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Composite Nonlinear Bilateral control for Teleoperation Systems With External Disturbances

IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1220-1229页

作者： Zhenhua Zhao Jun Yang Shihua Li Wen-Hua Chen the College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China the School of Automation Southeast UniversityKey Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE)Ministry of EducationNanjing 210096China the Department of Aeronautical and Automotive Engineering Loughborough UniversityLoughboroughLE11 3TUUK

This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.

关键词： Bilateral control disturbance observer force haptic teleoperation

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Vision-Based Quadrotor Rapid Landing control with An Uncooperative Platform: An Alternating Predictive Observer Approach

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Shao, Liren Guo, Zeyu Yang, Jun Li, Shihua School of Automation Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University China Department of Aeronautical and Automotive Engineering Loughborough University Loughborough U.K

The challenge of allowing a quadrotor to land quickly on an unknown moving platform using visual cues is addressed. A position-based visual servoing (PBVS) framework is designed that utilises the relative position data captured by the onboard camera to ensure a successful landing. The inherent limitation imposed by the camera's low sampling rate, which hampers the update and transfer rate of control commands, is mitigated by introducing an alternating predictive observer (APO). This observer inputs rapid actual or virtual position information into the control system. Actual relative positions are used for observer design when available from the camera, whereas virtual relative positions, predicted by the quadrotor model, are used when direct sampling is unattainable. This approach enables a process that alternates between prediction and observation, allowing for the design of a sampled-data controller that updates at a fast rate, commensurate with the APO. The robustness of the proposed PBVS-APO controller is exhibited, requiring no prior knowledge of the platform's dynamics. Validation through numerical simulations and experiments confirms the high control bandwidth and the rapid landing efficacy of the control strategy. IEEE

关键词： Cameras

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A study of the method for intermittency test of Empirical mode decomposition

A study of the method for intermittency test of Empirical mo...

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4th International Conference on Information Technology and Applications, ICITA 2007

作者： Song, Lixin Wang, Qi Wang, Yujing Yan, Jian Department of Electronic and Information Engineering Harbin University of Science and Technology Harbin 150080 China Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150080 China Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)0980326702

A new method is presented to solve the mode mixing problem, which caused by intermittency signal of sifting process of Empirical mode decomposition (EMD). For achieving exact location of intermittency signal, the time scale difference between intermittency signal and normal background signal, as well as instantaneous frequency characteristic of intrinsic mode function (IMF) are both used in this method. Depending on the located intermittency signal segment, by boundary extending, redo EMD to separate intermittency signal, accordingly removing the influence of intermittency signal in the following EMD. Compare the results of removing intermittency signal using this method with using wavelet method, results indicate that, using this method, the signal distortion is less than wavelet method. And intermittency signal can be decomposed into one FMF.

关键词： Information technology

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Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1518-1520页

作者： Lei Xue Jianfeng Ye Yongbao Wu Jian Liu D.C.Wunsch Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096 School of Automation Southeast UniversityNanjing 210096China Department of Electrical and Computer Engineering Missouri University of Science and TechnologyRollaMO 65409 USA IEEE

Dear Editor,This letter is concerned with prescribed-time Nash equilibrium(PTNE)seeking problem in a pursuit-evasion game(PEG)involving agents with second-order *** order to achieve the prior-given and user-defined convergence time for the PEG,a PTNE seeking algorithm has been developed to facilitate collaboration among multiple pursuers for capturing the evader without the need for any global ***,it is theoretically proved that the prescribedtime convergence of the designed algorithm for achieving Nash equilibrium of ***,the effectiveness of the PTNE method was validated by numerical simulation results.A PEG consists of two groups of agents:evaders and *** pursuers aim to capture the evaders through cooperative efforts,while the evaders strive to evade *** is a classic noncooperative *** has attracted plenty of attention due to its wide application scenarios,such as smart grids[1],formation control[2],[3],and spacecraft rendezvous[4].It is noteworthy that most previous research on seeking the Nash equilibrium of the game,where no agent has an incentive to change its actions,has focused on asymptotic and exponential convergence[5]-[7].

关键词： seeking prescribed convergence

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An online fuzzy gain scheduling for blood pressure regulation

An online fuzzy gain scheduling for blood pressure regulatio...

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作者： Nguyen, Chi-Ngon Simanski, Olaf Schubert, Agnes Kähler, Ralf Lampe, Bernhard Department of Electrical Engineering Institute of Automation University of Rostock Germany Department of Mechanical Engineering Sect. Measurement and Control University of Rostock Germany

ISBN: (纸本)008045108X

This paper presents a method of fuzzy gain scheduling for a PID controller applied to mean arterial pressure (MAP) regulation during general anesthesia by sodium nitroprusside (SNP) infusion. A supervising algorithm is used for online updating the fuzzy gain scheduler of the PID controller to act stronger against the body reaction. A new model based on Slate's model and Furutani's ideas was developed for testing the controller. Simulation and clinical results in deep hypotensive controls at 40mmHg on pigs indicate the safety and stability of designed controller. Copyright © 2005 IFAC.

关键词： Fuzzy control

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Research on two-dimensional code scanning and automatic recording device for human body temperature measurement based on stm32 2

Research on two-dimensional code scanning and automatic reco...

