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An enhanced stochastic error modeling using multi-Gauss–Markov processes for GNSS/INS integration system

Journal of engineering and Applied science 2024年第1期71卷 186页

作者： Wu, Youlong Chen, Shuai School of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing China School of Automation Nanjing University of Science and Technology Nanjing China

Angular random walk (ARW), rate random walk (RRW), and bias instability (BI) are the main noise types in inertial measurement units (IMUs) and thus determine the navigation performance of IMUs. BI is the flicker noise, which determines the noise level of an inertial sensor. The traditional error modeling approach involves modeling the ARW and BI processes as RRW or Gauss–Markov (GM) processes, and this approach is applied as a suboptimal filter in the global navigation satellite system (GNSS)/inertial navigation system (INS) extended Kalman filter (EKF). In this paper, the random error identification processes for white noise and colored noise for inertial sensors are separated using the Allan variance and power spectral density methods and the equivalence of the stochastic process differential equations of bias instability and a combination of multiple first-order GM processes are derived. A colored noise compensation method is proposed based on the enhanced EKF model. Experimental results demonstrate that, compared to traditional error models, our proposed model reduces positional drift error in dynamic testing from 195 to 49 m, enhancing positional accuracy by 40.2%. These findings confirm the potential and superiority of our method in complex navigation environments. © The Author(s) 2024.

关键词： Markov processes

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Quasi-static Mechanical Properties of Optimized SC Lattice Structure Based on Periodic Boundary Theory

Quasi-static Mechanical Properties of Optimized SC Lattice S...

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2023 International Conference on Optoelectronic Information and Functional Materials, OIFM 2023

作者： Zhou, Duan College of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing211169 China

ISBN: (纸本)9781510668119

In order to establish the planar dynamic symmetry of SC unit cell and the macroscopic structure, periodic boundary constraints equations were constructed in ABAQUS for the SC unit cell and the topology optimization design was conducted under periodic boundary conditions with the ESO algorithm. The equivalent elasticity modulus of the optimized SC unit cell was solved and it was found that the equivalent elasticity modulus of the optimized SC unit cell was evidently better than that of the traditional SC unit cell. The optimized SC unit cell was then extended from the unit cell level to the macrostructure, and the quasi-static flat compression resistivity of three kinds of SC lattice structures were studied. It was concluded that the optimized SC lattice structure removed from the initial material of the unit cell had a better resistant force and energy absorption value than the traditional SC lattice structure under the flat compression condition. © 2023 SPIE.

关键词： Elastic moduli

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Data-driven output regulation control for constrained linear systems

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science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Study on the assimilation of the sulphate reaction rates based on WRF-Chem/DART

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science China Earth sciences 2023年第10期66卷 2239-2253页

作者： Congwu HUANG Chaoqun MA Tijian WANG Yawei QU Mengmeng LI Shu LI Bingliang ZHUANG Min XIE Faculty of Resources and Environmental Science Hubei UniversityWuhan430062China School of Atmospheric Sciences Nanjing UniversityNanjing210023China College of Intelligent Science and Control Engineering Jinling Institute of TechnologyNanjing211169China

Sulphate(SO_(4)^(2-))is a main component of PM_(2.5)in *** chemical formation mechanisms of sulphate are complex,and many air quality models have been used to analyse these *** improve the accuracy of Weather Research Forecast-Chemistry(WRF-Chem)on sulphate,an alternative method is proposed in this ***,data assimilation is performed to adjust the chemical reaction rates of *** on the original reactions,a new sulphate parameterisation scheme,which includes two hypothetical reactions and six undetermined parameters,was *** on the WRF-Chem/DART(Data Assistance Research Testbed)system,the near-ground concentrations of SO_(4)^(2-),SO_(2),NO_(2),O_(3)and particulate matter are assimilated to adjust the six *** adjusting the parameters,the new scheme can effectively solve the underestimation of SO_(4)^(2-)and overestimation of SO_(2).The simulation of SO_(4)^(2-)improved as the mean bias changed from-13.1μg m^(-3)to 3.5μg m^(-3)while SO_(2)improved from 17.0μg m^(-3)to 6.3μg m^(-3).The temporal and spatial variation characteristics predicted by the new scheme are consistent with the theoretical research results,indicating that the complex mechanism of sulphate formation could be replaced by the temporal and spatial variation characteristics predicted by the new scheme and that the parameters can be adjusted by data ***,the reaction rates of the SO_(4)^(2-)parameterisation scheme of the WRF-Chem model are improved in this study,and a new method for improving the accuracy of the air quality model is provided.

关键词： Sulphate Chemical reaction rate WRF-Chem/DART Data assimilation Air quality forecast

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Research on Undisturbed Monitoring of Eriocheir Sinensis based on Biological Habits 9

Research on Undisturbed Monitoring of Eriocheir Sinensis bas...

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9th International Conference on intelligent Computing and Signal Processing, ICSP 2024

作者： Wang, Yizhi Hu, Yan Liu, Siyuan Hu, Xingliu Chen, Weina Xiao, Maohua School of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing China College of Engineering Nanjing Agricultural University Nanjing China

ISBN: (纸本)9798350376548

The undisturbed monitoring of Eriocheir Sinensis, also known as Chinese mitten crabs, is accepted as the reliable guidance to feeding equipment development, under the circumstance of labor force aging issue, while currently there is yet a satisfactory method. In utilizing the biological habit of Erocheir Sinensis, climbing the fish net cage, a platform is proposed and implemented in this research to record the photos and weights of Eriocheir Sinensis when climbing up the cage and passing through the platform, willingly, fulfilling the goal of undisturbed monitoring purpose. Furthermore, the shadow marking method and maximum inscribed circle method is developed to process the photos under natural illumination with different area of shadow, and to obtain the carapace size of Eriocheir Sinensis, respectively. Results show the shadow marking method will return a clear contour line of Eriocheir Sinensis with an appropriate v value, while the maximum inscribed circle method will return an error of size data with relatively constant error, which could be eliminated by correcting algorithm in future. © 2024 IEEE.

