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International Conference on control, Mechatronics and automation (ICCMA)

作者： Hong Zhan Chao Zeng Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK

ISBN: (数字)9798331517519

ISBN: (纸本)9798331517526

This paper applies the proposed hybrid force and position control method to the physical robot system with interaction tasks to further improve our previous study. In the control scheme, the variable stiffness based on proportional integral derivative(PID) admittance control is adopted for interaction force tracking and the radial basis function neural network(RBFNN) based fixed-time control is designed to ensure position tracking. We have performed interaction tasks based on a Baxter robot for drawing on the plane and slope plane with different expected interaction forces and position trajectories. The experiment results indicate that the method performs well in terms of interaction force and trajectory tracking.

关键词： Mechatronics automation Trajectory tracking Force Dynamics Position control Trajectory Robots Admittance control Convergence

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FGNet: Faster Robotic Grasp Detection Network

FGNet: Faster Robotic Grasp Detection Network

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IEEE International Conference on Mechatronics and automation

作者： Bangqiang Cheng Lei Sun School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Tianjin University of Technology Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In unstructured environments, achieving fast and accurate object detection and successful grasping presents a significant challenge. Current grasping detection networks primarily focus on reducing the network's floating point operations (FLOPs) to improve network speed. However, we found that the effectiveness of this method is not particularly significant. To address this issue, we employed partial convolution (PConv) in place of regular convolutions to significantly enhance the network's detection speed. Additionally, we implemented a parallel structure for the network to fuse low-level and high-level features, reducing the loss of detail information during the decoding process. Our proposed faster grasp detection network (FGNet) achieved a performance of 96.74% (ow) and 98.66% (iw) on the Cornell dataset, with a detection speed of only 11ms. The grasping success rate was 96.5% in single-object scenarios and 92% in cluttered grasping scenarios.

关键词： Training Accuracy Mechatronics Convolution Fuses Grasping Object detection

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Anomaly-Resistant Decentralized State Estimation Under Minimum Error Entropy With Fiducial Points for Wide-Area Power systems

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 74-87页

作者： Bogang Qu Zidong Wang Bo Shen Hongli Dong Hongjian Liu the College of Automation Engineering Shanghai University of Electric PowerShanghai 200090China IEEE the Department of Computer Science Brunel University LondonUxbridgeMiddiesex UB83PHUK the College of Information Science and Technology Donghua UniversityShanghai 200051 the Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China the Artificial Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast PetroleumDaqing 163318 the Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China the Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of EducationAnhui Polytechnic UniversityWuhu 2410000 the School of Mathematics and Physics Anhui Polytechnic UniversityWuhu 241000China

This paper investigates the anomaly-resistant decentralized state estimation(SE) problem for a class of wide-area power systems which are divided into several non-overlapping areas connected through transmission lines. Two classes of measurements(i.e., local measurements and edge measurements) are obtained, respectively, from the individual area and the transmission lines. A decentralized state estimator, whose performance is resistant against measurement with anomalies, is designed based on the minimum error entropy with fiducial points(MEEF) criterion. Specifically, 1) An augmented model, which incorporates the local prediction and local measurement, is developed by resorting to the unscented transformation approach and the statistical linearization approach;2) Using the augmented model, an MEEF-based cost function is designed that reflects the local prediction errors of the state and the measurement;and 3) The local estimate is first obtained by minimizing the MEEF-based cost function through a fixed-point iteration and then updated by using the edge measuring information. Finally, simulation experiments with three scenarios are carried out on the IEEE 14-bus system to illustrate the validity of the proposed anomaly-resistant decentralized SE scheme.

关键词： Decentralized state estimation(SE) measurements with anomalies minimum error entropy unscented Kalman filter wide-area power systems

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Towards Intercontinental Teleoperation: A Cloud-Based Framework for Ultra-Remote Human-Robot Dual-Arm Motion Mapping 1

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Lv, Honghao Zhou, Huiying Wang, Ruohan Wu, Haiteng Pang, Zhibo Yang, Geng State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China Department of Automation Technology ABB Corporate Research Vasteras Sweden Stockholm Sweden

