range of the device sensor,the tracking method(e.g.,marker recognition,visual-inertial odometry(VIO)),and whether modification of the initial pose is necessary.Through two experiments(discrete and continuous data),the performance of the algorithms was evaluated.The results demonstrate enhanced final pose accuracy achieved by correcting the initial pose.Furthermore,the importance of selecting the tracking algorithm based on the tracking range of the devices and the actual input value of the 3D interaction was emphasized.展开更多
In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based radars.Being benefited by the ...In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based radars.Being benefited by the developing megaconstellations in low-Earth orbit,this paper proposes a relay tracking mode to track HGVs to overcome the above problem.The whole tracking mission is composed of several tracking intervals with the same duration.Within each tracking interval,several appropriate satellites are dispatched to track the HGV.Satellites that are planned to take part in the tracking mission are selected by a new derived observability criterion.The tracking performances of the proposed tracking mode and the other two traditional tracking modes,including the stare and track-rate modes,are compared by simulation.The results show that the relay tracking mode can track the whole trajectory of a HGV,while the stare mode can only provide a very short tracking arc.Moreover,the relay tracking mode achieve higher tracking accuracy with fewer attitude controls than the track-rate mode.展开更多
Visual object tracking plays a crucial role in computer vision.In recent years,researchers have proposed various methods to achieve high-performance object tracking.Among these,methods based on Transformers have becom...Visual object tracking plays a crucial role in computer vision.In recent years,researchers have proposed various methods to achieve high-performance object tracking.Among these,methods based on Transformers have become a research hotspot due to their ability to globally model and contextualize information.However,current Transformer-based object tracking methods still face challenges such as low tracking accuracy and the presence of redundant feature information.In this paper,we introduce self-calibration multi-head self-attention Transformer(SMSTracker)as a solution to these challenges.It employs a hybrid tensor decomposition self-organizing multihead self-attention transformermechanism,which not only compresses and accelerates Transformer operations but also significantly reduces redundant data,thereby enhancing the accuracy and efficiency of tracking.Additionally,we introduce a self-calibration attention fusion block to resolve common issues of attention ambiguities and inconsistencies found in traditional trackingmethods,ensuring the stability and reliability of tracking performance across various scenarios.By integrating a hybrid tensor decomposition approach with a self-organizingmulti-head self-attentive transformer mechanism,SMSTracker enhances the efficiency and accuracy of the tracking process.Experimental results show that SMSTracker achieves competitive performance in visual object tracking,promising more robust and efficient tracking systems,demonstrating its potential to providemore robust and efficient tracking solutions in real-world applications.展开更多
This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl...This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.展开更多
In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system a...In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.展开更多
This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbance...This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbances makes PTC synthesis nontrivial. In this work, a control method that does not involve infinite time-varying gain is proposed, leading to a practical and global prescribed time tracking control solution for the strict-feedback systems, in spite of both the mismatched and nonvanishing uncertainties. Different from methods based on control switching to avoid the issue of infinite control gain that involves control discontinuity at the switching point, in our method a softening unit is exclusively included to ensure the continuity of the control action. Furthermore, in contrast to most existing prescribed-time control works where the control scheme is only valid on a finite time interval, in this work, the proposed control scheme is valid on the entire time interval. In addition, the prior information on the upper or lower bound of gi is not in need,enlarging the applicability of the proposed method. Both the theoretical analysis and numerical simulation confirm the effectiveness of the proposed control algorithm.展开更多
This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
Significant advancements have beenwitnessed in visual tracking applications leveragingViT in recent years,mainly due to the formidablemodeling capabilities of Vision Transformer(ViT).However,the strong performance of ...Significant advancements have beenwitnessed in visual tracking applications leveragingViT in recent years,mainly due to the formidablemodeling capabilities of Vision Transformer(ViT).However,the strong performance of such trackers heavily relies on ViT models pretrained for long periods,limitingmore flexible model designs for tracking tasks.To address this issue,we propose an efficient unsupervised ViT pretraining method for the tracking task based on masked autoencoders,called TrackMAE.During pretraining,we employ two shared-parameter ViTs,serving as the appearance encoder and motion encoder,respectively.The appearance encoder encodes randomly masked image data,while the motion encoder encodes randomly masked pairs of video frames.Subsequently,an appearance decoder and a motion decoder separately reconstruct the original image data and video frame data at the pixel level.In this way,ViT learns to understand both the appearance of images and the motion between video frames simultaneously.Experimental results demonstrate that ViT-Base and ViT-Large models,pretrained with TrackMAE and combined with a simple tracking head,achieve state-of-the-art(SOTA)performance without additional design.Moreover,compared to the currently popular MAE pretraining methods,TrackMAE consumes only 1/5 of the training time,which will facilitate the customization of diverse models for tracking.For instance,we additionally customize a lightweight ViT-XS,which achieves SOTA efficient tracking performance.展开更多
