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A Model-Based Unmatched Disturbance Rejection control Approach for Speed Regulation of a Converter-Driven DC Motor Using Output-Feedback

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 365-376页

作者： Lu Zhang Jun Yang Shihua Li School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education IEEE Department of Aeronautical and Automotive Engineering Loughborough University

The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncertainties together,the traditional active disturbance rejection control(ADRC)approach provides an intuitive solution for the problem under ***,for such a higher-order disturbed system,the increase of poles for the extended state observer(ESO)therein will lead to drastically growth of observer gains,which causes severe noise *** paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using *** of estimating lumped disturbances directly,a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state ***,a controller with only speed measurement is proposed by utilizing the *** performance of the proposed method is tested through experiments on *** is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.

关键词： Bandwidth widening converter-driven direct current(DC)motor disturbance observer model-based disturbance rejection speed regulation

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Event-Based Dissipative Path Following control for Autonomous Ground Vehicles With External Disturbances and Actuator Faults

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 1-10页

作者： Li, Wenfeng Wong, Pak Kin Xie, Zhengchao Gao, Jinwu Hu, Yunfeng Zhao, Jing School of Mechanical Engineering and Automation Northeastern University Shenyang China Department of Electromechanical Engineering University of Macau Macau China Department of Mechanical Engineering South China University of Technology Guangzhou China State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Jilin University Changchun China

In this paper, a novel event-based dissipative fuzzy control method is proposed for path following systems of autonomous ground vehicles subject to external disturbances and actuator faults. As the varying longitudinal velocity causes highly nonlinearities in the path following systems, a Takagi-Sugeno fuzzy vehicle dynamics model is established for controller design. Moreover, the time delay, multiple actuator faults and external disturbances are fully considered in the modeling of vehicle dynamic systems. For the improvement of path following performance, a dissipative performance index is employed in the controller design to strengthen the reliability of the control method. To achieve a better economization of the limited resource, an enhanced adaptive event-triggered mechanism is introduced into the controller design. Based on an augmented Lyapunov-Krasovskii functional candidate, a less conservative theorem is obtained by employing some extended integral inequalities. The theorem guarantees that the resulted fuzzy path following control system meets the strict dissipative performance on the premise of asymptotic stability. Finally, experimental results validate the superiority of the proposed method. IEEE

关键词： Linear matrix inequalities

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Real-Time Implementation of MEKF using VDPL Localization Alg...

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2024 Innovations in Intelligent systems and Applications Conference, ASYU 2024

作者： Altınpınar, Ozan Vahit Contarlı, Emre Can Sezer, Volkan Department of Mechatronics Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases. © 2024 IEEE.

关键词： Extended Kalman filters

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Managing Battery Performance Degradation Using Physics-Informed Learning Scheme for Multiple Health Indicators

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7309-7321页

作者： Qin, Linxiao Sun, Tao Sun, Xi-Ming Xia, Weiguo Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Dalian University of Technology School of Control Science and Engineering Dalian116024 China Tsinghua University Department of Automation Beijing100084 China

To address the challenges in battery health management, this article introduces a physics-informed neural network predictor-estimator scheme. In the framework, the predictor forecasts health degradation, setting benchmarks for the estimator, while the estimator provides calibrations for the predictor as a substitution for infeasible measurement techniques. For the predictor design, a linear-exponential model is employed for two-stage degradation prediction, enabling online parameter updates and knee point detection. For the estimator design, three neural networks embedded with Coulomb counting and equivalent circuits are proposed to estimate the state of charge (SOC), internal resistance, and capacity, respectively. Experimental results on the A123 dataset demonstrate the superior accuracy of our scheme, with a maximum R2 improvement of 22.8% in prediction tasks and 11.5% in estimation tasks, while maintaining lightweight network structures with fewer than 1000 floating-point operations (FLOPs) and 200 parameters. © 2015 IEEE.

关键词： Electronic health record

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A Method for Allocating Hybrid Teaching Credit Hours Using Hierarchical Analysis 25

A Method for Allocating Hybrid Teaching Credit Hours Using H...