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Teleoperated robots offer a unique combination of robotic strength and precision, coupled with human judgment and ingenuity, to enhance productivity and safety in complex, unstructured, and hazardous industrial environments. However, teleoperation over ultra-remote distances has posed a significant challenge, with control performance being compromised by the inherent trade-off between distance and latency. This study presents a novel cloud-based human-robot motion mapping framework for ultra-remote teleoperation. An intuitive dual-arm human-robot motion mapping framework based on capturing human motion has been implemented, and private network connectivity is established using the Google Cloud platform for the efficient transfer of control data required for human-robot motion mapping. Moreover, a novel feedforward control framework is proposed to mitigate the negative impact of high network latency on teleoperation control performance. To demonstrate the feasibility of the proposed approach, an intercontinental teleoperation system between China and Sweden was developed, and a series of practical applications were demonstrated by capturing the motion of an operator in Sweden to control the dual-arm robot located over 7800 km away in China. The proposed feedforward control framework for intercontinental teleoperation has the potential utility for improving human-robot interaction performance in ultra-remote teleoperation scenarios with high network latency. More demonstration videos can be found at https://***/intercontinental-teleoperation/. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Remote control

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Preassigned-Time Synchronization of Memristive Chaotic Circuit via Intermittent control

Preassigned-Time Synchronization of Memristive Chaotic Circu...

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2023 International Conference on Neuromorphic Computing, ICNC 2023

作者： Wang, Qiming Wang, Leimin Wu, Genping China University of Geosciences School of Automation 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 Wuhan Second Ship Design and Research Institute Wuhan430064 China

ISBN: (纸本)9798350316889

In this paper, the preassigned-time synchronization (PTS) problem for a fifth-order memristive chaotic circuit (MCC) is investigated by designing a time-dependent intermittent controller. First, the dynamic characteristics of the MCC, especially the existence and occurrence of chaos, are investigated by simulation experiments. Besides, the stability of the equilibrium points is discussed by using Routh-Hurwitz criterion. Then, a time-dependent intermittent controller is designed and the PTS of MCC is realized via the presented controller. Finally, the effectiveness of theoretical results is verified by means of numerical simulations. © 2023 IEEE.

关键词： controllers

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Safety-critical Stability of Switched Linear Autonomous systems under Arbitrary Switching

Safety-critical Stability of Switched Linear Autonomous Syst...

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IEEE Conference on Decision and control

作者： Miaomiao Wang Zhendong Sun Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Beijing China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Given a switched system and a safe region that is a subset of the state space, a state trajectory is safe if the whole trajectory is within the safe region. The safety-critical stability problem here is to determine the safe initial domain that is the set of initial states with safe trajectories under arbitrary switching. We prove that the safe initial domain is of full dimension iff the switched system is stable. Moreover, under the assumption that the switched system is exponentially stable and the safe region is regular, we present a computational procedure to numerically characterize the safe initial domain with the help of the newly introduced concept of ‘cut-tail-points’. A numerical example is presented to verify the effectiveness of the proposed scheme.

关键词： Switched systems Autonomous systems Switches control systems Trajectory Numerical stability

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GPIO Based Iterative Learning control for Manipulators with Time-Varying Disturbances 42

GPIO Based Iterative Learning Control for Manipulators with ...

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42nd Chinese control Conference, CCC 2023

作者： Lu, Huangyuwei Wang, Zuo Sun, Jiankun Xiao, Xi Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Shenzhen Research Institute Southeast University Shenzhen518063 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing211106 China

ISBN: (纸本)9789887581543

To improve the disturbance rejection ability and repetitive tracking accuracy of manipulators, a composite iterative learning control (ILC) scheme via generalized proportional integral observer (GPIO) is proposed. A high-order polynomial is first employed to model the time-varying disturbances that include unmodeled dynamics, parameter uncertainties and load fluctuations. A GPIO is then designed to estimate the disturbances and high-order time derivatives. By introducing estimations into a PD-type ILC at each iteration, a composite control scheme is obtained, such that the undesirable influence of time-varying disturbances can be effectively attenuated in the repetitive tracking process of manipulators. In this paper, the rigorous stability analysis of the closed-loop system is presented to guarantee that the tracking error exponentially converges to zero as the iteration number tends to infinity. The effectiveness of the proposed control scheme is finally verified by simulation results. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Disturbance rejection

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Exploration of electron and ion thermodynamic models in laser-plasma expansion

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Science China(Physics,Mechanics & Astronomy) 2025年

