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Asynchronous Learning-Based Output Feedback Sliding Mode control for Semi-Markov Jump Systems: A Descriptor Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1358-1369页

作者： Zheng Wu Yiyun Zhao Fanbiao Li Tao Yang Yang Shi Weihua Gui School of Automation Central South UniversityChangsha 410083China Power Electronics Machines and Control GroupThe University of NottinghamNottingham NG72RDUK Department of Mechanical Engineering University of VictoriaVictoria BC V8W 3P6Canada IEEE

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning *** with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization *** holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow *** upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution ***,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding ***,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

关键词： Asynchronous switching learning-based control output feedback semi-Markovian jump systems sliding mode con-trol(SMC).

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Development of End Multi-Fingered Manipulator with Flexible Device

Development of End Multi-Fingered Manipulator with Flexible ...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Chen, Zenghao Shi, Ran Wu, Pengfei Tao, Sheng Yan, Dan Cui, Ze Shanghai Aerospace Control Technology Institute Shanghai Engineering Research Center of Inertial Shanghai China Shanghai University School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9798350325706

In this study, a flexible grasping terminal manipulator that uses the pneumatic vacuum principle and granular material as its base is given. Pneumatic device and granular material are wrapped in elastic film by the end-effector. Whatever complex shape structure the target object has, the flexible end can change shape and wrap around it to entirely grasp the object, it is easy to operate and effective. Create a model of a multi-finger paw with flexible ends that may be used on other things with form structures in addition to flat objects. The flexible end effector has improved application prospects and practical relevance thanks to the optimized design, which additionally offers high gripping speed, success rate, and stability. © 2023 IEEE.

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Performance Evaluation of Axial-Flux Machine with Water-Cooling and Fractional-Slot Distributed-Winding 11

Performance Evaluation of Axial-Flux Machine with Water-Cool...

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11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Chen, Qixu Li, Guoli Qian, Zhe Sun, Zehui Wang, Qunjing Anhui University School of Electrical Engineering and Automation Hefei China Anhui University National Engineering Laboratory of Energy-Saving Motor and Control Technology Hefei China

ISBN: (纸本)9788957083505

The reduction of space harmonic in winding magnetic motive force (MMF) is important for axial-flux permanent magnet synchronous machine (AFPMSM). For the 12-slot/10-pole winding and 24-slot/10-pole winding, comparative analysis of winding MMF is finished with winding function method(WFM). Analysis results show that fractional-slot distributed-winding (FSDW) have much lower total harmonic distortion (THD) than that of fractional-slot concentrated-winding (FSCW). It is beneficial to reduce eddy-current loss in PMs. An AFPMSM prototype with a 24-slot/10-pole combination is manufactured and tested at no-load condition. No-load back-EMF wave is measured at 1000rpm and 3000rpm. Theory and experiment prove that AFPMSM with FSDW layout has a better balance between THD of winding MMF and THD of no-load back-EMF. © 2023 The Korean Institute of Power Electronics.

关键词： Permanent magnets

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Study on Inertia-Resistant Disturbance Speed control of Permanent Magnet Synchronous Motor Based on Exponential Integral Time-Varying Sliding Mode 2nd

Study on Inertia-Resistant Disturbance Speed Control of Perm...

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Conference Proceedings of 2022 2nd International Joint Conference on Energy, Electrical and Power engineering

作者： Ni, Shilin Xie, Fang Wang, Houying School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

To enhance the dynamic performance of speed control when the moment of inertia changes during the operation of permanent magnet synchronous motor (PMSM), this paper investigates an anti-inertia disturbance method based on exponential integral time-varying sliding mode control (EITSMC). First, the paper analyzes the relationship between moment of inertia and motor speed using the mathematical analytical model of PMSM. Secondly, to track the change of the inertia moment immediately, the model reference adaptive system (MRAS) is applied to estimate the inertia change online and improve its tracking accuracy. Thirdly, To solve the issues of unstable motor speed under the sudden change of inertia, the sliding mode control method of exponential integration time variable is proposed, and the introduction of this method can not only better enhance the stability of motor speed, but also improve the fast performance of motor speed. Then, the identifiable moment of inertia is refreshed in real time to the exponentially integrated time-varying SMC, which realizes the adaptive speed control of the PMSM and satisfies the dynamic speed performance of the motor when the inertia changes. Eventually, the feasibility and effectiveness of the proposed method are verified by experiments. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Speed control

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Automation China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

ISBN: (纸本)9781665481090

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). © 2024 IEEE.

关键词： Robotic surgery

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Odometry and Inertial Sensor-based Localization of a Snake Robot

Odometry and Inertial Sensor-based Localization of a Snake R...

