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共 5312 条记录，以下是761-770 订阅

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Finite-time PID predictive control of networked control systems

Finite-time PID predictive control of networked control syst...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Tingting Jiang Ju H. Park Yuping Zhang Shaohua Kong School of Automation Engineering University of Electronic Science and Technology of China Chengdu Sichuan P.R. China Department of Electrical Engineering Yeungnam University Gyeongsan Republic of Korea School of economics and management Tibet University Lhasa Tibet P.R. China

ISBN: (纸本)9781665476881

this paper concerns the finite-time (FT) proportional-integral-derivative (PID) predictive control for networked control systems (NCSs) with time-varying delays. A PID networked predictive control (PID-NPC) method is first proposed. this method makes use of historical information and its error of prediction state. Furthermore, an augmented switched control system is established in which the switching signal is determined by the time delay. Sufficient conditions are derived so that the resulting systems are finite-time boundedness (FTB). then novel FT-PID controllers and the corresponding FT observers are given to compensate for the time-varying delays actively. Simulation example illustrates the effectiveness of the proposed method.

关键词： Switched systems Sufficient conditions Networked control systems Delay effects Simulation Switches Delays

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third-order sliding-mode-based droop control for microgrid-connected parallel inverters with LC filters

Third-order sliding-mode-based droop control for microgrid-c...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Shaoliang Zhang Yunjian Peng Jin Lin Shaolin Hu School of Automation Science and Engineering South China University of Technology Guangzhou P. R. China School of Guangdong University Of Petrochemical Technology Maoming P. R. China

ISBN: (纸本)9781665476881

A novel droop control method based on slide mode control for microgrids is proposed to enhance the power sharing performance and suppress disturbances from power components' parameters deviation and loads. the output voltage is controlled to be close to the reference voltage by a sliding mode control loop, which can maintain a good power sharing effect under the variation of system parameters or power loads' sudden fluctuation, i.e. being robust. the controller has high reliability in islanded small and medium-sized microgrids, for it merely requires voltage and current as input, and no additional communication for the proposed controller are required. Finally, by using MATLAB / Simulink, a simulation control model of two parallelled inverters is established to verify the feasibility and effectiveness of the presented controller in this paper.

关键词： Microgrids Inverters Robustness Stability analysis Automatic voltage control Steady-state Impedance

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Resilient practical time-varying formation tracking for multiagent systems with a leader of unknown input

Resilient practical time-varying formation tracking for mult...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Jinsheng Li Jianglong Yu Yongzhao Hua Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9781665476881

this paper investigates practical time-varying formation tracking problems for high-order multiagent systems in an adversarial environment, where the leader's control input is unknown and the followers are prone to agent-attacks. To guarantee the remaining benign followers not suffering attacks still can track the leader's trajectory with an expected formation configuration, the resilient practical time-varying formation (RPTVF) tracking is examined in this work. Firstly, to avoid the influence of attacked follower agents, a security strategy is proposed, which is an enhanced version of the weighted mean-subsequence-reduced algorithm. Secondly, using relative information of neighbors, a resilient tracking protocol is designed for each benign follower to track the leader. then, it is proved that according to the above strategy and protocol, the multiagent systems with a leader of unknown input can reach convergence in a finite time. Finally, simulation examples are given to verify the theoretical results.

关键词： Protocols automation Trajectory Security Time-varying systems Robots Multi-agent systems

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A vision-Only Drone Formation Waypoint Navigation Method

A Vision-Only Drone Formation Waypoint Navigation Method

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Industrial automation, robotics and control Engineering (IARCE), international conference on

作者： Changhao Zhang Zengqi Xiu Boxuan Hu Yuyi Pan Software Engineering Institude Beihang University Beijing China AI Institude Beihang University Beijing China

ISBN: (数字)9798350380323

ISBN: (纸本)9798350380330

Unmanned aerial vehicles (UAVs) have found widespread applications in various fields and scenarios, prompting extensive research on their formation control and route planning. However, in extreme application scenarios such as complex electromagnetic battlefields, existing studies often rely on radio frequency communication for data exchange between UAVs or utilize external sensors like GPS for positioning, which are susceptible to interference. To address this, we propose a method for distributed formation control of UAVs that solely relies on visual and inertial data, without data exchange between UAVs or the use of external positioning sensors like GPS. Drawing inspiration from the flight formations of migratory birds, our approach employs cameras to detect the orientations of neighboring UAVs. A simulation environment is constructed using a game engine to train a YOLO object detection network for reliable detection of other UAVs. Sub-sequently, utilizing geometric relationships, the positions of UAVs in the formation coordinate system are calculated, and our proposed formation control algorithm is applied to adjust the UAVs to their desired formation positions. Moreover, we employ the SIFT object detection algorithm to match images from the downward-facing camera of the UAV to satellite maps for obtaining global coordinates. Our introduced randomized navigator election algorithm selects a leading UAV for guiding the formation with higher accuracy along the intended route. through simulation experiments, we demonstrate that the proposed approach achieves comparable accuracy to traditional methods in most scenarios, while exhibiting strong robustness.

