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26th International Conference on Industrial Technology, ICIT 2025

作者： Wu, Jiajun Lu, Chengda Li, Hao Wei, Hongchao Wu, Min School of Future Technology China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an710077 China China Coal Research Institute Beijing100013 China

ISBN: (纸本)9798331521950

This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the H∞ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment. © 2025 IEEE.

关键词： Predictive control systems

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A Model-Predictive-Enabled Equivalent-Input-Disturbance Approach for Disturbance Rejection

A Model-Predictive-Enabled Equivalent-Input-Disturbance Appr...

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Industrial Cyber-Physical systems (ICPS)

作者： Yujian Zhou Jinhua She Feng Wang Makoto Iwasaki School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan Department of Electrical and Mechanical Engineering Nagoya Institute of Technology Nagoya Japan

This paper presents a model-predictive-enabled equivalent-input-disturbance (MPEID) method for disturbance rejection. An EID estimator with a state observer estimates the effect of disturbances in a system. The disturbance estimation will not be directly added to the input channel for disturbance rejection. A cost function that considers the disturbance estimation is designed. An MPC controller calculates an optimal control input by minimizing the cost function. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show that our method has better disturbance-rejection performance than an MPC method when the control input is similar.

关键词： Simulation Estimation Optimal control Predictive models Observers Cyber-physical systems Cost function

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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Chinese automation Congress (CAC)

作者： Bin Zhang Xiaowei Jiang Li Sun Xianhe Zhang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions.

关键词： Networked control systems Gaussian noise Bandwidth Numerical simulation Downlink Decoding Colored noise

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Real-time Speech Emotion Recognition Based on Syllable-Level Feature Extraction

arXiv

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arXiv 2022年

作者： Rehman, Abdul Liu, Zhen-Tao Wu, Min Cao, Wei-Hua Jiang, Cheng-Shan The School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Speech emotion recognition systems have high prediction latency because of the high computational requirements for deep learning models and low generalizability mainly because of the poor reliability of emotional measurements across multiple corpora. To solve these problems, we present a speech emotion recognition system based on a reductionist approach of decomposing and analyzing syllable-level features. Mel-spectrogram of an audio stream is decomposed into syllable-level components, which are then analyzed to extract statistical features. The proposed method uses formant attention, noise-gate filtering, and rolling normalization contexts to increase feature processing speed and tolerance to adversity. A set of syllable-level formant features is extracted and fed into a single hidden layer neural network that makes predictions for each syllable as opposed to the conventional approach of using a sophisticated deep learner to make sentence-wide predictions. The syllable level predictions help to achieve the real-time latency and lower the aggregated error in utterance level cross-corpus predictions. The experiments on IEMOCAP (IE), MSP-Improv (MI), and RAVDESS (RA) databases show that the method archives real-time latency while predicting with state-of-the-art cross-corpus unweighted accuracy of 47.6% for IE to MI and 56.2% for MI to IE. Copyright © 2022, The Authors. All rights reserved.

关键词： Forecasting

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Modified weak-value-amplification technique for measuring a mirror's velocity based on the Vernier effect

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Physical Review A 2022年第1期105卷 013718-013718页

作者： Jing-Hui Huang Fei-Fan He Xue-Ying Duan Guang-Jun Wang Xiang-Yun Hu Institute of Geophysics and Geomatics China University of Geosciences Lumo Road 388 430074 Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education 430074 Wuhan China School of Automation China University of Geosciences Lumo Road 388 430074 Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems 430074 Wuhan China

A modified weak-value-amplification (MWVA) technique to measure a mirror's velocity based on the Vernier effect is proposed. To demonstrate its enhanced sensitivity and higher signal-to-noise ratio (SNR), we use two cascaded Michelson interferometers with similar optical structures. One has a fixed mirror and acts as a fixed part of the Vernier scale, while the other, with a moving mirror, acts as a sliding part of the Vernier scale for velocity sensing. The envelope of the cascaded interferometers shifts much more than a single one with a certain enhancement factor, which is related to the free space range difference between them. In addition, we calculate the SNR based on the Fisher information with both the MWVA and traditional weak-value-amplification (TWVA) techniques. The results show that both the SNR and the sensitivity with our MWVA technique is greater than that of the TWVA technique within the range of our time measurement window. In particular, MWVA can present a viable and effective alternative to the TWVA technique out of the limit of resolution. Furthermore, by using the principles of the Vernier effect, it is applicable and convenient to improve the sensitivity and SNR in measuring other quantities with the TWVA technique.