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2nd International Conference on Electronic Information engineering and Computer Technology, EIECT 2022

作者： Lie, XueYan Huang, XiaoPeng Liu, HuanYu Li, YanLong Zhong, Hua Gao, FeiFei University of South China Department of Electrical Engineering and Automation China University of South China Department of Measurement and Control Technology China

ISBN: (纸本)9798350399561

With the outbreak and normal development of COVID-19, the effective detection and recording of body temperature has become a new focus of our attention. At present, there is no complete system to measure temperature, automatic record and specific information at home and abroad. To this end, combined with professional knowledge, our team designed a two-dimensional code scanning and human body temperature automatic recording device with STM32F1 as the core. The device STM32F1 development board is the main control chip. By connecting the WIFI module through the serial port, STM32F1 uses the function of wireless communication. Through the communication protocol, the link between the router and the ESC cloud server of Ali Cloud is utilized. The router or mobile data is transmitted to the user side (APP, applets) according to the specified communication protocol. Inside the development board, the code of each part is written to complete the device integrating code scanning and temperature measurement, which can be displayed and alarm through the node (OLED display screen). This will play a good role in preventing the spread of COVID-19. The system can be used in hospitals, communities, railway stations, shopping malls and many other public places. © 2022 IEEE.

关键词： Temperature measurement

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Relative entropy multilevel thresholding method based on genetic optimization

Relative entropy multilevel thresholding method based on gen...

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2003 International Conference on Neural Networks and Signal Processing, ICNNSP'03

作者： Yang, Zhao-Hua Pu, Zhao-Bang Qi, Zhen-Qiang Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)0780377028

Traditional optimal thresholding methods are very computationally expensive when extended to multilevel thresholding for their exhaustively search mode. So their applications are limited. In this paper, a relative entropy multilevel thresholding method based on genetic algorithm (RE-GA) is developed. The proposed method makes use of GA's properties such as high efficiency, rapid convergence and global optimization. The relative entropy is treated as the fitness function. Applying the proposed method to process image, the computation speed is accelerated and the quality is improved. Simulation results verify the performance of the proposed method by comparison with the traditional optimal thresholding methods. © 2003 IEEE.

关键词： Global optimization

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Moving targets detection and tracking based on nonlinear adaptive filtering

Moving targets detection and tracking based on nonlinear ada...

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2007 International Conference on Computational Intelligence and Security Workshops, CIS 2007

作者： Wang, Ying-Li Dai, Ling-Min Department of Automation Measurement and Control Engineering Harbin Institute of Technology P.O.Box 308 Harbin 150001 China

ISBN: (纸本)0769530737

To resolve the problem of the missile detection in the space early-warning process, an efficient method based on nonlinear adaptive filtering is proposed to detect the small IR target of low SNR under the complex background in this paper. The method can eliminate the influence of the unbalance background to the image segmentation, select the small moving target and the noise points and then eliminate wrong point targets to obtain the satisfactory detection result. The effectiveness of the method is proved by the experimental results for several infrared image sequences. © 2007 IEEE.

关键词： Image segmentation

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A soft sensor development for the estimation of benzene content in catalytic reformate

A soft sensor development for the estimation of benzene cont...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Ujević Andrijić, Željka Karlović, Romano Žeželj, Boris Faculty of Chemical Engineering and Technology Department of Measurement and Process Control Zagreb Croatia Rijeka Refinery Process Automation Kostrena Croatia

ISBN: (纸本)9789532330724

As vehicle emission standards become more stringent, there is an increasing need for continual monitoring of benzene content in gasoline. Since the on-line analyzers are often unavailable, and laboratory analyses are infrequently obtained, soft sensors for the estimation of benzene content of light reformate are developed. Soft sensors are developed using system identification methods. Experimental data is acquired from the refinery distributed control system (DCS) and include continuously measured variables and analyzer assays available on-line. In the present work, the development of a Finite Impulse Response (FIR) model, an Output Error (OE) model and an Auto-Regressive Model with Exogenous Inputs (ARX) model are presented. To overcome the problem of selecting the best model parameters by trial and error, genetic algorithm was used. Based on developed soft sensors, it is possible to entirely replace on-line analyzers with soft sensors by embedding the model in a DCS on-site. © 2012 MIPRO.

关键词： Benzene

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An Adaptive Strategy via Reinforcement Learning for the Prisoner＇s Dilemma Game

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 301-310页

作者： Lei Xue Changyin Sun Donald Wunsch Yingjiang Zhou Fang Yu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing 210096 China Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO 65409 USA College of Automation Nanjing University of Posts and Telecommunications Nanjing 210023 China Institute of Logistics Science and Engineering Shanghai Maritime University Shanghai 210096 China IEEE

The iterated prisoner's dilemma(IPD) is an ideal model for analyzing interactions between agents in complex networks. It has attracted wide interest in the development of novel strategies since the success of tit-for-tat in Axelrod's tournament. This paper studies a new adaptive strategy of IPD in different complex networks, where agents can learn and adapt their strategies through reinforcement learning method. A temporal difference learning method is applied for designing the adaptive strategy to optimize the decision making process of the agents. Previous studies indicated that mutual cooperation is hard to emerge in the IPD. Therefore, three examples which based on square lattice network and scale-free network are provided to show two features of the adaptive strategy. First, the mutual cooperation can be achieved by the group with adaptive agents under scale-free network, and once evolution has converged mutual cooperation, it is unlikely to shift. Secondly, the adaptive strategy can earn a better payoff compared with other strategies in the square network. The analytical properties are discussed for verifying evolutionary stability of the adaptive strategy.

关键词： Complex network prisoner’s dilemma reinforcement learning temporal differences learning

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