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第41届中国控制会议

作者： Guiying Li Zhigang Yu Shenmin Song School of Mechanical and Electrical Engineering Heilongjiang University College of Electromechanical Engineering Northeast Forestry University The Key Laboratory of Information Fusion Estimation and Detection of Heilongjiang Province Heilongjiang University Center for Control Theory and Guidance Technology Harbin Institute of technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

.The nonlinear disturbance observer is utilized to approximately estimate the target *** adaptive algorithm with the feature of low-pass filter is developed to deal with the effects of the estimation *** concept of practically finite-time stability is introduced to describe the finite-time convergence of guidance system with internal uncertainties and external *** based on adaptive control method and terminal sliding mode,an adaptive guidance law is designed to drive the trajectories of the guidance system into a small set around the origin in finite time and to achieve an acceptable performance in the presence of the lag of actuator and external *** is proved that guidance system for the interception of maneuvering targets is practically finite time ***,numerical simulation results are given to demonstrate the effectiveness of the developed guidance strategies for rapidly maneuvering target.

关键词： Adaptive estimation Sliding mode control Disturbance observer Guidance law Autopilot lag

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On moment relaxations for linear state feedback controller synthesis with non-convex quadratic costs and constraints

On moment relaxations for linear state feedback controller s...

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IEEE Conference on Decision and control

作者： Dennis Gramlich Sheng Gao Hao Zhang Carsten W. Scherer Christian Ebenbauer Chair of Intelligent Control Systems RWTH Aachen University Aachen Germany Department of Control Science and Engineering College of Electronic and Information Engineering Tongji University Shanghai P. R. China Chair of Mathematical Systems Theory University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We present a simple and effective way to account for non-convex costs and constraints in state feedback synthesis, and an interpretation for the variables in which state feedback synthesis is typically convex. We achieve this by deriving the controller design using moment matrices of state and input. It turns out that this approach allows the consideration of non-convex constraints by relaxing them as constraints on the expected value of quadratic functions, and that the variables in which state feedback synthesis is typically convexified can be identified with blocks of these moment matrices. The employed relaxation can lead to constraint violation along sample paths.

关键词： State feedback Costs Additives Noise Quadratic programming Time-varying systems

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Computing the explicit MPC solution in the constrained zonotope case

Computing the explicit MPC solution in the constrained zonot...

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IEEE Conference on Decision and control

作者： Florin Stoican Ştefan S. Mihai Martin Mönnigmann Bogdan D. Ciubotaru Department of Automatic Control and Systems Engineering University “Politehnica” of Bucharest 313 Splaiul Independenţei 060042 Sector 6 Bucharest Romania Martin Mönnigmann is with Automatic Control and System Theory Ruhr University Bochum Bochum Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Solving the explicit model predictive control (MPC) problem entails enumerating a list of critical regions and their ancillary feedback laws. Unfortunately, their number and the time required to compute them increase exponentially with the problem size (state-space model dimension and length of the prediction horizon). We show that when, as it is often the case, the problem’s constraints take the form of boxes or zonotopes, the resulting feasible domain can be compactly described as a constrained zonotope. Subsequently, we investigate whether, and under which circumstances, the combinatorial structure of the constrained zonotope interpretation accelerates the computation of the explicit solution.

关键词： State-space methods Predictive control

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High-order Fully Actuated Approach for Output Position control of Two Mass Systems based on Extended State Observer

High-order Fully Actuated Approach for Output Position Contr...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Ping Li Guang-Ren Duan Bi Zhang Yuzhong Wang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.

关键词： Robust control Uncertain systems Simulation Position control Observers control systems Stability analysis

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Distributed-observer-based on Longitudinal Flight control for Hypersonic Vehicle

Distributed-observer-based on Longitudinal Flight Control fo...

