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Chinese control and Decision Conference, CCDC

作者： Ben Wu Wei Liu Weijie Sun Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

In this paper, by using the output regulation theory, we research the output voltage practical tracking problem for un-interruptible power supply systems under event-triggered control technique. By configuring the desired poles for a controllable pair and solving the regulator equations, a state feedback gain and a feedforward gain can be obtained for designing the control law. Further, under event-triggered mechanism, a control law that can be applied to a digital platform directly is designed to solve our problem. Moreover, it can be verified that the voltage tracking error can converge to a pre-specified neighborhood of the origin.

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Driving Safety-Volatility-Emissions integrated indicator-application to urban road environment

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Transportation Research Procedia 2025年 86卷 572-579页

作者： Elisabete Ferreira Paulo Fernandes Eloísa Macedo Margarida C. Coelho Department of Mechanical Engineering Centre for Mechanical Technology and Automation (TEMA) University of Aveiro Campus Universitário de Santiago 3810-193 Aveiro Portugal LASI – Intelligent Systems Associate Laboratory Portugal Department of Environment and Planning

Understanding driver behaviour, particularly identifying critical safety distances or anomalous driving patterns, is essential to improve road safety and mitigate pollutant emissions, especially in urban areas. The development of indicators that include safety, volatility, and emissions for assessing driver performance in urban environments is scarce. The goal of this research is to develop an integrated driving indicator (iDI) that accurately assesses driver behaviour based on second-by-second data relative to safety (time headway and stopping distance), volatility (acceleration and vehicular jerk), and emissions (carbon dioxide and nitrogen oxides) variables. For that purpose, an optimisation problem was formulated, and a sensitivity analysis was conducted on the above parameters to estimate the best weights on each factor. An urban case study near a university campus in Central Region, Portugal, composed of two roundabouts, one signalised, and one stop-controlled intersection, was selected to evaluate the iDI performance. Simulations were conducted using the microscopic traffic simulation model VISSIM, where both vehicle record and trajectory data were exported. The latter was used in the Surrogate Safety Assessment Model to evaluate traffic conflicts and then, the results were correlated with the developed iDI. Light-duty vehicles were identified as the primary participants in most conflicts, comprising at least 96% of incidents during each demand period. Despite representing over 72% of the total fleet, these vehicles demonstrated iDI scores ranging from 20% to 30%. Results suggest that volatility and emissions are relevant factors significantly contributing to the integrated driving score. The components in the driving performance indicator include vehicle variables that have an impact on both accidents and gas emissions. They are suitable for assessing driving behaviour and promoting greater driver responsibility.

关键词： Driving behaviour performance evaluation traffic safety environmental

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Secure Nonlinear Fusion Estimation Against FDI Attacks: The Completely Distributed Condition 42

Secure Nonlinear Fusion Estimation Against FDI Attacks: The ...

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42nd Chinese control Conference, CCC 2023

作者： Weng, Pindi Zhang, Jiyu Chen, Bo Wang, Zheming Wang, Tian Zhejiang University of Technology Department of Automation Hangzhou310023 China Zhejiang Provincial United Key Laboratory of Embedded Systems Hangzhou310023 China School of Instrumentation Science and Engineering Harbin Institute of Technology Harbin150001 China Hangzhou RoboCT Technology Development Co. Ltd Hangzhou310000 China

ISBN: (纸本)9789887581543

This paper considers the problem of multi-sensors fusion estimation for cyber-physical systems (CPSs), where each sensor node sends a local estimate to the fusion center and a subset of the transmitted signals can potentially be under false data injection attacks. For the aforementioned problem, locating the compromised local estimates is of crucial importance for obtaining an accurate fusion state estimate of CPSs. In this case, a secure fusion estimation method is proposed based on a Gaussian mixture model based detection mechanism. Specifically, the proposed method first clusters the local state estimates autonomously and provides a belief for each sensor, based on which the local estimates can be fused accordingly. Finally, an illustrative example is employed to show the effectiveness of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Cyber Physical System

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Efficient Centralised and Decentralised Gaussian Process Approaches for Online Tracking within Stone Soup

Efficient Centralised and Decentralised Gaussian Process App...

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International Conference on Information Fusion

作者： Chenyi Lyu Xingchi Liu James Wright Jordi Barr Alasdair Hunter Lyudmila Mihaylova Department of Automatic Control & Systems Engineering University of Sheffield UK Scientific Computing Department Rutherford Appleton Laboratory Science and Technology Facilities Council UK Defence Science and Technology Laboratory UK

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

This paper explores the application of centralised and distributed Gaussian process algorithms to real-time target tracking and compares their performance. By embedding the algorithms into the Stone Soup, the focus is on the innovative implementation of Gaussian process methods with learning hyperparameters and implementation with a factorised variance of the Gaussian kernel. The performance of the methods with different kernels was evaluated, not only with the Gaussian kernel. Extensive experiments with various kernel configurations demonstrate their importance in enhancing prediction accuracy and efficiency, especially in real-time tracking. The case studies with manoeuvring targets show significant advancements in tracking capabilities, particularly in wireless sensor networks, using optimised Gaussian process methods. This work advances Stone Soup’s capabilities and lays the groundwork for future investigations into adaptive Gaussian Process applications in tracking and sensor data analysis.