关键词： Radio navigation Distributed databases Autonomous aerial vehicles Feature extraction Formation control Robustness Sensors Engines Global Positioning System Drones

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A Dual-Direction Convolution Mixed-Attention Network for Facial Expression Recognition

A Dual-Direction Convolution Mixed-Attention Network for Fac...

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Industrial automation, robotics and control Engineering (IARCE), international conference on

作者： Yang Li Yukun Shao Wenkang Liu Department of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (数字)9798350380323

ISBN: (纸本)9798350380330

Facial expression recognition has remained a focal point due to its vital applications, such as medical diagnosis and human-computer interaction. However, the complexity of human emotion leads to a wide diversity of external expressions. Small inter-class differences and large intra-class differences are also significant challenges for effectively identifying facial expressions. In this paper, we establish a Dual-Direction Convolution Mixed-Attention Network (DDC-MAN) to enhance the recognition effect of CNNs. the DDC-MAN framework consists of a CNN backbone, a dual-direction convolution (DDC) module, a mixed-attention dual-direction feature fusion (MADDFF) module, and a multi-head spatial-channel attention (MHSCA) module. Specifically, our model first employs ResNet18 as the backbone for extracting facial features. the DDC module is then incorporated to capture facial texture information from two directions more effectively. Additionally, the MADDFF module is proposed to find key areas from both single and mixed attention across width and height directions. Finally, the MHSCA module is introduced to perform spatial and channel attention based on these key areas. Experimental results demonstrate that our DDC-MAN approach yields impressive improvements over state-of-the-art methods on the AffectNet and RAF-DB datasets.

关键词： Human computer interaction control engineering Convolution Service robots Face recognition Feature extraction Convolutional neural networks Medical diagnosis Data mining Facial features

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Adaptive Performance Guaranteed Formation control for Unmanned Aerial Vehicles under Anti-collision Constraints

Adaptive Performance Guaranteed Formation Control for Unmann...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yu Lu Jiaqi Gu Ruisheng Sun School of Energy and Power Engineering Nanjing University of Science and Technology Nanjing P. R. China

ISBN: (纸本)9781665476881

this paper investigates a prescribed performance control (PPC) problem for a formation of unmanned aerial vehicles (UAVs) under anti-collision constraints. By means of artificial potential field (APF) and adaptive backstepping techniques, a new performance guaranteed formation control scheme is developed for UAVs. In this scheme, two APF functions are constructed to obtain collision-free flight paths while eliminating local oscillation and forced collision to barriers. And an adaptive performance guaranteed strategy is incorporated into a distributed formation controller which is compatible to the designed APF functions. It is shown that using the developed scheme, desired formation configurations can be achieved with both performance and anti-collision requirements satisfied during the flight. Simulation results verify the effectiveness of the proposed formation flight scheme.

关键词： Backstepping automation Simulation Autonomous aerial vehicles Formation control Collision avoidance Robots

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vision-based autonomous perceiving and planning system of a 7DOF robotic manipulator 11

Vision-based autonomous perceiving and planning system of a ...

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11th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2021

作者： Xu, Linfeng Li, Gang Li, Jiaping Shao, Weixiang University of Florida Department of Mechanical and Aerospace Engineering GainesvilleFL32611 United States SIASUN Robot Automation CO.LTD Shenyang110169 China Shenyang Fortune Precision Equipment Co.LTd RD Engineer FIFAN ROBOT CO.LTD Shenyang110101 China

ISBN: (纸本)9781665425278

the main contribution of this paper is the development of a system consist of a 7DOF (degree of freedom) manipulator, a three-finger robot hand and a vision system to complete autonomous environment perceiving and trajectory planning, known as APPS (Autonomous Perceiving Planning System). the main objective of APPS is to improve intelligence of manipulator though realizing autonomous perceiving and planning for different tasks. the main novelty of this research is that a more stable environment perceiving method by improving the visual process was proposed. the performance tests show that the method could remarkably improve the registration accuracy and calibration validity. Besides, a more accurate and faster autonomous trajectory planning algorithm, combining RRT (Rapid Random Tree) with interpolation, was implemented. the performance of the algorithm was tested through simulations and experiments in real environment, which could decrease the planning time and length significantly and keep an excellent success rate all the time. the results show that APPS could effectively improve the accuracy and efficiency of 7DOF manipulator which would realize higher intelligence and collaboration. © 2021 IEEE.