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第42届中国控制会议

作者： Yuehui Ji Yiming Zhao Jiaqi Chen Junjie Liu Qiang Gao School of Electrical Engineering and Automation and Tianjin Key Laboratory for Control Theory & Applications in Complicated SystemsTianjin University of Technology

An output feedback control is investigated to achieve stable tracking of velocity and altitude in hypersonic flight vehicle in the paper.A distributed observer is proposed to estimate the unmeasurable flight path angel and angle of attack through a strongly connected directed network ***,a nonlinear control is addressed on the longitudinal dynamics of a rigid hypersonic flight vehicle(HFV) with partial measurable states and the estimated *** system dynamic is divided into the altitude subsystem and the velocity *** the altitude subsystem,the backstepping design is proposed for constructing the controllers utilizing the estimated *** nonlinear dynamic inversion controller is introduced to accomplish the velocity ***,numerical simulations verify the effectiveness of the proposed control scheme in providing favorable tracking performance and exact state estimation ability.

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Image Processing for Denoising Using Composite Adaptive Filtering Methods Based on RMSE

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Open Journal of Applied Sciences 2024年第3期14卷 660-675页

作者： Yanlu Chen Ruijie Wang Puming Zong Da Chen Control Theory and Control Engineering College of Railway Transportation Hunan University of Technology Zhuzhou China Inner Mongolia Power Group Xilingol Extra High Voltage Power Supply Company Xilinhot China Inner Mongolia Power Group Limited Liability Company XilinGol Power Supply Branch Xilinhot China

As one of the carriers for human communication and interaction, images are prone to contamination by noise during transmission and reception, which is often uncontrollable and unknown. Therefore, how to denoise images contaminated by unknown noise has gradually become one of the research focuses. In order to achieve blind denoising and separation to restore images, this paper proposes a method for image processing based on Root Mean Square Error (RMSE) by integrating multiple filtering methods for denoising. This method includes Wavelet Filtering, Gaussian Filtering, Median Filtering, Mean Filtering, Bilateral Filtering, Adaptive Bandpass Filtering, Non-local Means Filtering and Regularization Denoising suitable for different types of noise. We can apply this method to denoise images contaminated by blind noise sources and evaluate the denoising effects using RMSE. The smaller the RMSE, the better the denoising effect. The optimal denoising result is selected through comprehensively comparing the RMSE values of all methods. Experimental results demonstrate that the proposed method effectively denoises and restores images contaminated by blind noise sources.

关键词： Blind Denoising Adaptive RMSE Image Restoratio

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Intelligent System of the Grinding Robot for Spiral Welded Pipe

Intelligent System of the Grinding Robot for Spiral Welded P...

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American control Conference (ACC)

作者： Getachew Demeissie Ayalew Yang Yang Sun Yongtao Department of Engineering Mechanics Dynamics and Control Lab Tianjin University School of Mechanical Engineering Tianjin Mechanical Design and Theory Lab Beihang University School of Mechanical Engineering and Automation Beijing China

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

The spiral welded pipe manufacturing industry requires strict production standards for automated grinders for welding seams. However, traditional grinding machines in this sector are insufficient due to a lack of quality control protocols and inconsistent performance. This research aims to improve the quality of spiral welded pipes by developing intelligent automated abrasive belt grinding equipment. The system has equipped with six degrees of freedom (6 DOF) KUKA KR360 industrial robots, enabling concurrent grinding operations on both internal and external welds. The grinding robot control system is designed with a PLC, and a human-machine interface (HMI) system is employed for operations. The system includes an electric speed controller, data connection card, DC driver, analog amplifier, and HMI for input data. This control system enables the grinding of spiral welded pipe. It ensures consistent production quality and cost-effectiveness by reducing the product life cycle and minimizing risks in the working environment.

关键词： Manufacturing industries Spirals Protocols Welding Robot control Production Quality control

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Path-Complete Barrier Functions for Safety of Switched Linear Systems

Path-Complete Barrier Functions for Safety of Switched Linea...

