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2023 China Automation Congress, CAC 2023

作者： Bai-Shun, Zhang Si-Le, Ma Xiang-Yuan, Jiang Navy Submarine Academy Control Theory and Control Engineering Qingdao266199 China Shandong University Control Theory and Control Engineering Jinan266199 China

ISBN: (纸本)9798350303759

In order to improve the packaging efficiency and quality of package yarn, design and realize the fully automatic package yarn packaging production line and its control system, and realize the automatic control of the whole package yarn packaging process, HMI on-site monitoring and centralized monitoring of the host computer. Improving the automation level of enterprises. According to the process flow of package yarn packaging in the enterprise and the modular design idea, the packaging production line is decomposed into package turnover, single yarn packaging shrinkage, buffer type alignment, woven bag packaging, automatic sewing and turning, automatic bundling, online weighing and labeling;the control management system based on Siemens S7-1200PLC, KTP1200 touch screen and remote host computer is designed, combined with PROFIBUS module and input and output module, the on-site monitoring of the running status of the production line is realized through the touch screen. The remote host computer is built to realize remote monitoring and management of the production line. It has been proved by operation that the automatic bobbin packaging production line runs stably and realizes local and remote control management. Compared with traditional manual packaging or low-level automation equipment, it has the advantages of strong stability and flexible configuration of system modules. Improve the packaging efficiency and automation level of spinning enterprises. © 2023 IEEE.

关键词： Yarn

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Parametric control of quasi-linear second-order systems with partitioned eigenstructure assignment by output feedback

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Science China(Information Sciences) 2023年第4期66卷 228-243页

作者： Weizhen LIU Guangren DUAN Dake GU Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology School of Automation Engineering Northeast Electric Power University

In this paper, a parametric design approach for stabilizing a quasi-linear second-order system with partitioned eigenstructure assignment(PESA) is investigated through output feedback control. The PESA approach is established by partitioning the desired eigenvalue matrix into two parts to separate the associated right and left eigenvectors into a subset of the generalized eigenvectors simultaneously. A parametric controller is established by solving two second-order generalized Sylvester matrix equations, and a certain form with the desired eigenstructure can be derived with the established quasi-linear output feedback controller. Unlike the prevailing approach that assigns the entire set of generalized eigenvectors, which is difficult to satisfy a large number of complicated constraints in practical systems by the normalized pair of right and left eigenvector matrices, a subset of the generalized eigenvectors is considered. In addition, the proposed PESA approach provides less computational load and is easy to use. A numerical example and application in spacecraft rendezvous are provided to verify the numerical economy and high efficiency of the proposed approach.

关键词： quasi-linear second-order systems partitioned eigenstructure assignment parametric approach Sylvester matrix equation output feedback

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Stabilization controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

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Envelope Inversion with Source encoding for Ultrasound Computed Tomography

Envelope Inversion with Source encoding for Ultrasound Compu...

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2023 International Congress on Ultrasonics, ICU Beijing 2023

作者： Zhang, Nuomin Zhou, Naixin Yuan, Yu Shen, Yi Zhao, Yue Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China

Ultrasound computed tomography (USCT) is a noninvasive and non-ionizing imaging technique for soft tissue and limb bones. Full waveform inversion (FWI) has received increased interest due to its high resolution. The difficulties in FWI are twofold: high computational burden and poor convergence. To address these issues, an envelope inversion with source coding (EI-SE) algorithm is proposed in this paper. The envelope-based objective function measures the matching degree between the predicted and measured envelopes. It can provide the low-frequency components of the signal that are not available to FWI. Therefore, the EI can provide an accurate solution even when the initial model is far from the ground truth and low-frequency data are missing. The simulations are conducted to demonstrate the validity of the proposed algorithm. The root mean squared error (RMSE) of the proposed algorithm is much smaller than that of conventional FWI. The results show that EI-SE is effective in avoiding cycle skipping. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Mean square error

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Linear active disturbance rejection control of fighter aircraft based on MADDPG algorithm

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International Journal of Systems, control and Communications 2025年第2期16卷 152-172页

作者： Lin, Yetong Ji, Yuehui Song, Yu Liu, Junjie Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China

To address nonlinearity, strong coupling, and disturbances in fighter aircraft attitude control, this paper proposes an intelligent control method based on multi-agent deep deterministic policy gradient (MADDPG) and linear active disturbance rejection control (LADRC). A three-channel LADRC controller estimates and compensates for disturbances, uncertainties, and coupling terms in real time. To overcome the dimensionality curse in multi-parameter optimization, an independent DDPG controller is assigned to each channel, ensuring cooperative control via reward sharing and enhancing dynamic response and disturbance rejection. Additionally, long short-term memory (LSTM) and self-attention mechanisms are integrated into the policy and value networks to improve representation and decision-making. A piecewise combined reward function mitigates sparse rewards. Simulations show that, compared to MADQN-based and traditional LADRC methods, the proposed approach achieves superior control performance and significantly reduces manual parameter tuning efforts. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Disturbance rejection

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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

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Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

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Prescribed-Time Three-Dimensional Guidance for Maneuvering Targets with Field-of-View and Approach Angle Constraints

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IEEE Transactions on Aerospace and Electronic Systems 2025年第3期61卷 5996-6010页

作者： Kang, Honglong Wang, Pengyu Song, Shenmin Fonod, Robert Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Ecole Polytechnique Fédérale de Lausanne School of Architecture Civil and Environmental Engineering LausanneCH-1015 Switzerland

