检索结果-内蒙古大学图书馆

Asian Control Conference

作者： Zhiheng Chen Zhihuan Chen Changjun Li Huaiyu Wu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the matching of position tracking and flight speed in multi-UAV formation control is studied, and the hierarchical control strategy based on the virtual structure method is constructed. Firstly, a second-order dynamic model with disturbances is introduced to address the inadequacy of the traditional first-order dynamics model lack of consideration for the coupling of position and attitude loops. Secondly, a high-level formation controller based on the sliding mode theory is designed. Further, based on the output information of the high-level, a fractional order terminal sliding mode low-level controller is proposed to ensure the robustness of the formation tracking process. In addition, a neural network-based sliding mode observer is designed to approximate the uncertainty of the system to improve the immunity to interference. Finally, simulation experiments verify the effectiveness of the proposed strategy,

关键词： Uncertainty Systematics Trajectory tracking Interference Autonomous aerial vehicles Formation control Stability analysis

来源：评论

学校读者我要写书评

暂无评论

Path Planning for Heterogeneous Robotic Delivery Systems Considering Road Network Constraints

Path Planning for Heterogeneous Robotic Delivery Systems Con...

引用

Asian Control Conference

作者： Shangxuan Hou Zhihuan Chen Xiangkai He Xiwen Yan Zuao Wang Xiujuan Zheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Heterogeneous robotic delivery system (HRDS), which is consisted of unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV), is widely used for the delivery in the lastest years. As the core of delivery industry, the path planning problem is crucial for HRDS. In HRDS model in this study, UAV can deliver multiple customer points in a single flight, thereby improving delivery efficiency. Meanwhile, the movement restrictions of UGV within the road network and the constraint of UAV endurance are considered to make the model more practical and realistic. To solve the problem, this study based on the discrete Artificial Bee Colony Algorithm (ABC), proposes encoding and decoding strategies, position updating strategies, and local search strategies to make multiple improvements to ABC. Simulation results demonstrate that modifide ABC effectively resolves this problem, exhibiting faster convergence speed and higher solution accuracy compared to other algorithms.

关键词： Accuracy Service robots Roads Simulation Urban areas Autonomous aerial vehicles Search problems

来源：评论

学校读者我要写书评

暂无评论

On Networked Dynamical Systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

引用

第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

来源：评论

学校读者我要写书评

暂无评论

Learning-enabled multi-modal motion prediction in urban environments

Learning-enabled multi-modal motion prediction in urban envi...

引用

IEEE Symposium on Intelligent Vehicle

作者： Vinicius Trentin Chenxu Ma Jorge Villagra Zaid Al-Ars Center for Automation and Robotics CSIC - Universidad Politécnica de Madrid Arganda del Rey Spain Computer Engineering Lab TU Delft Delft The Netherlands

Motion prediction is a key factor towards the full deployment of autonomous vehicles. It is fundamental in order to assure safety while navigating through highly interactive complex scenarios. In this work, the framework IAMP (Interaction-Aware Motion Prediction), producing multi-modal probabilistic outputs from the integration of a Dynamic Bayesian Network and Markov Chains, is extended with a learning-based approach. The integration of a machine learning model tackles the limitations of the ruled-based mechanism since it can better adapt to different driving styles and driving situations. The method here introduced generates context-dependent acceleration distributions used in a Markov-chain-based motion prediction. This hybrid approach results in better evaluation metrics when compared with the baseline in the four highly-interactive scenarios obtained from publicly available datasets.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform

Observer-based Controller Design for Oscillation Damping of ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Hemjyoti Das Minh Nhat Vu Tobias Egle Christian Ott Automation and Control Institute (ACIN) TU Wien Vienna Austria Austrian Institute of Technology (AIT) GmbH Vienna Austria Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen Wessling Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double pendulum. A state estimator is designed in order to obtain the deflection angles of the platform, which uses only onboard IMU measurements. The state estimator is an extended Kalman filter (EKF) with intermittent measurements obtained at different frequencies. An optimal state feedback controller and a PD+ controller are designed in order to dampen the oscillations of the platform in the joint space and task space respectively. The proposed underactuated platform is found to be more energy-efficient than an omnidirectional platform and requires fewer actuators. The effectiveness of our proposed system is validated using both simulations and experimental studies.

关键词： Damping State feedback Aerospace electronics Frequency estimation Energy efficiency PD control Kalman filters

来源：评论

学校读者我要写书评

暂无评论

A Novel Gas Classification Method Based on The Improved GasNet

A Novel Gas Classification Method Based on The Improved GasN...