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IEEE Conference on Decision and control

作者： Mahathi Anand Raphaël Jungers Majid Zamani Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Mathematical Engineering Université catholique de Louvain University of Colorado Boulder USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we address the safety verification problem of switched linear dynamical systems under arbitrary switching via barrier functions. Our approach is based on a notion of path-complete barrier functions, which utilizes a collection of barrier functions associated with a directed labeled graph that can encode all the possible switching sequences. We show that path-complete barrier functions effectively generalize notions of common and multiple barrier functions studied in existing literature, and can potentially provide less conservative conditions for safety verification. We demonstrate that, for switched linear systems, the inequalities imposed via path-complete barrier functions can be easily encoded into simple linear matrix inequalities under some assumptions on the regions of interest and appropriately chosen templates for the barrier functions. We also study the relationship between path-complete barrier functions and common barrier functions, and show that for any path-complete graph with an admissible path-complete barrier function, one can derive a suitable (possibly non-smooth) common barrier function by utilizing the path-complete barrier function. Finally, we utilize several examples to illustrate the effectiveness of our approach, and briefly discuss the challenges that lay foundations for future research.

关键词： Linear systems Switches control systems Safety Linear matrix inequalities Dynamical systems

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Ego-Motion Estimation and Dynamic Motion Separation from 3D Point Clouds for Accumulating Data and Improving 3D Object Detection

arXiv

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arXiv 2023年

作者： Palmer, Patrick Krüger, Martin Altendorfer, Richard Bertram, Torsten TU Dortmund Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Koblenz56070 Germany

New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of high-resolution radar sensors, compared to lidar sensors, is the sparsity of the generated point cloud. This sparsity could be partially overcome by accumulating radar point clouds of subsequent time steps. This contribution analyzes limitations of accumulating radar point clouds on the View-of-Delft dataset [1]. By employing different ego-motion estimation approaches, the dataset’s inherent constraints, and possible solutions are analyzed. Additionally, a learning-based instance motion estimation approach is deployed to investigate the influence of dynamic motion on the accumulated point cloud for object detection. Experiments document an improved object detection performance by applying an ego-motion estimation and dynamic motion correction approach. © 2023, CC BY.

关键词： Object detection

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MAN: Mix-domain attentional single-stage object detection network with multiple attention mechanisms 20

MAN: Mix-domain attentional single-stage object detection ne...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Sun, Lei Han, Yun Gong, Xinxiang Jin, Shuaiyu Tianjin University of Technology School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Binshui Xidao Extension 391 Tianjin300384 China

ISBN: (纸本)9798350320831

Deep convolutional neural networks (CNN) have achieved remarkable progress in the image processing field during the past decade. However, most existing CNN-based object detection algorithms mainly delve into network-deepening, overlooking the exploration of the inherent relationship amongst the features. To address this issue, an end-to-end Mix-domain Attention Network (MAN) is proposed. First, the backbone and head of MAN adopt the structure of YOLOv5 (YOLOv5 is a family of object detection architectures and models pre-trained on the COCO dataset by Ultralytics). Then, we embed two key modules in the backbone and head: non-local blocks and stereoscopic attention group (SAG). Non-local blocks are different from CNN's local operations in that they can capture long-distance spatial contextual information (Such as the pixel-to-pixel relationship in images, and the pixel-to-pixel relationship between different frames in video streams) and combined with the residual structure, this allows the feature dimensions of the input and output to be consistent. Subsequently, the features extracted from the non-local blocks will be further passed through a trainable stereoscopic attention group to calculate the correlation of channel-to-channel, pixel-to-pixel, and update the output features. The Non-local operation is the self-attention mechanism and the SAG operation is the channel and spatial attention mechanism. Our innovation is the combination of these two operations to form a Mix-domain attention mechanism. The Non-local increases the connection between the pixel points. The SAG allows the model to focus more on the places that need attention. The combination of these two modules enhances recognition accuracy. The experimental results demonstrate that the two versions of a Mixdomain Attention Network achieves the following results on Microsoft Common Objects in Context (MS-COCO) with an input size of 640∗640: AP(Average Precision)=38.2%, 44.4%,AP05 (IOU >0.5 Average Precisi

关键词： Pixels

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