This paper presents a three-dimensional (3D) guidance law for homing missiles to intercept maneuvering targets, while ensuring a desired final approach angle and satisfying field-of-view (FOV) constraints. First, a line-of-sight (LOS) vector shaping method is introduced in the range domain. The desired approach angle and FOV constraint can be satisfied by precisely tracking a specified LOS vector profile. Then, a feedback guidance law is designed using a prescribed-time control technique for nullifying the LOS tracking errors. This guidance law employs an extended state observer to estimate and compensate for unknown target maneuvers, with a rigorous analysis conducted to ensure the stability of the entire system. Unlike existing studies, the proposed guidance law does not require linearization procedures and switching logic, which avoids discontinuous guidance command and facilitates practical implementation. Finally, extensive numerical simulations and comparison studies validate the effectiveness, robustness, and superiority of the proposed method. © 1965-2011 IEEE.

关键词： Guided missiles

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Enhancing CO_(2)capture of an aminoethylethanolamine-based non-aqueous absorbent by using tertiary amine as a proton-transfer mediator:From performance to mechanism

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Journal of Environmental Sciences 2024年第6期140卷 146-156页

作者： Xiaobin Zhou DanWang Chao Liu Guohua Jing Bihong Lv Dunqiu Wang College of Environmental Science and Engineering Guilin University of TechnologyGuilin 541004China The Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of TechnologyGuilin 541004China College of Chemical Engineering Huaqiao UniversityXiamen 361021China

Non-aqueous absorbents(NAAs)have attracted increasing attention for CO_(2)capture because of their great energy-saving *** diamines which can provide high CO_(2)absorption loading are promising candidates for formulating NAAs but suffer disadvantages in *** this study,a promising strategy that using tertiary amines(TAs)as proton-transfer mediators was proposed to enhance the regenerability of an aminoethylethanolamine(AEEA,diamine)/dimethyl sulfoxide(DMSO)(A/D)***,some employed TAs such as N,N-diethylaminoethanol(DEEA),N,N,N’,N’’,N’’-pentamethyldiethylenetriamine(PMDETA),3-dimethylamino-1-propanol(3DMA1P),and N,N-dimethylethanolamine(DMEA)enhanced not only the regenerability of the A/D NAA but also the CO_(2)absorption ***,the CO_(2)absorption loading and cyclic loading were increased by about 12.7%and 15.5%-22.7%,*** TA-enhanced CO_(2)capture mechanism was comprehensively explored via nuclear magnetic resonance technique and quantum chemical *** CO_(2)absorption,the TA acted as an ultimate proton acceptor for AEEA-zwitterion and enabled more AEEA to form carbamate species(AEEACOO-)to store CO_(2),thus enhancing CO_(2)*** CO_(2)desorption,the TA first provided protons directly to AEEACOO-as a proton donor;moreover,it functioned as a proton carrier and facilitated the low-energy step-wise proton transfer from protonated AEEA to AEEACOO-.Consequently,the presence of TA made it easier for AEEACOO-to obtain protons to decompose,resulting in enhanced CO_(2)*** a word,introducing the TA as a proton-transfer mediator into the A/D NAA enhanced both the CO_(2)absorption performance and the regenerability,which was an efficient way to“kill two birds with one stone”.

关键词： Carbon dioxide capture Non-aqueous absorbent Tertiary amine Proton-transfer mediator Enhanced mechanism

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Uncertainty Estimation for Predictive Collision Avoidance in Human-Robot Collaboration

Uncertainty Estimation for Predictive Collision Avoidance in...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Renz, Heiko Krämer, Maximilian Bertram, Torsten Tu Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany

ISBN: (纸本)9798350325706

Predictive motion planning enables robots to consider workspace obstacles and proactively avoid them. Estimating future poses of various obstacles is complex and exhibits results with uncertainties. Especially in the case of human-robot collaboration, the forecast process has to deal with sudden motion changes and varying human intentions. This paper proposes an uncertainty estimation for human motion extrapolations in the joint space of a human skeleton. The approach utilizes Gaussian Mixture Models that allow an online determination of the accuracy of current extrapolations based on preceding extrapolation errors. Multiple human model representations enable consideration of estimated uncertainties and are presented along with evaluating the resulting robot trajectories. The results show that considering estimated uncertainties leads to a robot trajectory with increased distances between humans and robots and decreased danger index from the literature, which is desirable for collaborative scenarios. © 2023 IEEE.

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Comparing Human Motion Forecasts in Moving Horizon Trajectory Planning of Collaborative Robots

Comparing Human Motion Forecasts in Moving Horizon Trajector...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Renz, Heiko Krämer, Maximilian Bertram, Torsten Tu Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany

ISBN: (纸本)9798350325706

Shared workspaces between humans and robots are a significant part of Industry 4.0. Modern planning algorithms aim to increase human safety in collaborative scenarios and dynamic environments by considering motion forecasts of obstacles. While highly accurate approaches exist, the question arises whether their often greater complexity justifies the benefits that motion planners can draw from them. The paper at hand compares two motion forecasters and evaluates their effectiveness in a robot motion planner to generate collision-free trajectories online. One motion forecaster uses neural networks for predicting, while the other estimates and extrapolates the state of a customized human skeleton. The evaluation shows that simple and online capable motion extrapolations constitute towards human safety in varying situations more than highly accurate neural network predictions. © 2023 IEEE.

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