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A Tutorial on Quantized Feedback control

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 5-17页

作者： Minyue Fu IEEE the School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and TechnologySouthern University of Science and TechnologyShenzhen 518055China

In this tutorial paper, we explore the field of quantized feedback control, which has gained significant attention due to the growing prevalence of networked control systems. These systems require the transmission of feedback information, such as measurements and control signals, over digital networks, presenting novel challenges in estimation and control design. Our examination encompasses various topics, including the minimal information needed for effective feedback control, the design of quantizers, strategies for quantized control design and estimation,achieving consensus control with quantized data, and the pursuit of high-precision tracking using quantized measurements.

关键词： Consensus control high-precision control networked control quantized estimation quantized feedback control robust control

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D-FUSION SLAM: A VSLAM system OPTIMIZED BY INTEGRATING DEPTH INFORMATION AND RGBD FEATURE POINTS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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High-Order Fully Actuated system Models for Strict-Feedback systems With Increasing Dimensions

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2451-2462页

作者： Xiang Xu Guang-Ren Duan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055 the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China

This paper mainly addresses control problems of strict-feedback systems(SFSs)with increasing *** with the commonly-considered SFSs where the subsystems have the same dimension,we aim to handle more complex cases,i.e.,the subsystems in the considered SFSs are assumed to have increasing *** transforming the systems into highorder fully-actuated system(HOFAS)models,the stabilizing controllers can be directly *** first-order SFSs,secondorder and high-order SFSs are also considered.

关键词： Increasing dimensions high-order fully-actuated system nonlinear systems strict-feedback systems

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Knowledge and data jointly driven aeroengine gas path performance assessment method

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Chinese Journal of Aeronautics 2024年第5期37卷 533-557页

作者： Zhe WANG Xuyun FU Rui ZHANG Zhengfeng BAI Xiangzhao XIA Wei JIANG Department of Mechanical Engineering Harbin Institute of TechnologyWeihai 264209China Weihai Key Laboratory of Intelligent Operation and Maintenance Harbin Institute of TechnologyWeihai 264209China Control System Design Laboratory AECC ShenYang Engine Research InstituteShenyang 110015China

Aeroengines,as the sole power source for aircraft,play a vital role in ensuring flight *** gas path,which represents the fundamental pathway for airflow within an aeroengine,directly impacts the aeroengine's performance,fuel efficiency,and ***,timely and accurate evaluation of gas path performance is of paramount *** paper proposes a knowledge and data jointly driven aeroengine gas path performance assessment method,combining Fingerprint and gas path parameter deviation ***,Fingerprint is used to correct gas path parameter deviation values,eliminating parameter shifts caused by non-component performance ***,coarse errors are removed using the Romanovsky criterion for short-term data divided by an equal-length overlapping sliding ***,an Ensemble Empirical Mode Decomposition and Non-Local Means(EEMD-NLM)filtering method is designed to“clean”data noise,completing the preprocessing for gas path parameter deviation ***,based on the characteristics of gas path parameter deviation values,a Dynamic Temporary Blended Network(DTBN)model is built to extract its temporal features,cascaded with Multi-Layer Perceptron(MLP),and combined with Fingerprint to construct a Dynamic Temporary Blended AutoEncoder(DTB-AutoEncoder).Eventually,by training this improved autoencoder,the aeroengine gas path multi-component performance assessment model is formed,which can sufficiently decouple the nonlinear mapping relationship between aeroengine gas path multi-component performance degradation and gas path parameter deviation values,thereby achieving the performance assessment of engine gas path *** practical application cases,the effectiveness of this model in assessing the aeroengine gas path multi-component performance is verified.

关键词： Performance assessment Aeroengine Fingerprint Gas path parameter deviation values Jointly drive

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RESEARCH ON SUBPIXEL CENTERLINE EXTRACTION METHOD OF LINE STRUCTURED LIGHT STRIPE

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2023年第1期85卷 91-104页

作者： Zheng, Qingchun Shi, Hao Zhu, Peihao Liu, Qipei Ma, Wenpeng Li, Xiaoyang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

In the process of using line structured light for measurement, it is an essential step to quickly and accurately extract the center position from the line structured light stripe to improve the accuracy of the line structured light measurement system. At present, it is difficult to reduce the extraction time while ensuring the extraction accuracy by the commonly used line structured light centerline extraction methods. In order to solve this problem, the article proposes a centerline extraction method based on extreme value method and gray gravity method. The experimental results show that this method can extract the light stripe centerline more accurately and quickly, which provides a solid guarantee for the next point cloud data acquisition. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Data acquisition

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A Survey on Distributed Network Localization from a Graph Laplacian Perspective

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Journal of systems Science & Complexity 2024年第1期37卷 273-293页

作者： HAN Zhimin LIN Zhiyun FU Minyue Artificial Intelligence Institute School of AutomationHangzhou Dianzi UniversityHangzhou 310018China Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent ManufacturingSouthern University of Science and TechnologyShenzhen 518055China Peng Cheng Laboratory Shenzhen 518000China

Network localization serves as a fundamental component for enabling various position based operations in multi-agent systems,facilitating tasks like target searching and formation control by providing accurate position information for all nodes in the *** localization focuses on the challenge of determining the positions of nodes within a network,relying on the known positions of anchor nodes and internode relative *** the past few decades,distributed network localization has garnered significant attention from *** paper aims to provide a review of main results and advancements in the field of distributed network localization,with a particular focus on the perspective of graph *** to its favorable characteristics,graph Laplacian unifies various network localization,even when dealing with diverse types of internode relative measurements,into a unified protocol framework,which can be constructed by a linear method and ensure the global convergence.