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Meng, Xiangang Li, Xiaojing Xu, Liang School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin China

ISBN: (纸本)9798350366600

Hybrid teaching combines traditional teaching and flipped classroom, which is a new teaching mode with the advantages of both modes. In hybrid teaching mode, reasonable allocation of credit hours between traditional teaching and flipped classroom is an important issue for the teaching work. This paper first proposes a method of using hierarchical analysis to allocate credit hours for hybrid teaching of Digital Electronic technology courses. Firstly, we divided hybrid teaching into stage and content layers, and determined the various elements of stage and content layers. Secondly, the requirements of the Analytic Hierarchy Process were applied to organize these two levels, and pairwise importance comparisons were made for each element within the level. Index judgment matrices were established for the stage level and content level, respectively. Then, the calculation steps of the Analytic Hierarchy Process were designed, and matrix operations were used to obtain the normalized weights of each element in the stage and content layers of traditional teaching and flipped classrooms. This weight was used to determine the class hours to be allocated for each stage and content. Finally, the feasibility and effectiveness of the method proposed in this paper were verified using the example of hybrid teaching hour allocation in Chapter 4 of the Digital Electronic technology course at Tianjin University of technology. © 2024 IEEE.

关键词： Hierarchical systems

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An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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control Theory and technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

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Multi-channel quantum parameter estimation

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Science China(Information Sciences) 2022年第10期65卷 53-65页

作者： Liying BAO Bo QI Yabo WANG Daoyi DONG Rebing WU Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences University of Chinese Academy of Sciences School of Engineering and Information Technology University of New South Wales Department of Automation Tsinghua University

The aim of quantum metrology is to exploit quantum effects to improve the precision of parameter estimation beyond its classical limit. In this paper, we investigate the quantum parameter estimation problem with multiple channels. It is related but not limited to the following two important and practical quantum metrology problems:(i) Quantum enhanced metrology with control, whose aim is to improve the precision of quantum sensing by utilizing feedback or open-loop control;(ii) Practical quantum metrology where the underlying evolution of quantum probes may change from a unitary dynamics to an open system dynamics,owing to the inevitable decoherence during the quantum sensing operation. For various kinds of quantum multiple channels, the corresponding quantum channel Fisher information is derived. To demonstrate the results, some illustrative examples are given.

关键词： quantum metrology quantum parameter estimation multi-channel quantum Fisher information

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A discrete-time looped functional approach and its application to discrete-time systems with cyclically varying delays

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Science China(Information Sciences) 2025年

作者： Wen-Hu CHEN Chuan-Ke ZHANG Chen-Rui WANG Ke-You XIE Yong HE Hong-Bing ZENG School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration School of Electrical and Information Engineering Hunan University of Technology

This paper investigates the stability analysis problem of discrete-time systems with cyclically varying *** previous studies, the delay investigated in this paper cyclically alternates between increasing and decreasing changes within its upper and lower bounds. First, to reasonably describe the cyclic variation characteristics of the delay, a discretetime looped functional(DTLF) approach and a refined allowable delay set(ADS) are proposed. Then, based on the constructed DTLF with delay-product terms and using matrix-separation-based inequality to estimate its forward difference,delay-variation-interval-dependent stability conditions considering two different ADSs are derived. Finally, the effectiveness and superiority of the obtained conditions are demonstrated through two numerical examples.

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Optimal Strategy for Aircraft Pursuit-evasion Games via Self-play Iteration

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Machine Intelligence Research 2024年第3期21卷 585-596页

作者： Xin Wang Qing-Lai Wei Tao Li Jie Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing100049China Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

In this paper,the pursuit-evasion game with state and control constraints is solved to achieve the Nash equilibrium of both the pursuer and the evader with an iterative self-play *** the condition where the Hamiltonian formed by means of Pontryagin’s maximum principle has the unique solution,it can be proven that the iterative control law converges to the Nash equilibrium ***,the strong nonlinearity of the ordinary differential equations formulated by Pontryagin’s maximum principle makes the control policy difficult to figured *** the system dynamics employed in this manuscript contains a high dimensional state vector with *** practical applications,such as the control of aircraft,the provided overload is ***,in this paper,we consider the optimal strategy of pursuit-evasion games with constant constraint on the control,while some state vectors are restricted by the function of the *** address the challenges,the optimal control problems are transformed into nonlinear programming problems through the direct collocation ***,two numerical cases of the aircraft pursuit-evasion scenario are given to demonstrate the effectiveness of the presented method to obtain the optimal control of both the pursuer and the evader.

关键词： Differential games pursuit-evasion games nonlinear control optimal control Nash equilibrium solution

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