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base...The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.展开更多
An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as dron...An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.展开更多
A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filte...A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.展开更多
BACKGROUND Diabetic cardiomyopathy is considered as a chronic complication of diabetes mellitus(DM).Therefore,early detection of left ventricular systolic function(LVSF)damage in DM is essential.AIM To explore the use...BACKGROUND Diabetic cardiomyopathy is considered as a chronic complication of diabetes mellitus(DM).Therefore,early detection of left ventricular systolic function(LVSF)damage in DM is essential.AIM To explore the use of the three-dimensional speckle tracking technique(3D-STI)for measuring LVSF in DM patients via meta-analysis.METHODS The electronic databases were retrieved from the initial accessible time to 29 April 2023.The current study involved 9 studies,including 970 subjects.We carried out this meta-analysis to estimate myocardial function in DM compared with controls according to myocardial strain attained by 3D-STI.RESULTS Night articles including 970 subjects were included.No significant difference was detected in the left ventricular ejection fraction between the control and the diabetic group(P>0.05),while differences in global longitudinal strain,global circumferential strain,global radial strain,and global area strain were markedly different between the controls and DM patients(all P<0.05).CONCLUSION The 3D-STI could be applied to accurately measure early LVSF damage in patients with DM.展开更多
The error caused by irreversible demagnetization damages the accurate velocity tracking of an in-wheel motor in a mobile robot.A current feedforward vector control system based on ESO is proposed to compensate it for ...The error caused by irreversible demagnetization damages the accurate velocity tracking of an in-wheel motor in a mobile robot.A current feedforward vector control system based on ESO is proposed to compensate it for the demagnetization motor.A demagnetization mathematical model is established to describe a permanent magnet synchronous motor,which took the change of permanent magnet flux linkage parameters as a factor to count the demagnetization error in velocity tracking.The uncertain disturbance estimation model of the control system is built based on ESO,which eliminates the system error by the feedforward current compensation.It is compared with the vector control method in terms of control accuracy.The simulation results show that the current feedforward vector control method based on ESO reduces the velocity tracking error greatly in conditions of motor demagnetization less than 30%.It is effective to improve the operation accuracy of the mobile robot.展开更多
基金supported in part by the National Natural Science Foundation of China (62103093)the National Key Research and Development Program of China (2022YFB3305905)+6 种基金the Xingliao Talent Program of Liaoning Province of China (XLYC2203130)the Fundamental Research Funds for the Central Universities of China (N2108003)the Natural Science Foundation of Liaoning Province (2023-MS-087)the BNU Talent Seed Fund,UIC Start-Up Fund (R72021115)the Guangdong Key Laboratory of AI and MM Data Processing (2020KSYS007)the Guangdong Provincial Key Laboratory IRADS for Data Science (2022B1212010006)the Guangdong Higher Education Upgrading Plan 2021–2025 of “Rushing to the Top,Making Up Shortcomings and Strengthening Special Features” with UIC Research,China (R0400001-22,R0400025-21)。
文摘The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.
基金supported in part by the National Natural Science Foundation of China(NSFC)under Grant 92267202in part by the Municipal Government of Quzhou under Grant 2023D027+2 种基金in part by the National Natural Science Foundation of China(NSFC)under Grant 62321001in part by the National Key Research and Development Program of China under Grant 2020YFA0711303in part by the Beijing Natural Science Foundation under Grant Z220004.
文摘Communicating on millimeter wave(mmWave)bands is ushering in a new epoch of mobile communication which provides the availability of 10 Gbps high data rate transmission.However,mmWave links are easily prone to short transmission range communication because of the serious free space path loss and the blockage by obstacles.To overcome these challenges,highly directional beams are exploited to achieve robust links by hybrid beamforming.Accurately aligning the transmitter and receiver beams,i.e.beam training,is vitally important to high data rate transmission.However,it may cause huge overhead which has negative effects on initial access,handover,and tracking.Besides,the mobility patterns of users are complicated and dynamic,which may cause tracking error and large tracking latency.An efficient beam tracking method has a positive effect on sustaining robust links.This article provides an overview of the beam training and tracking technologies on mmWave bands and reveals the insights for future research in the 6th Generation(6G)mobile network.Especially,some open research problems are proposed to realize fast,accurate,and robust beam training and tracking.We hope that this survey provides guidelines for the researchers in the area of mmWave communications.