关键词： Distributed network localization graph Laplaian sensor network

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Edge computing aileron mechatronics using antiphase hysteresis Schmitt trigger for fast flutter suppression

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control Theory and Technology 2025年第1期23卷 153-160页

作者： Tangwen Yin Dan Huang Xiaochun Zhang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai200240China School of Aeronautics and Astronautics Shanghai Jiao Tong UniversityShanghai200240China Control Division Shanghai Aircraft Design and Research InstituteShanghai200210China

An aileron is a crucial control surface for *** jitter or shaking caused by the aileron mechatronics could have catastrophic consequences for the aircraft’s stability,maneuverability,safety,and *** paper presents a robust solution in the form of a fast flutter suppression digital control logic of edge computing aileron mechatronics(ECAM).We have effectively eliminated passive and active oscillating response biases by integrating nonlinear functional parameters and an antiphase hysteresis Schmitt *** findings demonstrate that self-tuning nonlinear parameters can optimize stability,robustness,and *** the same time,the antiphase hysteresis Schmitt trigger effectively rejects flutters without the need for collaborative navigation and *** hardware-in-the-loop simulation results confirm that this approach can eliminate aircraft jitter and shaking while ensuring expected stability and *** conclusion,this nonlinear aileron mechatronics with a Schmitt positive feedback mechanism is a highly effective solution for distributed flight control and active flutter rejection.

关键词： Aileron Edge computing Flutter suppression Mechatronics Nonlinear hysteresis control Positive feedback

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Surface-PMSM Sensorless control Strategy Based on Reduced-Order Linear Kalman Filter Cooperating With Prediction Error Rolling Compensation

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IEEE Transactions on Power Electronics 2025年第8期40卷 10804-10815页

作者： Xu, Sang Shen, Anwen Tang, Qipeng Wang, Miaomiao Luo, Pan Luo, Xin Xu, Jinbang National Key Laboratory of Science and Technology on Multispectral Information Processing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

Kalman filter (KF) is increasingly attracted for sensorless control of surface permanent magnet synchronous motors due to its strong robustness against measurement and system noise. However, the conventional method suffers from poor position and speed estimation accuracy under dynamic conditions and high computational cost. In order to solve these problems, an enhanced sensorless control strategy based on reduced-order linear Kalman filter (RLKF) cooperating with prediction error rolling compensation is introduced in this article. Differing from conventional methods, a reduced-order linear state equation encompassing rotor position, speed, and torque disturbance is constructed. Then, by obtaining the prediction error of system output using the motor current equation in the predictive reference frame, the optimal estimation of rotor position and speed in the KF algorithm is achieved based on the reduced-order model. This not only simplifies the calculation process but also enhances the position and speed estimation accuracy under dynamic conditions. Meanwhile, a prediction error rolling compensation algorithm is developed to minimize the estimation deviations caused by motor parameter variations. In addition, the system's dynamic performance is further improved with an adopted speed controller based on torque disturbance feedforward and acceleration feedback. Finally, experimental results verify the effectiveness and feasibility of the proposed strategy. © 1986-2012 IEEE.

关键词： Permanent magnets

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A copula-based reliability model for phased mission systems with dependent components (vol 39, pg 1533, 2023)

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QUALITY AND RELIABILITY ENGINEERING INTERNATIONAL 2023年第7期39卷 3179-3179页

作者： Li, X. Zhan, K. Xiong, X. Vu, T. Q. Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan China School of Media Design College of Technology and Design University of Economics Ho Chi Minh City Vietnam

Recently, researches on the reliability analysis of phased mission systems (PMSs) are very popular. And most of the existing research on PMSs assumed that all the components are statistically independent on each other, which is not meet the engineering reality. The system structure changes from phase to phase in the PMSs, so the dependency among components may also change in different phases. Meanwhile, the well-known phase dependency is also existing in the system reliability modeling. To model the varying dependency among components and phase dependency at the same time, a copula-based method is proposed for the reliability analysis of PMS with correlated components. Firstly, the system reliability of multi-state PMS with dependent components is evaluated by different copula functions. Then, multiple indicators are used to select the optimal copula functions for different phases. And an engineering case is illustrated to show the proposed copula-based method.

关键词： copula dependent components modular method phased mission system

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Dictionary-Labeled A∗: Optimal Path-and-Posture Planning for Mobile Robots with Turning Radius Constraints

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IEEE Robotics and Automation Letters 2024年第12期9卷 10740-10747页

作者： Yang, Chen Lin, Zhiyun Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China Peng Cheng Laboratory Shenzhen518066 China

In this study, we introduce an algorithm called Dictionary-Labeled A∗ (DL-A∗), which addresses the critical problem of path-and-posture planning for mobile robots with turning radius constraints. DL-A∗ utilizes a dictionary to store and process multi-element information within an enhanced topological map. The algorithm categorizes the edges in the map into forward driving and reverse driving states, and constructs sets of successive states that adhere to road segment constraints through map pre-processing. Subsequently, the A∗ algorithm is employed to find an optimal path to reach the endpoint while satisfying the end posture constraint, with the objective of minimizing the total travelling cost. Simulation results demonstrate that, in comparison to other popular algorithms, our algorithm offers the capability to adapt the robot's forward and reverse driving postures to minimize total cost, and exhibits exceptional searching efficiency. © 2016 IEEE.

关键词： Robot programming

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