关键词： Quantum measurements Quantum optics

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot*

Design and locomotion characteristic analysis of a novel ten...

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IEEE International Conference on Robotics and Biomimetics

作者： Jixue Mo Changqing Gao Hao Fang Qingkai Yang Department of Strategic and Advanced Interdisciplinary Research Peng Cheng Laboratory Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot’s hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment.

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Torque Compensation Model and Touchdown Detection Model of the Hydraulic Quadruped Robot controlled by VMC

Torque Compensation Model and Touchdown Detection Model of t...

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Chinese control and Decision Conference, CCDC

作者： Ranjiang Wang Jiangbo Zhao Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665478977

In this paper, according to the different dynamic models of the support phase and the swing phase, the joint torque compensation of the support phase and the swing phase are given to compensate the joint torque of the hydraulic quadruped robot controlled by the virtual model control(VMC). This compensation can increase the tracking effect of the foot end on the swing trajectory, reduce the elasticity and damping coefficient of the virtual model method, and increase the flexibility of the leg. Then this paper establishes the touchdown detection function based on the joint torque obtained by the Lagrange dynamics equation and the joint torque obtained by the force sensor to determine the touch state of the foot of the quadruped robot to switch the phase of the leg. At the end of this paper, simulation and experiment prove that the compensation model and touchdown detection function model have feasibility and correctness.

关键词： Legged locomotion Damping Torque Switches Hydraulic systems Elasticity Mathematical models

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Fixed-/Preassigned-Time Anti-Synchronization of Chaotic Neural Networks

Fixed-/Preassigned-Time Anti-Synchronization of Chaotic Neur...

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Haoyu Li Leimin Wang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781665402460

This paper investigates a unified controller to solve the fixed-time anti-synchronization (FTAS) and preassigned-time anti-synchronization (PTAS) problems for chaotic neural networks. Under our controller, chaotic neural network can realize anti-synchronization within the fixed or preassigned time which greatly expands the practical application range of the anti-synchronization. In addition, sufficient conditions and time estimation on FTAS and PTAS are derived. Finally, the feasibility of the control scheme is proved via a numerical simulation.

关键词： Sufficient conditions Neural networks Estimation Numerical simulation Synchronization Cybernetics

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An-Improved $\alpha-\mathbf{Shapes}$ Algorithm for Solving Collaborative Workspaces of Dual SCARA Robots Based on Monte Carlo Method

An-Improved $\alpha-\mathbf{Shapes}$ Algorithm for Solving C...

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Chinese control Conference (CCC)

作者： Feng-Yu Zhang Gang Yu Shu-Han He Wang-Yong He School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Huaxin Cement Technology Management (Wuhan) Co. Ltd. Wuhan P. R. China

Given the dual robots play a key role for collaborative work. In this paper, an improved method is proposed to find the kinematic positive solution based on its D-H parameters, model the dual SCARA robot in MATLAB environment, and solve the collaborative workspace point cloud map by Monte Carlo method. The proposed method extracts and plots the boundary curves of the collaboration space by improved the $\alpha-\text{Shapes}$ algorithm, and obtains the shape of the common region of the collaboration space of the dual SCARA robots and the limit position parameters in the collaboration space. It provides a theoretical basis for the research of path planning, trajectory planning, dynamics analysis, mechanism parameter optimization, self-avoidance, and anti-collision problems of the dual-robot collaborative system.

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Dynamic Event-Triggered control for Nonlinear systems:A Small-Gain Approach

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系统科学与复杂性学报（英文版） 2020年第4期33卷 930-943页

作者： ZHAO Qingtao SUN Jian BAI Yongqiang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is *** this way,network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling ***-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC *** from traditional ETC models,stability criteria are proposed in the form of input to state stability (ISS) gain to design the triggering *** paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered *** conditions to guarantee the stability of the system are derived with the help of cyclic-small-gain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical *** simulations are given to demonstrate the effectiveness of our approach.

关键词： Cyclic-small-gain theorem event-triggered control input-to-state stability (ISS) nonlinear systems

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