基金Project supported by the National Science Fund for Distinguished Young Scholars(Grant No.T2125014)the Special Fund for Research on National Major Research Instruments of the National Natural Science Foundation of China(Grant No.11927808)the CAS Key Technology Research and Development Team Project(Grant No.GJJSTD20200005)。
文摘Atom tracking technology enhanced with innovative algorithms has been implemented in this study,utilizing a comprehensive suite of controllers and software independently developed domestically.Leveraging an on-board field-programmable gate array(FPGA)with a core frequency of 100 MHz,our system facilitates reading and writing operations across 16 channels,performing discrete incremental proportional-integral-derivative(PID)calculations within 3.4 microseconds.Building upon this foundation,gradient and extremum algorithms are further integrated,incorporating circular and spiral scanning modes with a horizontal movement accuracy of 0.38 pm.This integration enhances the real-time performance and significantly increases the accuracy of atom tracking.Atom tracking achieves an equivalent precision of at least 142 pm on a highly oriented pyrolytic graphite(HOPG)surface under room temperature atmospheric conditions.Through applying computer vision and image processing algorithms,atom tracking can be used when scanning a large area.The techniques primarily consist of two algorithms:the region of interest(ROI)-based feature matching algorithm,which achieves 97.92%accuracy,and the feature description-based matching algorithm,with an impressive 99.99%accuracy.Both implementation approaches have been tested for scanner drift measurements,and these technologies are scalable and applicable in various domains of scanning probe microscopy with broad application prospects in the field of nanoengineering.
基金supported in part by the National Key Research and Development Program of China under Grant 2018YFA0702501in part by NSFC under Grant 41974126,41674116 and 42004101。
文摘Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating information from nearby gathers to ensure picked velocity aligns with seismic horizons while also improving picking accuracy. The conventional method of velocity picking from a semblance volume is computationally demanding, highlighting a need for a more efficient strategy. In this study, we introduce a novel method for automatic velocity picking based on multi-object tracking. This dynamic tracking process across different semblance panels can integrate information from nearby gathers effectively while maintaining computational efficiency. First, we employ accelerated density clustering on the velocity spectrum to discern cluster centers without the requirement for prior knowledge regarding the number of clusters. These cluster centers embody the maximum likelihood velocities of the main subsurface structures. Second, our proposed method tracks key points within the semblance volume. Kalman filter is adopted to adjust the tracking process, followed by interpolation on these tracked points to construct the final velocity model. Our synthetic data example demonstrates that our proposed algorithm can effectively rectify the picking errors of the clustering algorithm. We further compare the performances of the clustering method(CM), the proposed tracking method(TM), and the variational method(VM) on a field dataset from the Gulf of Mexico. The results attest that our method offers superior accuracy than CM, achieves comparable accuracy with VM, and benefits from a reduced computational cost.
基金supported by the National Defense Basic Scientific Research Project(JCKY2020130C025)the National Science and Technology Major Project(J2019-III-0020-0064,J2019-V-0014-0109)。
文摘In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.
基金supported by the National Natural Science Foundation of China(Grant No.52379061)the Natural Science Foundation of Jiangsu Province(Grant No.BK20230099)the Key Laboratory of Water Grid Project and Regulation of Ministry of Water Resources(Grant No.QTKS0034W23292).