引用

第43届中国控制会议

作者： Xiaolin Qin Lei Cheng Xiang Tao Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Accurately and promptly identifying harmful gases in the environment can effectively prevent many accidents. Most existing pattern recognition methods are focused on addressing gas classification problems in static scenarios, but the real world is a dynamic and changing environment. Therefore, researching gas classification in continuous learning scenarios will better meet the needs of suddenly emerging gas classification tasks in real-world environments. To address this issue, an incremental learning model was introduced into gas classification, and an improved deep convolutional network was proposed for gas image feature extraction. The proposed model and other baseline methods experimented on an open-source gas dataset. The proposed model reduces knowledge loss due to catastrophic forgetting and effectively classifies the 10 gas samples in the dataset in continuous learning scenarios compared to non-incremental methods. It outperforms other baseline incremental methods by optimizing the network's shortcut connections, making the feature extraction network easier to train and improving gas classification performance. In dynamic learning scenarios, the proposed model achieved a classification accuracy of 86.30% for 10 gas *** experimental results demonstrate that the proposed method effectively mitigates catastrophic forgetting interference and completes gas classification tasks in continuous learning scenarios.

关键词： Gas classification Incremental learning Shortcut connection Catastrophic forgetting

来源：评论

学校读者我要写书评

暂无评论

Sparsity via Sparse Group k-max Regularization

arXiv

引用

arXiv 2024年

作者： Tao, Qinghua Xi, Xiangming Xu, Jun Suykens, Johan A.K. STA-DIUS ESAT KU Leuven Belgium Research Center for Intelligent Robotics Zhejiang Lab Zhejiang Hangzhou China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

For the linear inverse problem with sparsity constraints, the l0 regularized problem is NP-hard, and existing approaches either utilize greedy algorithms to find almost-optimal solutions or to approximate the l0 regularization with its convex counterparts. In this paper, we propose a novel and concise regularization, namely the sparse group k-max regularization, which can not only simultaneously enhance the group-wise and in-group sparsity, but also casts no additional restraints on the magnitude of variables in each group, which is especially important for variables at different scales, so that it approximate the l0 norm more closely. We also establish an iterative soft thresholding algorithm with local optimality conditions and complexity analysis provided. Through numerical experiments on both synthetic and real-world datasets, we verify the effectiveness and flexibility of the proposed method. © 2024, CC BY-NC-SA.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Gas Source Localization for UAV Using Infotaxis-Based Three-Dimensional Algorithm and Particle Filtering

Gas Source Localization for UAV Using Infotaxis-Based Three-...

引用

第43届中国控制会议

作者： Duan He Cheng Lei Wang Rong Zhang Yu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmanned aerial vehicles(UAVs) are extensively utilized in gas source localization tasks due to their payload capacity and maneuverability. This paper presents a UAV gas source localization algorithm that utilizes three-dimensional Infotaxis and particle filter. The algorithm is designed for gas source localization of UAVs in dynamic outdoor airflow *** source localization process comprises UAV search area partitioning, particle filter initialization, observation and update of probability map, entropy calculation and direction selection, particle direction and weight update, and UAV movement. To validate the effectiveness of the algorithm, we build a CFD gas environment and UAV source localization platform, and compare it with traditional Infotaxis-based source localization algorithms. The proposed algorithm based on three-dimensional Infotaxis and particle filter demonstrates higher accuracy.

关键词： infotaxis particle filtering gas source localization olfactory drone path planning

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking of Fractional order Quadrotor UAV Based on Adaptive Fuzzy Fractional Order PID Controller

Trajectory Tracking of Fractional order Quadrotor UAV Based ...

引用

Asian Control Conference

作者： Shiyu Xi Zhihuan Chen Zhiheng Chen Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the trajectory tracking problem of the quadrotor UAV with fractional order characteristics is studied. First, an accurate fractional order mathematical model is innovatively established, addressing the deficiency of traditional integer order models in modeling precision. Secondly, the prediction-correction algorithm is applied to solve these complex fractional order differential equations. In design of the control system, the adaptive fuzzy fractional order PID (AFFOPID) control strategy is applied to the position subsystem and attitude subsystem of the quadrotor UAV, dealing effectively with the fractional order characteristics and also enhancing control flexibility. Since the AFFOPID controller does not require the integral term of the error as input, it can be more easily applied and tuned in practical situations. Finally, comparative simulation experiments are conducted to confirm the effectiveness of the proposed control strategy and the superiority of fractional order controllers.

关键词： Adaptation models Trajectory tracking Differential operators Autonomous aerial vehicles Control systems Prediction algorithms Mathematical models

来源：评论

学校读者我要写书评

暂无评论

Fixed Time Synchronization for Heterogeneous Complex Network with Time Delay by Soft Variable Structure Control Method

Fixed Time Synchronization for Heterogeneous Complex Network...

引用

Asian Control Conference

作者： Jie Wei Zhihuan Chen Tinghao Shi XiuJuan Zheng Zhenhua Zhu Mian Hu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Ahstract-This study focuses on the fixed-time synchronization problem of drive-response complex networks with time delay. Distinguish from most of previous works, a more practical complex network is introduced, whose nodes and dimension between drive-response system are different. To achieve fixed time synchronization of the network, a dynamic soft variable structure control with fixed-time strategy is proposed, aiming to achieve higher regulation rate and shorter settling time. Then, the stability of the controller is rigorously proven through mathematical analysis and numerical simulations validate the effectiveness of presented results.

关键词： Delay effects Power system dynamics Stability criteria Complex networks Power system stability Numerical simulation Robustness

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：