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2023 International Conference on Robotics and automation in Industry, ICRAI 2023

作者： Shahid, Ramsha Baloch, Anam Tahir, Humayun Ullah, Anayat National Centre of Robotics and Automation Control Automotive and Robotics Lab Rawalpindi Pakistan Balochistan University of IT Engineering and Management Sciences Department of Electronic Engineering Quetta Pakistan

ISBN: (纸本)9781665464727

Terrain adaptability gives snake robots an edge over wheeled mobile robots. Snake robot's applications expansion to disaster management is due to its limbless and modular design. Replicating the navigation and locomotion of a biological snake have been in the spotlight for many researchers. In this study, a robust localization algorithm of a snake robot is developed. A sensor fusion-based algorithm using probabilistic approaches: UKF (Unscented Kalman Filter) and EKF (Extended Kalman Filter) has been proposed. Odometry is fused with one and two IMUs (Inertial Measurement Units) with both probabilistic approaches. Evaluation of results in a simulation environment showed that the fusion of two IMUs and odometry using EKF outer performs in terms of accuracy when odometry is fused with one IMU using EKF. Furthermore, the fusion of two IMUs and odometry with UKF is computationally expensive resulting in a large convergence time which is not the best suitable approach that can be utilized for the snake robot. © 2023 IEEE.

关键词： Extended Kalman filters

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Optimal Design of Torque Ripple of External Rotor Permanent Magnet Synchronous Motor Based on Particle Swarm Optimization 2nd

Optimal Design of Torque Ripple of External Rotor Permanent ...

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Conference Proceedings of 2022 2nd International Joint Conference on Energy, Electrical and Power engineering

作者： Wang, Houying Xie, Fang Ni, Shilin School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

In order to reduce the torque ripple of outer rotor frameless permanent magnet synchronous motor, this paper adopts the structure of skewed slots to optimize the design of PMSM (permanent magnet synchronous motor). First, the equivalent magnetization method is used to analyze the key parameters that affect the torque ripple of the motor. Secondly, in view of the problem that the torque caused by the skewed slots is greatly reduced, the angle of the skewed slots is studied in this paper, and the structural parameters of the skewed slots are determined, so that the torque ripple is greatly reduced while the torque is slightly reduced. Thirdly, this paper establishes a fitting model based on the sample data generated by the key parameters and introduces particle swarm optimization algorithm to optimize the key parameters of the fitting model. Finally, joint simulation is used to verify the effectiveness of the optimization results. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Torque

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A Sensorless control Method for Low-voltage and High-current BLDC Based on Back-EMF 6

A Sensorless Control Method for Low-voltage and High-current...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Li, Wei Cui, Zhiwei Guo, Yiyang Ding, Shichuan Anhui University National Engineering Laboratory of Energy-Saving Motor & Control Technology Hefei China School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (纸本)9798350346671

For the position sensorless drive system of low-voltage high-current brushless DC (BLDC) motor for oil pump, a three-stage start-up control strategy to improve the voltage at the back electromotive force terminal voltage is studied. The back-EMF detection circuit is built with sampling resistor and comparator. The logical relationship between the comparator output signal and the power device switch is determined. Pre-positioning is achieved by energizing any two phases in the inverter and controlling the winding current. The BLDC is steadily accelerated by increasing the commutation signal frequency of the driver. When the motor accelerates to the predetermined speed, it can accurately detect the back-EMF zero-crossing signal and switch to the self-synchronization operation state. The proposed method is verified by simulation and experiment, and the results show that the speed and current closed-loop sensorless PI control strategy has good performance. © 2023 IEEE.

关键词： Brushless DC motors

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Torque Ripple Reduction of Permanent Magnet Synchronous Motor Based on Least Mean Square Algorithm 2nd

Torque Ripple Reduction of Permanent Magnet Synchronous Moto...

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Conference Proceedings of 2022 2nd International Joint Conference on Energy, Electrical and Power engineering

作者： Shen, Mengyuan Xie, Fang Zhang, Wenyu Zhang, Jinqiang School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

Current harmonic is one of the main causes of torque ripple in permanent magnet synchronous motor PMSM). Considering this problem, an adaptive filter is designed based on least square algorithm (LSM). Firstly, in order to better analyze the problem, this paper establishes the mathematical model of current harmonics, and establishes the mathematical relationship between current harmonics and torque. Secondly, the principle of the adaptive algorithm and the influence of the convergence coefficient on the filter are analyzed. Thirdly, an adaptive filter for current loop LMS algorithm is designed in synchronous rotating coordinate system. Finally, an experimental platform for harmonic suppression of PMSM is built to verify the effectiveness and feasibility of this method through experimental comparison. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Adaptive filters

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Research on Multi-operating control Strategy of Vehicle Motor Based on ALO 2nd

Research on Multi-operating Control Strategy of Vehicle Moto...

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Conference Proceedings of 2022 2nd International Joint Conference on Energy, Electrical and Power engineering

作者： Zhang, Wenyu Xie, Fang Shen, Mengyuan Zhang, Jinqiang School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

This paper studies an optimized control method of Ant lion algorithm (ALO) to optimize the dynamic response of vehicle permanent magnet synchronous motor under different working conditions, and then to improve the robust adaptability of the control system to disturbances and parameter changes in the range of full speed. Firstly, according to the current and torque matching, the correlation between the torque and the DQ axis current is analyzed, and the influence of the change of the DQ axis current on the controller is explained. Then, according to different errors, the ant lion algorithm is adopted to improve the controller parameters. Finally, simulation is set up to compare the control performance of different approaches to verify the effectiveness of this approach. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： controllers

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