关键词： Biotic

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Multi–physical-field characteristics modeling and structure optimization for kW-level ultra-high-speed PM motors with integrated support system

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Chinese Journal of Aeronautics 2023年第4期36卷 455-467页

作者： Qixing GAO Xiaolin WANG Yan ZHANG College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China School of Intelligence Science and Control Engineering Jinling Institute of TechnologyNanjing 211169China

In the aerospace industry,the low-mass ultra-high-speed flywheel system play a critical *** this paper,a kW-level Ultra-High Speed Permanent Magnet Synchronous Motor(UHSPMSM)as the core component of flywheel system is proposed and analyzed with consideration of multiple physical fields,including electromagnetic characteristics,mechanical strength and rotor *** integrated support structure is put forward to improve rotation accuracy and operation stability of the ***,influence of the integrated support structure on critical speed is explored,and the key parameters such as support position and support stiffness are ***,the rotor strength is analyzed by analytical model developed of rotor stress that can deal with multiple boundary *** and thickness of the sleeve are optimized,and range of interference value is accurately limited based on four extreme operating *** 3-D Finite Element Model(FEM)is used to validate the strength characteristics and stress distribu-tion of rotor.A 1.5 kW-150000 r/min UHSPMSM with integrated support system is manufactured and *** feasibility of UHSPMSM proposed and the accuracy of analysis method are verified through electromagnetic,temperature rise and vibration characteristics *** machine prototype realizes the load operation at rated speed and the multi-physical-field characteristics achieve the design specification.

关键词： Flywheel energy storage Integrated support system Multi–physical-field charac-teristics Mechanical strength Rotor dynamics Ultra-high-speed motor

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Relaxed Stability Criteria for Time-Delay Systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

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science China(Information sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control（MRAC） of linear time-invariant（LTI） systems: limt→∞ e（i）（t） = 0, i = 1,..., n*-1, where n*and e（i）（t） denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control（including indirect MRAC and indirect adaptive pole placement control） of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.（1） It can track a reference signal with any order derivatives being unknown.（2） It has higher-order exponential or practical output tracking properties.（3） Finally, it is different from the usual MRAC system, whose reference signal's derivatives up to the n*order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

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Theoretical analysis for dynamic model of U-shaped electrothermal microactuator based on Chebyshev spectral method 7

Theoretical analysis for dynamic model of U-shaped electroth...

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7th International Conference on Mechanical, Electric, and Industrial engineering, MEIE 2024

作者： Tang, Yujuan Chen, Hao Wang, Xinjie School of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing211169 China College of Technology Lishui University Lishui323000 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing210094 China

This paper presents a largely and accurate analysis for dynamic model of U-shaped actuator that considers the material parameters dependent on temperature. The electro-thermal analysis for temperature distribution and thermo-mechanical analysis for deflection is carried out. The electro-thermal dynamic behaviour is described by piecewise one-dimensional (1D) heat transfer partial differential equations (PDE) for each beam of U-shaped actuator. A combination of Chebyshev spectral method for space domain and Euler forward difference method for time domain is used to solve these equations. The convergence test is first done to ensure the result convinced. © Published under licence by IOP Publishing Ltd.

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A noval approach for dual probabilistic linguistic multi-criteria decision making based on prioritized Maclaurin symmetric mean operators and VIKOR

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Journal of intelligent and Fuzzy Systems 2025年第4期48卷 447-462页

作者： Guo, Jing Zhu, Xianjun Li, Wenfeng Li, Hui School of Software Engineering Jinling Institute of Technology Nanjing China School of Engineering Management Nanjing University Nanjing China Reproductive Medicine Center Jinling Hospital Nanjing China Research Center for New Technology in Intelligent Equipment Nanjing University Nanjing China College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing China

The evolving landscape of decision-making, especially in complex scenarios, poses a challenge in accurately capturing decision-makers’ cognitive information. This challenge becomes even more intricate in group decision-making situations due to the diverse cognitive perspectives of the participants. In response to these complexities, this study delves into the realm of dual probabilistic linguistic 2-tuple sets, an extension of dual-hesitant fuzzy sets known for their effectiveness in handling perplexing data. Dual probabilistic linguistic 2-tuple sets introduces a nuanced approach, considering multiple linguistic memberships, non-membership degrees, and their associated probabilistic and deviation information. We have devised diverse mechanisms aimed at augmenting the comprehension and utilization of dual probabilistic linguistic 2-tuple sets. These mechanisms encompass transformation functions, scoring methodologies and accuracy metrics. In this study, we introduce two aggregation operators for dual probabilistic linguistic 2-tuple sets based on prioritized averaging and Maclaurin symmetric mean principles. These operators serve as the cornerstone for a pioneering hybrid approach meticulously crafted for multiple criteria decision making within the framework of dual probabilistic linguistic 2-tuple sets. To demonstrate the practicality and efficacy of our approach, we present a real-world case study. The subsequent analytical comparison and discussion underscore the effectiveness of our methodology. The outcomes of this study not only showcase the excellent performance of our proposed method but also offer valuable practical implications for decision-makers navigating complex and diverse decision environments. Our work stands as a significant stride toward enhancing decision-making processes amid contemporary challenges. © 2025 – IOS Press. All rights reserved.

关键词： Fuzzy rules

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