文摘Lateral intakes are common in rivers.The pump effciency and sediment deposition are determined by the local hydrodynamic characteristics and mainstream division width.The hydraulic characteristics of lateral withdrawal from inclined river slopes at different intake elevations should be investigated.Meanwhile,the division width exhibits significant vertical non-uniformity at an inclined river slope,which should be clarified.Hence,a three-dimensional(3-D)hydrodynamic and particle-tracking model was developed with the Open Source Field Operation and Manipulation(Open FOAM),and the model was validated with physical model tests for 90°lateral withdrawal from an inclined side bank.The flow fields,withdrawal sources,and division widths were investigated with different intake bottom elevations,withdrawal discharges,and main channel velocities.This study showed that under inclined side bank conditions,water entered the intake at an oblique angle,causing significant 3-D spiral flows in the intake rather than two-dimensional closed recirculation.A lower withdrawal discharge,a lower bottom elevation of the intake,or a higher main channel velocity could further strengthen this phenomenon.The average division width and turbulent kinetic energy were smaller under inclined side bank conditions than under vertical bank conditions.With a low intake bottom elevation,a low withdrawal discharge,or a high main channel velocity,the sources of lateral withdrawal were in similar ranges near the local inclined bank in the vertical direction.Under inclined slope conditions,sediment deposition near the intake entrance could be reduced,compared to that under vertical slope conditions.The results provide hydrodynamic and sediment references for engineering designs for natural rivers with inclined terrains.
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
文摘Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the installation of expensive hardware in advance.While inside-out tracking controllers have been proposed,they often suffer from limitations such as interaction limited to the tracking range of the sensor(e.g.,a sensor on the head-mounted display(HMD))or the need for pose value modification to function as an input interface(e.g.,a sensor on the controller).This study investigates 6DoF pose estimation methods without restricting the tracking range,using a smartphone as a controller in augmented reality(AR)environments.Our approach involves proposing methods for estimating the initial pose of the controller and correcting the pose using an inside-out tracking approach.In addition,seven pose estimation algorithms were presented as candidates depending on the tracking range of the device sensor,the tracking method(e.g.,marker recognition,visual-inertial odometry(VIO)),and whether modification of the initial pose is necessary.Through two experiments(discrete and continuous data),the performance of the algorithms was evaluated.The results demonstrate enhanced final pose accuracy achieved by correcting the initial pose.Furthermore,the importance of selecting the tracking algorithm based on the tracking range of the devices and the actual input value of the 3D interaction was emphasized.
基金supported by the Science and Technology Innovation Program of Hunan Province(2021RC3078)。
文摘In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based radars.Being benefited by the developing megaconstellations in low-Earth orbit,this paper proposes a relay tracking mode to track HGVs to overcome the above problem.The whole tracking mission is composed of several tracking intervals with the same duration.Within each tracking interval,several appropriate satellites are dispatched to track the HGV.Satellites that are planned to take part in the tracking mission are selected by a new derived observability criterion.The tracking performances of the proposed tracking mode and the other two traditional tracking modes,including the stare and track-rate modes,are compared by simulation.The results show that the relay tracking mode can track the whole trajectory of a HGV,while the stare mode can only provide a very short tracking arc.Moreover,the relay tracking mode achieve higher tracking accuracy with fewer attitude controls than the track-rate mode.
基金supported by the National Natural Science Foundation of China under Grant 62177029the Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX21_0740),China.
文摘Visual object tracking plays a crucial role in computer vision.In recent years,researchers have proposed various methods to achieve high-performance object tracking.Among these,methods based on Transformers have become a research hotspot due to their ability to globally model and contextualize information.However,current Transformer-based object tracking methods still face challenges such as low tracking accuracy and the presence of redundant feature information.In this paper,we introduce self-calibration multi-head self-attention Transformer(SMSTracker)as a solution to these challenges.It employs a hybrid tensor decomposition self-organizing multihead self-attention transformermechanism,which not only compresses and accelerates Transformer operations but also significantly reduces redundant data,thereby enhancing the accuracy and efficiency of tracking.Additionally,we introduce a self-calibration attention fusion block to resolve common issues of attention ambiguities and inconsistencies found in traditional trackingmethods,ensuring the stability and reliability of tracking performance across various scenarios.By integrating a hybrid tensor decomposition approach with a self-organizingmulti-head self-attentive transformer mechanism,SMSTracker enhances the efficiency and accuracy of the tracking process.Experimental results show that SMSTracker achieves competitive performance in visual object tracking,promising more robust and efficient tracking systems,demonstrating its potential to providemore robust and efficient tracking solutions in real-world applications.
文摘This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.
基金supported in part by the National Science Foundation of China(62173183)。
文摘In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.
