arXiv subjects

Ziwen Yang

Publications and source records attributed to Ziwen Yang.

3 recordsLinked to original sources

arXiv2025

A Communication-Efficient Distributed Optimization Algorithm for Problems with Coupling Constraints

Resource allocation is a fundamental problem in Industrial Internet of Things (IIoT) systems, in which devices work together under limited communication bandwidth to complete diverse tasks. This paper proposes a communication-efficient distributed optimization algorithm tailored for problems with coupled constraints. To tackle coupled constraints, we solve the problem via its dual counterpart, and develop a compressed version. Difference compression and dynamic scaling factors are then introduced to mitigate compression errors. We show that the proposed algorithm converges linearly for strongly convex and smooth objective functions. Numerical simulations validate the theoretical results and demonstrate the efficiency and robustness of the proposed algorithm.

math.OC↗

arXiv2024

Trajectory Optimization for Unknown Maneuvering Target Tracking with Bearing-only Measurements

This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is limited to collecting only bearing measurements to the target. A framework called {\it GP-based Bearing-only Tracking (GBT)} is proposed with integration of online learning and planning. First, a Gaussian process learning method is proposed for the AUV to handle unknown target motion, wherein pseudo linear transformation of bearing measurements is introduced to address nonlinearity of bearings. A probabilistic bearing-data-dependent bound on tracking error is then rigorously established. Based on it, optimal desired bearings that can reduce tracking uncertainty are obtained analytically. Finally, the trajectory optimization problem is formulated and transformed into an easily solved one with parametric transformation. Numerical examples and comparison with existing methods verify the feasibility and superior performance of our proposed framework.

eess.SY↗

arXiv2023

Bearing-Based Target Entrapping Control of Multiple Uncertain Agents With Arbitrary Maneuvers

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents' accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders' trajectories and a geometric configuration, an affine matrix is determined so that the persistently exciting conditions of the inter-agent relative bearings can be satisfied since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation error and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method in both 2D and 3D cases.

eess.SY↗