关键词： Manipulators

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Multi-Robot Weighted Coverage Path Planning: a Solution based on the DARP Algorithm

Multi-Robot Weighted Coverage Path Planning: a Solution base...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Olivier Idir Alessandro Renzaglia Univ Lyon Inria INSA Lyon CITI Villeurbanne France

ISBN: (纸本)9781665476881

Covering a given area with a team of mobile robots in a minimum time is a well-studied problem with many real-world applications. A rarely studied subject, however, is the case of a weighted plane: due to the necessity of taking time-consuming measurements or having to traverse different kinds of terrains, the coverage time may vary over the environment and the path planning needs to be adapted accordingly. In this paper, we present an adapted version of a state-of-the-art mCPP (multi-robot coverage path planning) approach, the DARP algorithm, to make it suitable to deal with weighted environments. In particular, we propose several modifications to DARP that allow overcoming some of its limitations and, as a result, obtain an increased convergence rate and decreased convergence time with respect to the original version. Furthermore, as proved by extensive simulations, these improvements are also noticed in the unweighted version of the problem.

关键词： Weight measurement automation Path planning Time measurement Reflection Mobile robots Standards

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Stochastic Stability and $\mathscr{L}_{1}$-gain control of Positive Markov Switching Systems with Impulses

Stochastic Stability and $\mathscr{L}_{1}$-gain Control of P...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Meng-Jie Hu Ju H. Park School of Information and Control Engineering China University of Mining and Technology Xuzhou China Department of Electrical Engineering Yeungnam University Gyeongsan Republic of Korea

this paper studies the stability and $\mathscr{L}_{1}$ -gain control of positive systems with Markov switching parameters and impulses. Markov process is applied to describe the switching parameters and structures. T... 详细信息

ISBN: (纸本)9781665476881

this paper studies the stability and $\mathscr{L}_control$ -gain control of positive systems with Markov switching parameters and impulses. Markov process is applied to describe the switching parameters and structures. the positivity constraint, Markov stochastic processes and impulsive jumps are taken into account in a unified framework. By utilizing the stochastic co-positive Lyapunuov function, some new conditions on stochastic stability and $\mathscr{L}_control$ -gain characterization of positive impulsive Markov switching systems (PIMSSs) are acquired. the stochastic stability and $\mathscr{L}_control$ -gain characterization of the closed-loop systems can be ensured via the $\mathscr{L}_control$ -gain mode-dependent state-feedback controller. Moreover, an example is presented to exhibit the usefulness of the obtained results.

关键词： automation Switching systems Switches Markov processes Closed loop systems Robots

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Potential Hazard-Aware Adaptive Shared control for Human-Robot Cooperative Driving in Unstructured Environment

Potential Hazard-Aware Adaptive Shared Control for Human-Rob...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Wenhui Huang Yanxin Zhou Jianhuang Li Chen Lv School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781665476881

Research on the shared control system for human-in-the-loop cooperative driving has grown steadily in the past decade. However, most proposed methodologies were focused on structural roads such as highway rather than the unstructured environment. this paper presents a novel potential hazard-aware shared steering approach for human-robot cooperative driving in unstructured environment. First, we propose a hierarchical Gaussian risk field (HGRF) to evaluate the potential hazard of the predicted path. then an adaptive control authority allocation module is developed to engage the control in real-time. the control authority will be fully owned by the human driver when the vehicle drives in a safe manner. However, in the situation where the hazard level is predicted to be high, the authority of the human driver decrease, and the automation actively assists the driver by dynamically sharing the control authority to enhance safety and performance. the proposed methodology is experimentally verified with a steer-by-wire car-like mobile robot. the results show that our proposed approach can effectively engage and cooperatively control the vehicle in hazard cases, ensuring driving safety.

关键词： automation Roads control systems Hazards Real-time systems Trajectory Resource management

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