关键词： Wireless sensor networks Technological innovation Analytical models Target tracking Data analysis Gaussian processes Benchmark testing Real-time systems Data models Kernel

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Implementation and Application of Solvers for Simulation and Execution of control Algorithms in NCSLab

Implementation and Application of Solvers for Simulation and...

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International Conference on Electronic engineering and Informatics (EEI)

作者： Jiuzheng Su Zhongcheng Lei Wenshan Hu Guo-Ping Liu Department of Artificial Intelligence and Automation Wuhan University Wuhan China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

In order to solve the problems of high dependency and low flexibility caused by calling three-party services during simulation and experiments, this paper uses the NCSLab (Networked control System laboratory) as an application platform to implement the functions of multiple ordinary differential equation solvers, which are used for real-time simulation and experimentation of control algorithm. This paper mainly integrates the common ordinary differential equation solving methods and NCSLab platform, and verifies the support of NCSLab platform for different solving methods through the actual simulation process.

关键词： Networked control systems Computational modeling Ordinary differential equations Real-time systems Computational efficiency Informatics

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Inverse Compensation Feedforward control Strategy for a Vertical Pneumatic Artificial Muscle System 8

Inverse Compensation Feedforward Control Strategy for a Vert...

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8th International Conference on control Science and systems engineering, ICCSSE 2022

作者： Xiao, Huai Meng, Qingxin Lai, Xuzhi Yan, Ze Zhao, Shiying Wu, Min 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 Hubei Wuhan430074 China

ISBN: (纸本)9781665484138

This paper proposes an inverse compensation feed-forward control strategy for a vertical pneumatic artificial muscle (PAM) system. Firstly, we conduct a preliminary experiment on the vertical PAM system, and on this basis, we analyze the motion characteristics of the system. Moreover, we clarify the control objective of this paper. Then, we establish a model that can describe the hysteresis characteristics of the system, and we further construct an inverse compensation feedforward controller by inversing this established model. Finally, we carry out some tracking control experiments based on the vertical PAM experimental platform to verify the effectiveness and superiority of the proposed control strategy, © 2022 IEEE.

关键词： Hysteresis

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ADRC Combined with IMC for Non-Minimum Phase systems

ADRC Combined with IMC for Non-Minimum Phase Systems

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Chinese control Conference (CCC)

作者： Xiangyang Li Xindi Deng Senping Tian Wei Ai Key Laboratory of Autonomous Systems and Network Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

The integrated control method, active disturbance rejection control (ADRC) combined with internal model control (IMC), is proposed for non-minimum phase systems. The ADRC combined with IMC is to reduce the influence of zeros on right half plant (RHP), system uncertainty and outer disturbance. An improved IMC is put in the inner loop and ADRC is adopted in the outer loop. In order to enhance the system's stability, an approximate zero phase error model of controlled plant (ZPEM) is used as the internal model in the IMC control loop where the feedback of the inner loop is the dynamic weighted filter sum of the real output and the ZPEM output. The theoretical analysis and simulations verify effectiveness of the proposed method for non-minimum phase systems.

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Semi-Global Robust Practical Output Voltage Tracking for Single-Phase UPS Inverters via Sampled-Data control

Semi-Global Robust Practical Output Voltage Tracking for Sin...

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Chinese control Conference (CCC)

作者： Kaiji Zeng Wei Liu Weijie Sun Weidong Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

This paper deals with the sampled-data semi-global robust practical output voltage tracking problem for single-phase voltage source uninterruptible power supply inverters. We construct an aperiodic sampled-data state feedback control law in an internal model principle framework. Lyapunov analysis shows that as long as the upper bound of the sampling time interval of the controller is less than an explicitly computable threshold, our problem can be handled by the proposed sampled-data control law. And the tracking error is guaranteed to approach a given neighborhood of the origin asympotically.

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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Stable control and Disturbance Rejection Strategy for Planar 2R Underactuated Robot via Intelligent Algorithm 48

Stable Control and Disturbance Rejection Strategy for Planar...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Huang, Zixin Wan, Xiao Zhou, Yaosheng Wang, Lejun Wang, Liheng School of Electrical and Information Engineering Wuhan Institute of Technology Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan China Wuhan Institute of Technology School of Innovation and Entrepreneurship Wuhan China Chongqing University of Posts and Telecommunications Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Stable control and active disturbance rejection strategy is proposed for planar 2R underactuated robot via intelligent algorithm in this paper. At first, we build the dynamic model and describe the control characteristic. After that, we design PD controller for the active link. According to the underactuated constraint, we then optimize the parameters of controller by using the differential evolution algorithm (DEA), so that we can ensure the target states of all links could eventually be reached at the identical time. And the simulation results indicate the strategy is effective. © 2022 IEEE.

关键词： Disturbance rejection

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