基金supported by the National Natural Science Foundation of China (61991400, 61991403, 62273064, 62250710167,61860206008, 61933012, 62203078)in part by the National Key Research and Development Program of China (2022YFB4701400/4701401)+1 种基金the Innovation Support Program for International Students Returning to China(cx2022016)the CAAI-Huawei MindSpore Open Fund。
文摘This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbances makes PTC synthesis nontrivial. In this work, a control method that does not involve infinite time-varying gain is proposed, leading to a practical and global prescribed time tracking control solution for the strict-feedback systems, in spite of both the mismatched and nonvanishing uncertainties. Different from methods based on control switching to avoid the issue of infinite control gain that involves control discontinuity at the switching point, in our method a softening unit is exclusively included to ensure the continuity of the control action. Furthermore, in contrast to most existing prescribed-time control works where the control scheme is only valid on a finite time interval, in this work, the proposed control scheme is valid on the entire time interval. In addition, the prior information on the upper or lower bound of gi is not in need,enlarging the applicability of the proposed method. Both the theoretical analysis and numerical simulation confirm the effectiveness of the proposed control algorithm.
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
基金supported in part by National Natural Science Foundation of China(No.62176041)in part by Excellent Science and Technique Talent Foundation of Dalian(No.2022RY21).
文摘Significant advancements have beenwitnessed in visual tracking applications leveragingViT in recent years,mainly due to the formidablemodeling capabilities of Vision Transformer(ViT).However,the strong performance of such trackers heavily relies on ViT models pretrained for long periods,limitingmore flexible model designs for tracking tasks.To address this issue,we propose an efficient unsupervised ViT pretraining method for the tracking task based on masked autoencoders,called TrackMAE.During pretraining,we employ two shared-parameter ViTs,serving as the appearance encoder and motion encoder,respectively.The appearance encoder encodes randomly masked image data,while the motion encoder encodes randomly masked pairs of video frames.Subsequently,an appearance decoder and a motion decoder separately reconstruct the original image data and video frame data at the pixel level.In this way,ViT learns to understand both the appearance of images and the motion between video frames simultaneously.Experimental results demonstrate that ViT-Base and ViT-Large models,pretrained with TrackMAE and combined with a simple tracking head,achieve state-of-the-art(SOTA)performance without additional design.Moreover,compared to the currently popular MAE pretraining methods,TrackMAE consumes only 1/5 of the training time,which will facilitate the customization of diverse models for tracking.For instance,we additionally customize a lightweight ViT-XS,which achieves SOTA efficient tracking performance.
基金the China Scholarship Council(202106690037)the Natural Science Foundation of Anhui Province(19080885QE194)。
文摘The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.
基金supported by the National Natural Science Foundation of China (61773142)。
文摘An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.
基金supported by National Natural Science Foundation of China (Nos.62265010,62061024)Gansu Province Science and Technology Plan (No.23YFGA0062)Gansu Province Innovation Fund (No.2022A-215)。
文摘A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.
文摘BACKGROUND Diabetic cardiomyopathy is considered as a chronic complication of diabetes mellitus(DM).Therefore,early detection of left ventricular systolic function(LVSF)damage in DM is essential.AIM To explore the use of the three-dimensional speckle tracking technique(3D-STI)for measuring LVSF in DM patients via meta-analysis.METHODS The electronic databases were retrieved from the initial accessible time to 29 April 2023.The current study involved 9 studies,including 970 subjects.We carried out this meta-analysis to estimate myocardial function in DM compared with controls according to myocardial strain attained by 3D-STI.RESULTS Night articles including 970 subjects were included.No significant difference was detected in the left ventricular ejection fraction between the control and the diabetic group(P>0.05),while differences in global longitudinal strain,global circumferential strain,global radial strain,and global area strain were markedly different between the controls and DM patients(all P<0.05).CONCLUSION The 3D-STI could be applied to accurately measure early LVSF damage in patients with DM.
基金Sponsored by the National Natural Science Foundation of China(Grant No.51975396)the Natural Science Foundation of Shanxi Province(Grant No.202103021224264).
文摘The error caused by irreversible demagnetization damages the accurate velocity tracking of an in-wheel motor in a mobile robot.A current feedforward vector control system based on ESO is proposed to compensate it for the demagnetization motor.A demagnetization mathematical model is established to describe a permanent magnet synchronous motor,which took the change of permanent magnet flux linkage parameters as a factor to count the demagnetization error in velocity tracking.The uncertain disturbance estimation model of the control system is built based on ESO,which eliminates the system error by the feedforward current compensation.It is compared with the vector control method in terms of control accuracy.The simulation results show that the current feedforward vector control method based on ESO reduces the velocity tracking error greatly in conditions of motor demagnetization less than 30%.It is effective to improve the operation accuracy of the mobile robot.