作者： Yuan Hu Zilin Huang Yong Cao Quanhua Sun Heji Huang Chengyuan Ding Zhan Wang State Key Laboratory of High Temperature Gas Dynamics Institute of Mechanics Chinese Academy of Sciences School of Engineering Science University of Chinese Academy of Sciences Department of Mechanical Engineering & Automation Harbin Institute of Technology (Shenzhen) Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences Key Laboratory for Mechanics in Fluid Solid Coupling Systems Institute of Mechanics Chinese Academy of Sciences

The expansion of laser-produced plasma（LPP）, an important process to be understood to design the debris mitigation system of an extreme ultraviolet（EUV） light source, is governed by its associated electron and ion thermodynamics, the modeling of which is, however, a subject of debate. By applying the polytropic equation of state（EoS） for both electron and ion, we have derived the hydrodynamic-based self-similar solutions for an expanding plasma slab with finite ion temperature. The effects of electron and ion thermodynamics on plasma expansion and ion acceleration are investigated. We show that the unusual negative-correlation thermodynamic model for electrons in the hydrodynamic description of plasma expansion is an outcome of the interactions between the electrons following a nonequilibrium kappa distribution and the inherent plasma-induced electric field from a kinetic point of view. The comparisons between the self-similar solutions and the recent experiment data reveal that the electron is better characterized by the nonequilibrium kappa-based thermodynamic model with suprathermal population than the common equilibrium Boltzmann one. For thermal-ion expansion, it is found that the polytropic index for ion thermodynamics（γi） is about2, in contrast to γi= 3 for the adiabatic assumption made in earlier studies.

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Output Formation Tracking control for Heterogeneous Multi-Agent systems with Application to Unmanned Aerial and Ground Vehicles 41

Output Formation Tracking Control for Heterogeneous Multi-Ag...

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第41届中国控制会议

作者： Peixuan Shu Yu Hu Yongzhao Hua Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Shenyuan Honors College Beihang University Beijing Institute of Astronatical Systems Engineering Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Distributed output formation tracking control problem for heterogeneous multi-agent systems(HMASs) was studied in this *** HMASs include multi-rotor unmanned aerial vehicles(UAVs) and unmanned ground vehicles(UGVs) with nonholonomic constraints.A formation tracking protocol was proposed for the follower UAVs and UGVs to track the virtual leader's output trajectory while keeping a predefined time-varying *** this protocol,a distributed observer was first designed for each follower to estimate the states of the ***,a local formation controller based on feedback linearization was designed for UAVs,while a nonlinear controller was presented for UGVs to tackle the nonholonomic *** effectiveness of this protocol was proved by the Lyapunov stability ***,a cooperative searching experiment with two quadrotors and a wheeled vehicle was performed under the ultra wide band(UWB) positioning system,and the experiment results matched the simulation well.

关键词： Formation tracking control heterogeneous multi-agent systems UAV UGV

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Adaptive Power Regulation control for Floating Wind Turbines with Guaranteed Transient Performance

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IEEE Transactions on automation Science and engineering 2025年 22卷 15588-15598页

作者： Gong, Yingjie Meng, Wenchao Geng, Hua Yang, Qinmin Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Tsinghua University Beijing National Research Center for Information Science and Technology Department of Automation Beijing100084 China Huzhou Industrial Control Technology Research Institute Huzhou313000 China

Floating offshore wind turbines (FOWTs) hold significant potential for developing wind energy in deep-sea areas. However, they are prone to additional motions, heavy workloads, and undesirable fluctuations under combined wind-wave loads. To tackle these issues, this paper presents a novel adaptive blade pitch control strategy with guaranteed transient performance for FOWTs operating in above-rated wind speed regions. This strategy effectively suppresses platform pitch motion to enhance system stability while maintaining the power output at its rated value. Specifically, this method initiates by defining a filtered regulation error to solve the non-affine nature of its model. An adaptive blade pitch controller is subsequently proposed, integrating an online learning approximator to cope with the unknown dynamics caused by unmeasurable external environmental inputs and model uncertainties. To further mitigate approximation errors, a nonlinear robust control law with adaptive gains is employed, enhancing the robustness and adaptive capabilities of the controller. Superior to the traditional adaptive controllers, a significant advantage of this strategy is its ability to quantify and ensure regulatory performance within predefined constraints during both transient and steady-state stages, thereby achieving high-performance control in power regulation. Finally, simulation studies are conducted using the OpenFAST software to show the capability of the presented blade pitch controller, which guarantees stable power generation with guaranteed transient performance. © 2004-2012 IEEE.

关键词： Robust control

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